JPS60101606A - Automatic robot operation system - Google Patents

Abstract

PURPOSE:To teach an accurate position of a robot and to improve the operability of the robot with a compact design by applying a language programming system to teach the actuation and working points of the robot. CONSTITUTION:A program mode is selected by a mode selection key on an operation board 4, and the numerical input is performed for the name of a work coordinate system, (x), (y) and (z) components and a revolving angle around an axis Z to the coordinate system of a robot 1 respectively. Then the program name is fed by a key. Then an operator feeds successively the automatic operation sequences in a robot language and by means of keys while looking at a CRT display device 5. An automatic operation mode is selected by a selection key on the board 4 after the programming is over. Then the robot 1 is started in response to a program.

Description

[Detailed description of the invention] [Field of application of the invention] The present invention relates to a robot automatic driving system.

[Background of the invention]

Methods for making robots operate automatically include methods such as manually moving the robot to the position to be taught and teaching the control device the position, master-slave methods, etc., and methods such as a master-slave method, and a method in which the worker directly teaches the position while operating the robot. Alternatively, a method is known in which all operating points are calculated as absolute positions in the robot coordinate system using a theoretical calculation and are input as a description. However, with the first two methods, it is troublesome to work while moving the robot, and although it is time-consuming, it is not possible to teach the exact position, and it is necessary to teach the robot again after the robot is picked. However, the last method had the disadvantage of lacking safety.Also, the last method requires complicated calculations to determine the absolute position of all points in the robot coordinate system, and requires careful attention to the placement of peripheral devices. I needed to.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a method that enables a robot to operate automatically without requiring position teaching while moving the robot and without performing complicated calculations.

[Summary of the invention]

The present invention inputs and stores position data of a robot's operating point into a control device as position data in a relative coordinate system provided at an arbitrary position within the robot coordinate system.
The stored position data is processed into position data in the robot coordinate system to control the robot.

This allows the robot to operate automatically without complicated teaching or complicated calculations.

[Embodiments of the invention]

The present invention will be described below based on an embodiment shown in the drawings. FIG. 1 is an external view showing how the assembly robot 1 is operated in playback mode to assemble parts on the peripheral device 3-j to objects positioned on the peripheral device 3-1.

The movement of the robot 1 is controlled by a control device 2. In addition, an operation panel 4 installed on the control device 2
The CRT display device 5 is used to teach the operating points necessary for automatic operation of the robot 1 and perform programming to create sequential movements.
It is used to input instructions such as stopping, etc., and its status is displayed.

FIG. 2 shows, in three-dimensional spatial coordinates, the position of the one-axis work point P13 for playbanking of the robot 1 in FIG. Robot coordinate system XYZ 6 is the absolute stationary coordinate determined by robot 1, 7-7 coordinate system X1YIZi
7 and the work coordinate system XjYjzzj8 are relative coordinates assumed to be at arbitrary positions on the peripheral device 3-1 and the peripheral device 3-j, respectively, and are 6D.For simplicity, the Zl and zj axes of each relative coordinate are 2 as in this embodiment. If it is parallel to the axis, the attitude and orientation of each relative coordinate with respect to the absolute stationary coordinate is the work coordinate system X1YiZ
It is given by the attitude angle Q111 of l and the attitude angle Qj12 of the workpiece coordinate system XjYjjzz. Also, the positional relationship between the origin of each relative coordinate and the origin of the robot coordinate system XYZ is the position vector W19 of the workpiece coordinate system XIYIZi and the workpiece coordinate system Xj
The position vector of Yjzz is Wj10.

This is Wl, Wj, θ1. The OjO value is fixed and known at the time of installation of the robot 1, the peripheral device 3-1, and the peripheral device @3-j.

On the other hand, the operating point P13 is also a point on the workpiece coordinate thread XIYIZ17, and its position can be easily and accurately determined from the drawings of the parts and jigs to be assembled, and the relative position vector pH4 of the operating point P
It is expressed as Moreover, it is an independent vector quantity that is not affected even if the installation position of the robot 1 or the peripheral device 3-1 is shifted.

In order for the robot to automatically move on an operating point, its position must be expressed as an absolute position with respect to the robot coordinate system XYZ 6, and the arithmetic processing unit in the control device 2 performs trajectory interpolation to control the robot. The absolute position vector P15 of the operating point P is P = Wl 10 Pi, so the direction component of each vector is P(xoIyoIzo) Wl (Xwt l ywt I Zyt) Pi (
``Pl* 7P, t zPi), x o=XW, + x p, 4eosθk)'p
s @ i nθlyO2yW i + X p ,
8 l n 19 l +7 p t 008θ1z
o=zwl+zPI holds true.

That is, by arbitrarily assuming relative coordinates that allow the position of each operating point to be easily grasped, the positional relationship between the relative coordinates and the robot coordinates By inputting the description through the robot 1, the robot 1 can operate automatically without any teaching.

Figure 3 is a flowchart showing the steps to automatically operate the robot 1 without teaching using the above method. The fourth
A supplementary explanation will be given using the example of the description input displayed on the CRT display device shown in FIG.

First, programming is started by selecting the program mode 16 of the mode selection key on the operation panel 4, as shown in FIG. ) is performed in work coordinate system declaration 19. That is, the workpiece coordinate system name 5, the X component station of the workpiece coordinate thread origin, and the y component 2 are manually operated using the keys on the operation panel.
7.2 components a and zIIi for the robot coordinate system
11] Input the rotation angle of the rotation wheel (4) as a one-order value, and similarly input it for all the workpiece coordinate systems that you want to define. Next, when the user enters the program name designation 21 and manually enters the program name (capital) on the operation panel 4, a program step number 31 appears on the CRT display device 5, indicating that programming n has begun. Therefore, in the following, the operation sequence of automatic operation can be input manually using the robot language in order, but the operation 2nd column following robot operation command 32 is written in the robot language so that the operation point position according to this embodiment can be directly described. The syntax interpretation processing software has been changed.

The operating point number 33 in the operand column is associated with the work coordinate system name δ defined thereafter and the work coordinate system X component, y component, and y component of the operating point. When instructing, program step number 31
As described in 005, operating point teaching can be performed using only operating point number 33. The descriptions of the track interpolation mode 37, robot operating speed, etc. are conventional operands for the robot language, and their explanations will be omitted.

After completing the Glog 2ming above, to perform the playpunk, select the automatic operation mode 18 of the mode selection key on the operation panel 4 as shown in Figure 3 (b) and do the same as the above programming. Specify the program name (9) using the operation keys, press the start button on the operation panel 4, and the 90 bot 1 will operate as a log 2ming machine.

In addition, if you want to modify the declaration data of the work coordinate system that has already been programmed, the data of operating point number 33, or if you want to newly register another one, please refer to Figure 3 (C
), select the editing mode using the mode selection key on the operation panel 4 (17), and then select whether to edit the work coordinate system using the edit menu or whether to edit the program using the program name specification 21. , re-correction and playback of the added data are possible by simply performing the same processing as programming by operating the keys on the operation panel 4.

As described above, according to this embodiment, it is possible to teach the robot's movements and operating points by programming in the robot language, eliminating the need for manual teaching while moving the robot each time, and the need for a teaching box for this purpose. It is possible to teach the position and easily correct the position, and it has effects such as making the control device smaller and cheaper, improving efficiency in operability, and increasing precision.

〔Effect of the invention〕

According to the present invention, there is no need for teaching while moving the robot manually), and the robot can be operated automatically without performing complicated calculations.

Accordingly, the teaching pendant can be eliminated from the control device. In addition, even if you replace the robot or change the layout with peripheral devices, the motion sequence and motion point teaching data can be used as-is by simply modifying the declaration data of the relative coordinate system.
Improved safety, smaller and cheaper control equipment, operating point teaching
This has the effect of shortening modification time and generalizing program data.

It should be noted that the present invention is not limited to the above embodiments.

[Brief explanation of the drawing]

FIG. 1 is an external view showing a heart configuration according to an embodiment of the present invention, FIG. 2 is a state diagram for explaining the concept of an embodiment of the present invention, and FIGS. 3(a) (b) (e ) shows a procedure for automatically operating a robot according to an embodiment of the present invention 7
0-chart, FIG. 4 shows an example of the description of the 190 work coordinate system declaration in FIG. 3, and FIG. 5 shows an example of the programming description of n in FIG. DESCRIPTION OF SYMBOLS 1... Robot, 2... Control device, 3-1... Peripheral device, 3-j... Peripheral device, 4... Operation panel, 5...
...CRT display device, 6...Robot coordinate system xYz1
7... Relative coordinate system (work coordinate system X, YIZ1), 8
...Relative coordinate system (work coordinate system XjYjZj), 9.
...Position vector of work coordinate system XIYiZj, 10.
...Position vector of work coordinate system XjYjzz, 11.
... Attitude angle of workpiece coordinate system XIYIZi, 12... Attitude angle of workpiece coordinate system XjYjzzj, 13... Operating point P
114... Relative position vector of operating point P, 15...
Absolute position vector of operating point P, 5... Workpiece coordinate system name,... X component of workpiece coordinate system origin, n... Y component of workpiece coordinate system origin, Country... Workpiece coordinate system origin 2
Component, 29...Rotation angle of the two-axis rotary wheel relative to the robot coordinate system of the workpiece coordinate system, machining...Program name, 31
...Program step number, 32...Robot motion command, 33...Operating point number, 34...Work coordinate system X component of the operating point, Ah...Work coordinate system y component of the operating point, Audience ...Two components of the workpiece coordinate system at the operating point, 37...
Track interpolation mode, ah... robot operating speed. Agent Patent Attorney Masami Akimoto

Claims (1)

[Claims] 1. Store the position data of the robot's operating point in the control device as position data in a relative coordinate system set at an arbitrary position within the robot coordinate system, and store the input and stored position data in the robot coordinate system. A robot automatic operation system that is characterized by controlling the robot by processing position data in the robot.