JPS60173611A - Information monitor method of positioner for robot - Google Patents

Abstract

PURPOSE:To decrease the time required for maintenance by transferring various information as to a positioner to a robot controller and displaying it onto a monitor screen. CONSTITUTION:A data transfer line 33 tying a CPU32 in a robot controller 2 and a CPU21 in a positioner controller 12 is utilized as a data transfer line between the positioner controllers 12 and 2. Then a program is formed in advance so that required information as to the positioner is transferred to the CPU32 selectively or all information is transferred thereto at the same time when a specific key on a keyboard 4 is operated. Thus, various information as to the positioner is displayed on a CRT5 of the robot controller 2, the operator discriminates the propriety of the teaching by observing the display and the time required for the maintenance is decreased.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for monitoring various information about a rosette positioner that positions a workpiece.

An industrial robot, such as a welding rosette, includes a donkey body 1 and a robot control device 2, as shown in FIG. The robot control device 2 has the function of giving a movement command to the welding torch 3 to the rosette body 1, as well as controlling the welding current,
Based on the welding voltage, welding speed, and production of the cathode ray tube (hereinafter referred to as
It has a function to display on a monitor screen of a display means such as CRT (CRT) 5 or the like.

Hikoo, the welding power source 6 is used to set the first welding current and welding voltage for the welding wire 7 based on the commands from the robot control device 2, and also to set the welding current and welding voltage to the welding wire 7. Field operation panel 8 for cut
is used to instruct the robot to select a control mode (automatic, teaching, etc.), start and stop the robot, etc. at the work site.

When such a robot welds a workpiece (object to be welded) (not shown), a positioner is used to position the workpiece with respect to the robot body 1. This positioner includes a positioner main body 9 as illustrated in the figure,
According to the positioner main body 9, the workpiece is moved by the clampers 13 and 14 disposed on the left and right sides of the positioner main body 9, in conjunction with the positioner control device 12 that controls the actuators 10, 11 (thermotors, etc.) of the positioner main body. The work is clamped and rotated to position the work. Although this positioner main body 9 has a uniaxial configuration, a multi-axis configuration may also be applied depending on the shape of the workpiece.

By the way, in order to properly and quickly perform teaching and maintenance of the positioner, it is necessary to check various information about the positioner, such as a) whether preparations for automatic operation of the positioner have been completed or not, and b) information on the positioner body 9. It is necessary for the operator to grasp information such as the rotational speed and position of each rotating shaft; c) the content of rotation commands and speed commands for the positioner main body 9; and d) information on abnormalities in the positioner.

However, it does not have a function of monitoring and displaying information about the conventional positive eye that can be read by mouth, resulting in the inconvenience that the above-mentioned teaching, maintenance, etc. are time-consuming.

In order to prevent such inconvenience, the positioner control device 1
Although it would be possible to add a monitor means (CRT or its driving circuit) to 2, this is not practical as it requires a large amount of expense.

The present invention has such a point VC! ! ii, add 1 to the existing system
1. The present invention aims to provide a method that can monitor various types of information about the above-mentioned positions without making any changes.

Therefore, in the present invention, various information about the positioner is transferred from the positioner control device to the robot control device, and the transferred information is displayed on the monitor screen of the robot control device.

Hereinafter, the present invention will be described in detail with reference to the drawings.

FIG. 2 is a diagram schematically showing the configurations of the positioner control device 12 and the robot control device 2 shown in FIG.

Now, the movement command from the positioner field operation panel shown in FIG.
1 to the positioner control input/output device 22, the device 2.2 creates a movement command/medium pulse signal based on the movement command, and this t4 pulse signal is input to the positioner control input/output device 22 via the subtraction point 23 to calculate the deviation. It is input to the counter 24. The count values of the commands and pulse signals outputted from the deviation counter 24 are inputted to the servo amplifier 26 via the D/A converter 25, and the servo amplifier 26, which is the actuator of the positioner main body 9 shown in FIG. motor yt,
tx is activated. Then, a number of pulse signals corresponding to the operating amount of the positioner main body 9 are sent from the pulse encoder 28 directly connected to the motors tt, i, and l to the subtracter 23 in such a manner that the content is subtracted from the deviation counter 24. This is fed back and the above command is followed. The clampers 13 and 14 are actuated by an angle relative to the pulse signal. On the other hand, the pulse signal output from the encoder 28 is input to the current value counter 29, and this counter 10
The count value, that is, the rotation angle of the clampers 13, 140 is input to the CPU 21 via the positioner control input/output device 22 and the device [22'].

When the positioner main body 9 is operated as described above, its operating speed, operating angle, etc. are stored in the memory 30 as teaching data. When the teaching is completed, a signal indicating that the teaching has been completed and a signal indicating that automatic operation is "1 enabled" is input from the position control field control panel 15 to the CPU 21. During full automatic operation, the position main body 9 is operated by a movement command based on the teaching data.

By the way, as mentioned above, the robot control device 2 is configured such that the keys input manually by the CPU 32 via the input/output control device 31 are -
Based on the directive of 4, various information about the donkey ζt (
It has a function that allows the CRT 5 to monitor the welding current, welding voltage, welding speed, position of each axis of the robot, errors, etc. selectively or simultaneously.

The present invention utilizes the functions of such a robot control device to monitor various types of information as described above on the above-mentioned positions on the screen of the CRT 5 provided in the robot control device 2. For example, it is implemented as follows.

That is, in order to transfer various information about the positioner to the robot control device 2, for example, the CPU 32 of the device and the CPU of the positioner control device 12 are connected.
In addition to utilizing the data transmission path 33' connecting between the 21 and 21, when a specific key on the keyboard 4 is operated, desired information about the positioner is selectively transferred to the CPU 32 so that all the information is simultaneously transferred to the CPU 32. CPU 32
A program for the CPU 21 is created in advance.

In this way, various information about the positioner that has been input into the CPU 21 of the positioner control device 12 can be transferred to the CPU of the robot control device 2 by the operation of the key 4.
32 and can be displayed on the CRT 5. Therefore, the operator can monitor the operating status of the positioner from the CRT screen, thereby making it easier to judge whether or not to perform testing and to perform maintenance.

Note that the memory 34 of the robot control device 2 is for storing teaching data etc. regarding the robot.
The robot control input/output device also provides a movement command pulse signal to a servo system for driving each axis of the robot (not shown).

As described above, according to the present invention, various information about the positioner can be monitored with almost no modification to the existing system, and its practicality is extremely high.

Note that the present invention can of course be effectively applied to positioners used in other robots such as painting robots.

[Brief explanation of the drawing]

Fig. 1 is a perspective view conceptually showing an example of a welding robot and a positioner, and Fig. 2 schematically shows an example of the configuration of a robot control device and a positioner control device with some parts omitted!
This is the second lower figure. 1... Robot body, 2... Robot control device, 4
...keymate, 5...cathode ray tube (CRT), 9
...Positioner main body, 12...Positioner control device.

Claims (2)

[Claims] (1) A method for monitoring information on a positioner for mouth and mouth, characterized by transferring various information about the positioner from a positioner control device to a robot control device, and displaying the transferred information on a monitor screen of the robot control device. . (2) An information monitoring method for a rosette positioner according to claim 1, wherein the transfer of the information is instructed by operating a keypad of the robot control device.