JPS60147810A - Welding robot controller - Google Patents
Welding robot controllerInfo
- Publication number
- JPS60147810A JPS60147810A JP415084A JP415084A JPS60147810A JP S60147810 A JPS60147810 A JP S60147810A JP 415084 A JP415084 A JP 415084A JP 415084 A JP415084 A JP 415084A JP S60147810 A JPS60147810 A JP S60147810A
- Authority
- JP
- Japan
- Prior art keywords
- welding
- reference point
- teaching
- data
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 58
- 238000000034 method Methods 0.000 claims abstract description 26
- 238000012937 correction Methods 0.000 claims description 17
- 238000005493 welding type Methods 0.000 claims description 13
- 238000013500 data storage Methods 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 3
- 241001422033 Thestylus Species 0.000 abstract description 3
- 210000000707 wrist Anatomy 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 230000008929 regeneration Effects 0.000 description 2
- 238000011069 regeneration method Methods 0.000 description 2
- 238000009941 weaving Methods 0.000 description 2
- OWNRRUFOJXFKCU-UHFFFAOYSA-N Bromadiolone Chemical compound C=1C=C(C=2C=CC(Br)=CC=2)C=CC=1C(O)CC(C=1C(OC2=CC=CC=C2C=1O)=O)C1=CC=CC=C1 OWNRRUFOJXFKCU-UHFFFAOYSA-N 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35461—Digitizing, menu tablet, pencil
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36324—Scan drawing, sketch of part, enter on screen coordinates, lines, circles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36372—Light, magnetic pen
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45104—Lasrobot, welding robot
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Robotics (AREA)
- Numerical Control (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は教示・再生型の溶接ロボットの制御方法に関し
、特にオフラインで教示ができ、且つ教示を簡易になし
得るようにした制御装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control method for a teach/replay type welding robot, and more particularly to a control device that allows off-line teaching and facilitates teaching.
従来のこの種の制御装置における教示方法として次の２
つの方法があった。The following two teaching methods are used in conventional control devices of this type.
There was one way.
（１）ロボットのトーチが画くべき軌跡（即ちワークの
溶接線）を製作図面で１測し、教示に必要なデータ、例
えば適当な間隔で選定した作業軌跡上の通過点の座標値
をキー人力するオフラインティーチング方法。(1) Measure the trajectory that the robot's torch should draw (i.e., the welding line of the workpiece) on the production drawing, and manually calculate the data necessary for teaching, such as the coordinate values of passing points on the work trajectory selected at appropriate intervals. offline teaching method.
（２）ロボットに装着されているトーチを人が持ってワ
ークの溶接線に沿って動かし、ロボットの関節部に設け
たエンコーダの位置信号により適宜間隔で通過点の座標
値を教示するオンラインティーチング方法。(2) An online teaching method in which a person holds a torch attached to the robot and moves it along the welding line of the workpiece, and teaches the coordinate values of passing points at appropriate intervals using position signals from encoders installed at the joints of the robot. .
□ 前者の方法はオフラインで教示できるので、教示の
為に、ロボットの稼働を止める必要がない利点はあるが
、製作図面から教示に必要な通過点の座標値を算出する
のが煩雑であること、再生時（プレイバンク時）に、ワ
ークの位置を教示した座種糸と一致するように正確に位
置決めする必要があるという難点がある。□ The former method has the advantage of not having to stop the robot's operation for teaching because it can be taught offline, but it is complicated to calculate the coordinate values of the passing points necessary for teaching from the manufacturing drawings. There is a drawback in that during playback (playbanking), it is necessary to accurately position the workpiece so that it matches the taught seating thread.
また後者の方法は、教示時にロボットの稼働を停める必
要があり、更に実際にロボットを動かし □て教示する
ことができない場合もあるという難点もあった・
本発明は上記従来の２方法の難点の解消を目的としてな
されたもので、その要旨とする処が、図面情報に応じた
第１基準点と溶接線データとを含む教示データを入力す
るデジタイザと、溶接の種類に応じて溶接データを決定
する溶接データ決定手段と、上記デジタイザから入力さ
れた少なくとも１つの第１基準点を記憶する第１基準点
記憶手段と、上記デジタイザから入力された溶接線デー
タを記憶する溶接線データ記憶手段と、上記第１基準点
に対応するワーク側の第２基準点の位置情報を入力し、
この第２基準点の位置に上記第１基準点の位置が一致す
るように修正する基準点修正手段と、この基準点修正方
法に基づいて上記溶接線データを修正する溶接線データ
修正手段と、こ基づいてロボットに再生させる再生手段
とを有してなる点にある溶接用ロボットの制御装置を提
供するものである。In addition, the latter method has the disadvantage that it is necessary to stop the operation of the robot when teaching, and furthermore, it may not be possible to actually move the robot and teach the robot. This was done with the aim of solving the problem, and its gist is that it is a digitizer that inputs teaching data including a first reference point and welding line data according to drawing information, and a digitizer that determines welding data according to the type of welding. a first reference point storage means for storing at least one first reference point input from the digitizer; a weld line data storage means for storing weld line data input from the digitizer; Input the position information of the second reference point on the workpiece side corresponding to the first reference point above,
a reference point correction means for correcting the position of the first reference point to match the position of the second reference point; a weld line data correction means for correcting the weld line data based on the reference point correction method; The object of the present invention is to provide a control device for a welding robot, which includes a regeneration means for regenerating the robot based on this.
向上記構成要素中の各手段は、マイクロコンピュータ、
ＣＰＵ、メモリ等のハードウェアとソフトウェアによっ
て構成され、同様の機能を発揮し得る全てのものを含む
ものである。Each means in the aforementioned constituent elements includes a microcomputer,
It is composed of hardware and software such as a CPU and memory, and includes everything that can perform similar functions.
続いて第１図以下の添付図面を参照しつつ、本発明を具
体化した実施例に付き説明し、本発明の理解に供する。Next, embodiments embodying the present invention will be described with reference to the accompanying drawings starting with FIG. 1 to provide an understanding of the present invention.
第１図は本発明の一実施例である制御装置の一構成例を
示すブロック図、第２図は教示作業手順を示すフロー図
、第３図は再生作業手順を示すフロー図、第４図は溶接
の種類とトーチ姿勢の関係を示す斜視図、第５図はデジ
タイザによる教示例を説明する為の斜視図、第６図は再
生作業手順を説明する為の図で、同図（ａ）は溶接ロボ
ットとワークの関係を示す斜視図、同図（ｂ）は教示デ
ータ修正手順を説明する為の平面図である。Fig. 1 is a block diagram showing an example of the configuration of a control device which is an embodiment of the present invention, Fig. 2 is a flow chart showing a teaching work procedure, Fig. 3 is a flow chart showing a reproduction work procedure, and Fig. 4 5 is a perspective view showing the relationship between the type of welding and the torch posture, FIG. 5 is a perspective view illustrating an example of teaching using a digitizer, and FIG. 6 is a diagram illustrating the reproduction work procedure. 1 is a perspective view showing the relationship between the welding robot and the workpiece, and FIG.
第Ｆ図はｎ個の自由度を持つロボットに関するもので、
第１図において操作盤は、マイクロコンピュータ４の動
作モードを切換える為のもので、デジタイザ２はその基
板面に置かれた図面上の位置をスタイラスペン３で押さ
えた時、その位置情報をインフッニー支回路５を介して
Ｃ１）Ｕ６に入力する。ＲＡＭ７はこの入力情報を記憶
するランダムアクセスメモリ、ＲＯＭＢは予め溶接の種
類に応じた溶接データやプログ与ムを記憶しているリー
ドオンリーメモリで、溶接データとは溶接の種類により
定まるトーチ角度、ウィービング周期、ウィービング量
、トーチの移動速度等溶接ロボットが再生時に実行が要
求される事項で、溶接の種類には第４図（ａ）に示す奥
杏せ？８榛、同図（ｂ）に示す隅肉溶接、同図（Ｃ）に
示すフランジ溶接等があり、これらの溶接の種類に応じ
てトーチの姿勢等の溶接データは一義的に決定される。Figure F concerns a robot with n degrees of freedom.
In FIG. 1, the operation panel is for switching the operation mode of the microcomputer 4, and when the digitizer 2 presses a position on the drawing placed on the board surface with the stylus pen 3, the position information is transferred to the infunniture support. It is input to C1) U6 via circuit 5. RAM7 is a random access memory that stores this input information, and ROMB is a read-only memory that stores welding data and programs according to the type of welding.Welding data is the torch angle and weaving that are determined by the type of welding. Items that the welding robot is required to perform during regeneration, such as the period, weaving amount, and torch movement speed, are determined by the type of welding shown in Figure 4 (a). Welding data such as the orientation of the torch are uniquely determined depending on the type of welding, such as fillet welding shown in FIG.
ＣＰＵ６は「教示モード」においては教示データとその
基準点とをＲＡＭ７に記憶させ、「再生モード」では上
記基準点に対応するワーク側の基準点の入力値に上記基
準点・を一致させる修正を施し、この修正方法に基づい
て上記教示データの修正を行うと共に、その修正された
教示値と、ＲＯＭ８から読み出した溶接データとからロ
ボットの各アーム及び手首の位置データを逐次演算しし
、出力インタフェース回路９を介して出力される。この
各出力値はＤ／Ａ変換器１０−１〜１０−ｎでナナログ
値に変換され、増幅器１１−１〜１１−ｎは各駆動モー
タ１２−１〜１２−ｎを駆動する。In the "teaching mode", the CPU 6 stores the teaching data and its reference point in the RAM 7, and in the "reproduction mode", the CPU 6 makes a correction to match the input value of the reference point on the workpiece side corresponding to the above-mentioned reference point. The teaching data is corrected based on this correction method, and the position data of each arm and wrist of the robot is sequentially calculated from the corrected teaching value and the welding data read from the ROM 8, and the position data of each arm and wrist of the robot is calculated from the output interface. It is output via circuit 9. These output values are converted into analog values by D/A converters 10-1 to 10-n, and amplifiers 11-1 to 11-n drive each drive motor 12-1 to 12-n.
ロータリエンコーダ１３−１〜１３−ｎは夫々各アーム
及び手首の位置番検出し、Ｄ／Ａ変換器１４−１〜１４
−ｎ及び増幅器’１５−１〜１５−ｎを介して駆動装置
１１−１〜１１−ｎにフィードバックすることにより各
アーム及び手首が夫々各出力値に従って移動す墨ように
制御する。Rotary encoders 13-1 to 13-n detect the position numbers of each arm and wrist, respectively, and D/A converters 14-1 to 14
-n and amplifiers 15-1 to 15-n to the driving devices 11-1 to 11-n, each arm and wrist are controlled to move in accordance with each output value.
次に第２図により教示作業手順を説明する。以下手順（
ステップ）の番号をｓ、、ｓ２．ｓ３゜・・・で示す。Next, the teaching procedure will be explained with reference to FIG. The following steps (
step) numbers s, , s2 . Indicated by s3°...
まずオペレータは操作１１Ｈによって「教示モード」を
選択した後ステップＳ′！において溶接の種類を入力す
る。ＣＰＵ６はこの信号をＲＡＭ７に記憶させる。次に
オペレータは操作盤ｌを「第１基準点教示モード」に切
換え、ステップｓ２において第５図に示すように、デジ
タイザ２の入力面上に胃かれた製作図面１７に表されて
いる溶接線上の２つの基準点（第１基準点）、即ち始点
Ａと終点りとをスタイラスペン３で押さえ、その位置情
報をＣＰＵ６に入力する。ＣＰＵ６はこの第１基準点の
位置情報をＲＡＭ７に記憶させる。次にオペレータは操
作盤１を「溶接線教示モード」に切換え、ステップＳ３
においてスタイラスペン３で点Ａ、ｒ直線」９点Ｂ、ｒ
円弧」１点Ｃ９点りを順次押さえ、それら各点の位置情
報及びＡＢ間は直線、ＢＣＤは円弧である旨の情報をＣ
ＰＵ６に入力し、ＣＰＵ６はこれらの情報をＲＡＭ７に
記憶させて教示作業手順を終了する。First, the operator selects the "teaching mode" through operation 11H, and then steps S'! Enter the type of welding in . The CPU 6 stores this signal in the RAM 7. Next, the operator switches the operation panel l to the "first reference point teaching mode", and in step s2, as shown in FIG. The two reference points (first reference points), that is, the starting point A and the ending point, are pressed with the stylus pen 3, and the position information is input to the CPU 6. The CPU 6 stores the position information of this first reference point in the RAM 7. Next, the operator switches the operation panel 1 to the "welding line teaching mode", and in step S3
, point A, r straight line with stylus pen 3.
"Circular arc" 1 point C
The information is input to the PU 6, and the CPU 6 stores this information in the RAM 7, and ends the teaching procedure.
次に第１図、第３図及び第６図により再生時の作業手順
と教示データの修正手順とを説明する。Next, the working procedure during reproduction and the teaching data correction procedure will be explained with reference to FIGS. 1, 3, and 6.
第６図（ａ）は溶接ロボット１９とワーク２１の斜視図
で、ワーク２１は第４図（ｂ）に示したまずオペレータ
は操作盤１をワーク側の基準点の位置を入力する［第２
基準点入力モード」に切換えた後、ステップＳ、におい
て作業台上に固定されたワーク２１の製作図面１７上で
選定した前記２つの第１基準点Ａ、Ｄに対応する第２基
準点Ａ’、Ｂ’の位置にロボットアーム先端に設けた溶
接トーチ２０を遠隔操作により（操作盤１を操作して）
導き、操作盤に設けた教示スイツチを押してその座標値
（各関節角度信号）をＣＰＵ６に□ 入力する。面この
第２基準点Ａ’ 、Ｄ’の入力はロボット１９を実際に
作動させてトーチ２０の先端を第２基準点Ａ’、Ｄ’に
一致させた時の各関節部に設けたロータリエンコーダ１
３−１〜１３−ｎの位置信号により入力する。FIG. 6(a) is a perspective view of the welding robot 19 and the workpiece 21, and the workpiece 21 is shown in FIG.
After switching to the reference point input mode, a second reference point A' corresponding to the two first reference points A and D selected on the manufacturing drawing 17 of the workpiece 21 fixed on the workbench in step S. , remotely control the welding torch 20 installed at the tip of the robot arm at position B' (by operating the operation panel 1).
□ input the coordinate values (each joint angle signal) to the CPU 6 by pressing the teaching switch provided on the operation panel. The second reference points A' and D' are inputted by rotary encoders provided at each joint when the robot 19 is actually operated and the tip of the torch 20 is aligned with the second reference points A' and D'. 1
Input is performed using position signals 3-1 to 13-n.
次にオペレータ操作盤１を「再生モード」に切換え、ス
テップＳ５において再生スタートボタンを押して再生ス
タートを指令する。するとＣＰＵ６は第１基準点Ａ、Ｄ
を第２基準点Ａ’ 、Ｄ’に一致させる修正を行うステ
ップＳＧを実行する。Next, the operator operation panel 1 is switched to "reproduction mode", and in step S5, the reproduction start button is pressed to instruct reproduction start. Then, the CPU 6 moves to the first reference points A and D.
Step SG is executed to make corrections to match the second reference points A' and D'.
第６図（ｂ）はこの修正方法の一例を示す図で第１基準
点Ａ、ＤをＸ軸及びＹ軸方向に第１基準点Ａが第２基準
点Ａ′に一致するまで平行に移動させ、ついで第２基準
点Ａ′を中心にして第１基準点りが第２基準点Ｄ′に一
致するまで回転させる。Figure 6(b) is a diagram showing an example of this correction method, in which the first reference points A and D are moved in parallel in the X-axis and Y-axis directions until the first reference point A coincides with the second reference point A'. Then, it is rotated about the second reference point A' until the first reference point coincides with the second reference point D'.
次にこの平行移動量と回転角度に基づいてＣＰＵ６は溶
接線データ全体をステップｓＧで実行した第１基準点Ａ
、Ｄの修正と同じ修正を施す座標変換のステップＳ７を
実行する。即ち溶接線データ全体を上記第１基準点Ａ、
Ｄと同じ量だけ平行移動させた後、第１基準点りを同じ
量回転させることにより溶接線データの修正を行いＲＡ
Ｍ７に記憶する０次にＣＰＵ６は、上記修正された溶接
線データと、ステップＳＩで入力された溶接の種類に対
応する溶接データとからロボットを再生制御するステッ
プＳ８を実行する。即ちＣＰＵ６は指令された溶接の種
類に対応するトーチ姿勢等の溶接データをＲＯＭ８から
、また修正された溶接線の教示位置データをＲＡＭ７か
ら読み出し、トーチ２０が所定トーチ姿勢を保ちながら
ワーク２１の溶接線１Ｂ’をトレースするように上記ト
ーチ姿勢データと上記修正された溶接線の教示位置デー
タとを夫々の関節を駆動するモータＭ（１２−〜ｌ２−
ｎ）へＤ／Ａ変換器１０．増幅器１１等を経て送出し、
溶接ロボット１９のアーム及び手首１６の位置及び手首
に装着されているトーチ２０姿勢を制御する（再生）。Next, based on this parallel movement amount and rotation angle, the CPU 6 selects the first reference point A, which is the entire welding line data executed in step sG.
, D. Step S7 of coordinate transformation is executed to perform the same modification as that of D. That is, the entire welding line data is set at the first reference point A,
After moving in parallel by the same amount as D, the welding line data is corrected by rotating the first reference point by the same amount and RA
The zero-order CPU 6 stored in M7 executes step S8 in which the robot is regenerated and controlled based on the corrected welding line data and the welding data corresponding to the type of welding input in step SI. That is, the CPU 6 reads welding data such as the torch posture corresponding to the type of welding commanded from the ROM 8 and the corrected teaching position data of the welding line from the RAM 7, and welds the workpiece 21 while the torch 20 maintains the predetermined torch posture. The torch posture data and the corrected teaching position data of the welding line are transferred to motors M (12- to l2-) that drive the respective joints so as to trace line 1B'.
n) to D/A converter 10. Send out via amplifier 11 etc.
The positions of the arm and wrist 16 of the welding robot 19 and the posture of the torch 20 attached to the wrist are controlled (reproduction).
この場合Ａ’ Ｂ’間の座標は直線補間によりＢ’ Ｃ
’ Ｄ’間の座標は円弧補間により演算してめる。In this case, the coordinates between A' and B' are determined by linear interpolation.
The coordinates between 'D' are calculated by circular interpolation.
向上記実施例において直線Ａ’ Ｂ’間はトーチ２０の
姿勢は一定の姿勢でもって移動するので、トーチ２０の
先端の軌跡はロボットの手首の軌跡と一致するが、円弧
Ｂ’ Ｃ’ Ｄ’間はトーチ２゜を回転させてワーク２
１に対して所定の角度を維持させる必要があるので手首
の軌跡と一致せず、トーチ２０の回転量を補正する修正
が必要である。In the embodiment described above, since the torch 20 moves with a constant posture between straight lines A' and B', the trajectory of the tip of the torch 20 matches the trajectory of the robot's wrist, but the arc B'C'D' In between, rotate the torch 2 degrees and
Since it is necessary to maintain a predetermined angle with respect to 1, the trajectory of the torch 20 does not match the trajectory of the wrist, and correction is required to correct the amount of rotation of the torch 20.
このようなトーチ姿勢に応じた補正は周知の演算手順に
より達成されるので、ここではその説明を省略する。Since such correction according to the torch posture is achieved by a well-known calculation procedure, the explanation thereof will be omitted here.
面上記実施例中第１基準点をＡ、Ｂ２点としたが、ワー
クが置かれる向きが一定しており、一方向の位置のみの
修正（例えば平行移動のみ）で足りる場合は第１基準点
及び第２基準点は夫々１ケ所でよいことはいうまでもな
い。In the above example, the first reference point was two points A and B, but if the direction in which the workpiece is placed is constant and it is sufficient to correct the position in one direction only (for example, only parallel movement), the first reference point It goes without saying that only one and one second reference point is required.
また２つの第１基準点を２つの第２基準点に夫々一致さ
せる修正法は、上記実施例のように平行移動と回転移動
との組合せに限られるものでないことはいうまでもない
。Furthermore, it goes without saying that the correction method for making the two first reference points coincide with the two second reference points, respectively, is not limited to the combination of parallel movement and rotational movement as in the above embodiment.
本発明は以上述べたように図面情報に応じた第１基準点
と溶接線データとを含む教示データを入力するデジタイ
ザと、溶接の種類に応じて溶接データを決定する溶接デ
ータ決定手段と、上デジタイザ記から入力された少なく
とも１つの第１基準点を記憶する第１基準点記憶手段と
、上記デジタイザから入力された溶接線データを記憶す
る溶接線データ記憶手段と、上記第１基準点に対応する
ワーク側の第２基準点の位置情報を入力し、この第２基
準点の位置に上記第１基準点の位置が一致するように修
正する基準点修正手段と、この基準点修正方法に基づい
て上記溶接線データを修正す線データ及び上記溶接デー
タに基づいてロボットに再生させる再生手段とを有して
なる溶接ロボットの制御装置であるから教示はデジタイ
ザによりオフラインで行い得るのでロボットの遊休時間
を生じることがなく、また教示データの座標値の計算を
必要としないので教示手順が簡易であり、また再生時に
ワークの正確な位置決めを要せず、教示データ中の第１
基準点に対応する第２基準点の位置情報を入力するだけ
でその他の点は全く教示する必要がない等実用工大きな
効果が得られる。As described above, the present invention includes a digitizer that inputs teaching data including a first reference point and welding line data according to drawing information, a welding data determining means that determines welding data according to the type of welding, and a first reference point storage means for storing at least one first reference point inputted from the digitizer; a welding line data storage means for storing welding line data inputted from the digitizer; and a welding line data storage means corresponding to the first reference point. a reference point correction means for inputting position information of a second reference point on the workpiece side and correcting the position of the first reference point so that the position of the second reference point coincides with the position of the second reference point, and a reference point correction method based on the reference point correction method. Since this is a control device for a welding robot, it has line data for correcting the welding line data and a reproduction means for causing the robot to reproduce the welding data based on the welding data, so teaching can be done offline by a digitizer, so the idle time of the robot is reduced. The teaching procedure is simple because it does not require calculation of the coordinate values of the teaching data, and it does not require accurate positioning of the workpiece during playback.
Great practical effects can be obtained, such as simply inputting the position information of the second reference point corresponding to the reference point and no need to teach any other points.
第１図は本発明の一実施例に係る制御装置の一構成例を
示すブロック図、第２図は教示作業手順を示すフロー図
、第３図は再生作業手順を示すフロー図、第４図は溶接
の種類とトーチ姿勢の関係を示す斜視図、第５図はデジ
タイザによる教示例を説明する為の斜視図、第６図は再
生作業手順を説明する為の図で、同図（ａ）は溶接ロボ
ットとワークの関係を示す斜視図、同図（ｂ）は教示デ
１
一夕修正手順を説明する為の平面図である。
（符号の説明） ′
１・・・操作盤 □ ２・・・デジタイザ３・・・スタ
イラスペン
４・・・マイクロコンピユー′り
５・・・入力インタフェース回路
６・・・ＣＰＵ ７・・・ＲＡＭ
８・・・ＲＯＭ □ □
９・・・出力インタフェース回路
１０．１４・・・Ｄ／Ａ変換器 ・
１１．１５・・・増幅器 ・１２・・・・・駆動モータ
１３…ロータリエンコーダ
１６・・・ロボットの各アーム及び手首の各自由度１７
・・・製作図面 □
１８．１８’・・・溶接線 １９・・・溶接ロボット２
０・・・トーチ □
２１．２１’・・・ワーク
Ａ、 Ｄ・・・第１基準点
Ａ’、Ｄ’・・・第２基準点
２
１
第２図
第３図
手続補正書
【、事件の表示 昭和５９年特許願第 ４１５０号２、
発明の名称
溶接ロボットの制御装置
３、補正をする者
事件との関係 特許出願人
住所 〒６５１ 神戸市中央区脇浜町１丁目３番１８号
名称 （１１９）株式会社 神戸製畠岡所代表者 牧
冬−彦
１、代理人 〒５３０
５、補正命令の日付 昭和５９年４月４日（発送日昭和
５９年４月２４日）６、補正の対象
図面
ｆ６FIG. 1 is a block diagram showing an example of the configuration of a control device according to an embodiment of the present invention, FIG. 2 is a flow chart showing a teaching procedure, FIG. 3 is a flow diagram showing a reproduction procedure, and FIG. 5 is a perspective view showing the relationship between the type of welding and the torch posture, FIG. 5 is a perspective view illustrating an example of teaching using a digitizer, and FIG. 6 is a diagram illustrating the reproduction work procedure. 1 is a perspective view showing the relationship between the welding robot and the workpiece, and FIG. (Explanation of symbols) 1...Operation panel □ 2...Digitizer 3...Stylus pen 4...Microcomputer 5...Input interface circuit 6...CPU 7...RAM 8...ROM □ □ 9...Output interface circuit 10.14...D/A converter 11.15...Amplifier 12...Drive motor 13...Rotary encoder 16... 17 degrees of freedom for each arm and wrist of the robot
...Production drawing □ 18.18'...Welding line 19...Welding robot 2
0...Torch □ 21.21'...Work A, D...1st reference point A', D'...2nd reference point 2 1 Figure 2 Figure 3 Procedural amendment [, Case Indication of 1982 Patent Application No. 4150 2,
Name of the invention: Welding robot control device 3, relationship with the case of the person making the amendment Patent applicant address: 1-3-18 Wakihama-cho, Chuo-ku, Kobe 651 Name (119) Kobe Seisaku Hatakeokasho Co., Ltd. Representative Maki
Fuyu-Hiko 1, Agent 530 5, Date of amendment order: April 4, 1980 (Shipping date: April 24, 1980) 6, Drawing subject to amendment f6
Claims (1)
含む教示データを入力するデジタイザと、溶接の種類に
応じて溶接データを決定する溶接データ決定手段と、上
記デジタイザから入力された少なくとも１つの第１基準
点を記憶する第１基準点記憶手段と、上記デジタイザか
ら入力された溶接線データを記憶する溶接線データ記憶
手段と、上記第１基準点に対応するワーク側の第２基準
点の位置情報を入力し、この第２基準点の位置に上記第
１基準点の位置が一致するように修正する基準点修正手
段と、この基準点修正方法に基づいて上記溶接線データ
を修正する溶接線データ修正手段と、この修正された溶
接線データ及び上記溶接データに基づいてロボットに再
生させる再生手段とを有してなる溶接ロボットの制御装
置。(1) A digitizer that inputs teaching data including a first reference point and welding line data according to drawing information, a welding data determining means that determines welding data according to the type of welding, and a welding data determining means that determines welding data according to the type of welding, a first reference point storage means for storing at least one first reference point; a welding line data storage means for storing welding line data inputted from the digitizer; and a second reference point on the workpiece side corresponding to the first reference point. a reference point correction means for inputting position information of a reference point and correcting the position of the first reference point to match the position of the second reference point, and the welding line data based on the reference point correction method. A control device for a welding robot, comprising a welding line data correction means for correcting welding line data, and a reproduction means for causing the robot to reproduce the data based on the corrected welding line data and the welding data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP415084A JPS60147810A (en) | 1984-01-11 | 1984-01-11 | Welding robot controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP415084A JPS60147810A (en) | 1984-01-11 | 1984-01-11 | Welding robot controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60147810A true JPS60147810A (en) | 1985-08-03 |
Family
ID=11576734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP415084A Pending JPS60147810A (en) | 1984-01-11 | 1984-01-11 | Welding robot controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60147810A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62156703A (en) * | 1985-12-27 | 1987-07-11 | Hitachi Zosen Corp | Device for preparing numerical control data of numerically controlled welding robot |
| JPS62298806A (en) * | 1986-06-18 | 1987-12-25 | Tokico Ltd | Converting method for teaching data on industrial robot |
| JPS63271506A (en) * | 1987-04-28 | 1988-11-09 | Honda Motor Co Ltd | Coordinate converting method for robot |
| JP2010271943A (en) * | 2009-05-21 | 2010-12-02 | Toyota Auto Body Co Ltd | Device, method and program for electronization of spot welding point position |
| CN102810323A (en) * | 2011-05-30 | 2012-12-05 | 日立视听媒体股份有限公司 | Optical pickup device |
-
1984
- 1984-01-11 JP JP415084A patent/JPS60147810A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62156703A (en) * | 1985-12-27 | 1987-07-11 | Hitachi Zosen Corp | Device for preparing numerical control data of numerically controlled welding robot |
| JPS62298806A (en) * | 1986-06-18 | 1987-12-25 | Tokico Ltd | Converting method for teaching data on industrial robot |
| JPS63271506A (en) * | 1987-04-28 | 1988-11-09 | Honda Motor Co Ltd | Coordinate converting method for robot |
| JP2010271943A (en) * | 2009-05-21 | 2010-12-02 | Toyota Auto Body Co Ltd | Device, method and program for electronization of spot welding point position |
| CN102810323A (en) * | 2011-05-30 | 2012-12-05 | 日立视听媒体股份有限公司 | Optical pickup device |
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