JPS5977509A - Robot controlling system - Google Patents

Abstract

PURPOSE:To change an operation sequence and to execute a processing operation at a high speed by generating a data for instructing a series of operations by an external control device in accordance with an external condition and an internal condition, transferring it to a robot control part, and changing a control data. CONSTITUTION:An external control device 4 outputs through a data line 5 a designating signal, etc. of a measuring item, an inspecting item, etc. to an IC tester, and receives a data of a result of a measuring inspection from the IC tester. A robot control part 2 executes a data transfer to the device 4 and a control of a robot mechanism part 1. As for a data transfer, a ready signal, a busy signal, the first auto signal and an end signal are transferred to the device 4 from the control part 2, and the second auto signal, a start signal, a stop signal and a program No. designating signal are transferred to the control part 2 from the device 4. In case of changing a series of operations, a data DATA is transferred from the device 4. By this data transfer, a series of operations in on block are changed. It is the device 4 that generates this data.

Description

DETAILED DESCRIPTION OF THE INVENTION (1) Technical Field of the Invention The present invention relates to robot control, and more particularly to a robot control system that operates according to control data stored in memory.

(2) Technology Background Robots have emerged to replace the work done by humans with machines. Currently, with the development of electronic science, robots that perform more complex movements are being put into practical use. For example, in the case of ``Screen 1'', the X axis, Y
The amount of movement of ii+b, the rotation angle from the origin of the Z axis, the "two-down" motion of the clip, as well as grasping and talking motions, etc. are possible. The advent of robots like Gonoyo has made it possible to automate manufacturing, inspection, etc. Furthermore, the aforementioned robot zunawaji automation equipment is required to be able to perform more complex tasks.

(3) Prior art and problems Conventionally, the above-mentioned Scalaro pot, namely the amount of movement of the X-axis and Y-axis, the rotation from the origin of the Z-axis, and the "two-down operation" of the clip,
A robot capable of grasping and pulling moves based on data stored in memory in advance.

That is, such a robot operates according to a series of sequences determined by data stored in the second memory.

The robot that operates based on the data stored in the memory, that is, the control data mentioned above, can only perform repetitive movements, and it is difficult to move the robot to different locations depending on the results of checking whether the product is good or defective. there were.

On the other hand, in order to enable this division to operate, there is a method of storing control data for a plurality of three-glue sequences in the aforementioned memory and changing the operation sequence according to the results. However, in this method, one operation is performed with a certain base Q point as the origin, so it takes only one operation to execute another operation sequence.
The robot had to return to the point (1p) and then move again to, for example, the desired position.For this reason, robots that had control data for multiple sequences had the problem of slowing down their movements. .

Furthermore, a large capacity memory is required to store control data for a large number of operation sequences based on the results of complex condition determination.

(4) Purpose of the Invention The present invention solves the above-mentioned problems, and its purpose is to provide a robot control method that changes the motion sequence according to the results of 4M+1 and achieves high-speed processing motion. It's about doing.

(5) Structure of the Invention The present invention is characterized by a robot control means that controls the T:Jbot mechanism according to control data stored in memory, and a robot control means that inputs and outputs data to and from the external f4J1 circuit. (The external control means generates a control signal stored in the memory according to data obtained from an external circuit and transmits it to the robot control means, The robot control system is characterized in that the control means stores the transmitted control data in the memory and controls the control data (1).

(6) Embodiment of the invention FIG. 1 shows a block diagram of an embodiment of the invention. ■Coposolt
A structure I (1) is connected to the l:1 hot control unit 2 via a data line 3. The data line 3 is a bidirectional lot line or a separate input/output line.

The l210 control unit 2 is connected to the external control device 4 through 10 control lines and two serial data lines with different transmission and reception lines. The external control device 4 is connected to an external device by a data line 5 similar to the data line 3 described above.

The external RIE control device 4 outputs designation signals for measurement items, inspection items, etc. and other control signals to an external device such as an IC tester via a data line 5. Furthermore, data on measurement and inspection results is received from an external device. For example, in the case of an IC test, this measurement inspection result is a product operation PASS, FAII,
etc. data. These data are sent and received using data line 5.
It is done through.

The robot control section 2 transfers data with the external control device 4 and controls the robot mechanism section (2). In data transfer between the above-mentioned 1-cobosoto control unit 2 and external control device 4, a ready signal READY and a busy signal BUSY are used.

The first O I- signal AIITO+ and the end signal END are sent from the robot control unit 2 to the external control device 11, and the second f-11
No. 7 Δ1JTO2, I+ 1゛ to start signal ST,
Su1 Henozo ("・shi5TOP, plucogram NOF"
The i constant multipliers PNOo to PNO7 are transferred from the external control device 4 to the Roboso I/control unit 2, respectively. Also data 11
The A T A is transferred through separate signal lines for transmission and reception, for example, via an R3232C which is a circuit interface.

Ready signal 11 E A l) Y indicates that the robot control unit 2 and 1, 1 bot mechanism unit 1 are in the ready state, and the busy signal BUSY indicates that the robot is busy. The control device 4 can transfer y-even. At1TO2 is a signal that puts the control device into the O1-state. The end signal END is a signal %j indicating that the process being executed by the IJ control unit 2 has been completed. Start signal 5TART, stop signal ST
The leaf is a robot movement Zunawara program No. specified times 5"P
NOo ” This is a signal to start and stop the operation according to the data specified by PNO2.One data consists of multiple bytes, and it is a series of operations such as X and Y axis movement, rotation, gripping, etc. The robot control unit 2 can write a plurality of programs 1a that instruct this series of operations.

When changing a series of operations during execution, completion, or stoppage, take I) ATA is transferred from an external control device via a data line. The take transferred at this time also includes the memory block and address in which the series of operations is stored.

The series of operations in one block is changed by this data transfer. The controller 4 (81) generates this data.

FIG. 2 shows a system configuration diagram of an external control device 40 box 1 to control section 2, which is constructed using a microprocessor according to the embodiment of the present invention shown in FIG. The external control device 4 includes a microprocessor CPU 1. Data output circuit Doll, DO
+2. Data input circuit Di11. DiI2. Random access memory RAM1. Read only memory ROM
+ and line interface R5232C+, each connected to Hassline BUS+ and forming a processor circuit. The robot control unit 2 is configured almost directly between the external control device 4 and the robot control unit 2.
7.

Data output circuit Do21. I) θ, · · ·, data person number 1?3 Di 2 + , Di 2.7. - Nuntam Accessme 7'JRAM2. Leet only memo January ○M2. Line ink 7 consists of Ace II5232C2 and display device CRT, each connected to Hassline BLI32.

The data output circuit Do1+ and the data input circuit I] 111 of the external controller 4 are connected to the data input circuit Di+ input and the data output circuit 021 of the robot connection section 2, respectively. This connection allows the above-mentioned signals, namely, the ready signal 11E All Y, the busy Shingetsu BUSY, and the first auto signal A [ITo 1. I
71” signal E N I).

2nd O1-signal AjlT (h, start signal '4srh
+n, S1-Tsub signal Si'OP, D-gram +v
o Transfer the designation signals PNOo to PNO2, respectively. In addition, each line interface R5232C+,
R3232C2 is connected and data is transferred.

The data input circuit I) i + 2 and the data output circuit DO+2 of the external control device 4 are connected to, for example, an IC tester as described above. The random access memory RΔM1 is used to temporarily store the takes required for processing.

A program is stored in the read-only memory ROM+, and is executed by the microprocessor CPU+ based on the program.

Data input circuit Di21゜data output circuit 1) 021 of ROBOSO 1-UT311 section 2 is connected to robot mechanism section 1, thereby operating the robot/nod mechanism section.

A program is stored in the read-only memory ROM 2, and the microprocessor CPU 2 executes the program.

The program stored in the read-only memory ROM 1 is then updated to 2 depending on inspection data obtained from an IC tester, etc.
It determines the processing to be performed and controls the IC tester. For example, if the obtained inspection data is defective, an instruction is output to the robot control section 2 without moving the robot to the defective product position. In other words, an external control device generates a program to move Robosol to the location of the defective product, and
5232 ('; sent to the memory of the robot control unit by the communication means. The robot control unit 2 controls the robot 7 and the mechanical unit 1 using the data input circuit Di2+ and the data output circuit D071, and also communicates with the external control device 4. For example, input whether to change the specified position due to a special defect as described above, and input 1.:iy.

If so, the specified random access memory RAM2
Change the contents of and send the take designation signal t.

The control mechanism 1 is controlled based on the data specified by the controller.

The aforementioned random access memo January ΔM 2 LJ',
It has data that instructs a series of actions, and by changing some of the data, the series of actions can be made to the 4j% limit, and various actions can be performed depending on the detection results etc. Be able to do it. It is also possible to change all 15 data, and completely different operations can be performed.

The start of these series of operations is the base 7114 point, and changing only part of the data that instructs the series of operations will omit the movement to the reference point that goes to the robot mechanism, and will allow for high-speed movement. In the embodiment of the present invention in which processing is possible, data was transferred from the control device 4 by serial transmission in units of 1 pin, but this is a parallel pin transfer that simultaneously transfers a plurality of pins. l-transfer is also possible.

(7) Effects of the Invention As described above, according to the present invention, data instructing a series of movements of the robot is generated in an external control device according to external conditions and internal conditions, and is transferred to the robot/nod control unit. Since the control data is changed, it is possible to change the operation in the same way as a branch instruction. Furthermore, since data can be transferred from the outside, it is not limited by the capacity of the memory that stores control data, and ideally it becomes possible to execute an infinite number of operation patterns. Furthermore, since the data that instructs a series of operations is partially changed, the basics in the robot mechanism section, etc. are changed. There is no movement to the IP=point, and high-speed movement processing is possible.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an embodiment of the present invention, and FIG. 2 is a block diagram of a system for explaining the embodiment of the present invention in further detail. ■...Robot Mechanism Department, 2...1: Ihono I
-Control unit, 4...external control device. Figure 21 L-1L-11-
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Claims (1)

[Scope of Claims] ('') A robot control means for controlling a robot/l-119 structure according to control data stored in a memory;
comprising an external control means for manually outputting 1ζ data to an external circuit, the external control means generating control data stored in the memory based on data obtained from the external circuit and transmitting it to the robot control means; A robot control system characterized in that the robot control means stores the transmitted control data in the memory and controls a robot mechanism according to the control data. (2) The transmission of the control data is a 1-bit serial data transfer.
Robot control method described in section.