JPS60189507A - Industrial machine controller - Google Patents

Abstract

PURPOSE:To facilitate a teaching job by storing an inhibition area via a teaching means to check whether the present position of a mobile object is included in the inhibition area or not and shifting the mobile object through the areas excluding said inhibition area. CONSTITUTION:A hand is shifted up to a point A and pushes an inhibition button to store coordinates x1, y1 and z1 at the point A respectively. Then the coordinates of points B-H are stored in the same way. The coordinates xA, yA and zA of the present point PA are set to obtain a straight line connected to a desired position PB. The hand is shifted along said straight line toward the point PB by a minute distance. Then it is checked whether the hands entered an inhibition area or not. If it is decided that the hand enters the inhibition area when the hand is set at a point P3 which is slightly distant away from a point P2, the hand is shifted to a point E from the point P2 to obtain a straight line EPB connected between points E and PB. Then the hand is shifted along this line EPB by a slight extent. It is checked whether a new point of the hand is within the inhibition area or not. Then the hand is shifted to its desired position along the line EPB.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a control device for industrial machinery that automatically performs work according to memorized work contents. Industrial atut that performs work based on
Industrial robots (hereinafter referred to as robots) are one type of robots. Robots often work in environments where obstacles and protrusions exist within their range of motion. These obstacles vary greatly in shape and position, so when teaching the robot how to work.

In each case, a human was careful to teach the route that avoided obstacles. For this reason, there was a problem that the teaching work was troublesome.

[Summary of the invention]

This invention was made in view of the above drawbacks.

The purpose is to make teaching work easier.

Figure 1 shows its configuration.

That is, in FIG. 1, (a) is a teaching means that can be operated externally, (b) is a working position storage means for storing the working position taught by the teaching means (a), and (C) is a teaching means that is movable to the working position. Driving means for moving the body (d), (e) is the teaching means (a) that the prohibited area where the movable body (d) cannot enter is 1-high; 9 o? L N Kobayashi, L Ayu Tane also meet - L hand-held area storage means, (f) detects the position of the movable body (d) with the current position detection means (g) and determines whether it is included in the prohibited area or not. The prohibited area detecting means for detecting the prohibited area detecting means (d) is a route changing means for changing the movement route of the movable body (d) based on the detection result of the prohibited area detecting means (f).

[Embodiments of the invention]

FIGS. 2 to 6 show an embodiment of the present invention.

In Figure 2, (■) is the main body of the robot.

(2) is a vertical axis that moves up and down by this main body (1), (
3) is a first arm that rotates in the horizontal direction by a first joint (6a). (4) is the second arm,
It rotates in the horizontal direction by a joint (4a).

(5) is a hand that grips a workpiece (not shown) and is rotated by a third joint (5a).

(N6 is the teaching means. (9) is the point A, B, 0.D
,B.

This is an obstacle made up of a thousand objects recessed with F, G, and H, and indicates a prohibited area where the first arm (3J, second arm (4), and hand (5) cannot enter).

FIG. 3 shows the details of the teaching means (6), Ql is a display section for displaying the point number (10a) assigned to the target position for making the hand grip 5) shown in FIG. 2 work; Ill has a first arm (3) and a second arm (4).
) is operated at high speed, QB
is the low speed button that is also operated when operating at low speed.

(13a) and (13b) are respectively huff )” (5
1ヲ+Y button and -Y button, (15a) and (15
1)) is the +2 button and -2 button that move the hand (5) in the "+" direction and the 1st direction of the 2nd axis, respectively, and (16a) and (16b) are the 3rd joint (5a) that moves the 3rd joint (5a), respectively. and "-" rotate the +J button and -J button. ＋× button (
15a), -X button (13b), +Y button (14a),
-Y button (14b), +Z button (15a), -Z button (
15b), +, T button (16&) and -J button (16b)
is the arm operation button (PBT) that operates the arm and hand.
It is. aη is the boost U button that increases the point number (IQa), (Ill is the decrease button that decreases the point number (10a), and aS is the position of the hand (5) moved by the arm operation button (PBT), A work button that is operated when the user is in the work position to perform a task.

(2) Similarly to Hiro, the prohibition button is operated to indicate that the position of hand (5) is the boundary of the prohibited area, and Q〃 is the memory button operated to memorize the current position of hand (6). , (2) is an emergency stop button operated to bring the robot to an emergency stop, and (c) is an automatic button for automatically driving the robot to the position corresponding to point number (10a).

In Fig. 4, Fig. 9 is the main CPU, Gll is the memory consisting of RAM (readable/writable memory) in which the work program for making the robot perform actions according to the work is stored, and C36 is the hand (5). A memory consisting of RAM in which the movement position is stored, (to) a memory consisting of RoM (<extra-only memory) in which a control program for decoding the work program is stored, and (to) a prohibited area (
9), W is the interface that receives the signals from the operation panel (6), and (to) is the memory that stores the signals from the operation panel (6).

The rotation direction and speed of the second arm (4) and hand (5) (b) is a servo amplifier that transmits the calculation results of the servo CPU@ to the robot.

5 to 9 are flowcharts of the control program stored in the memory.

Figures 10 and 11 show the coordinate values of each point.

The coordinates of point A are (Xl, yl, zl), the coordinates of point B are (x2゜72, zl), and the coordinates of point C are (''+751
”) + The coordinates of the point are (XA, 74. Zl), the coordinates of the point E are (Xl + y' + 22), the coordinates of the 2 point F are (X2. y2. Z2), the coordinates of the point G are (xs,
75. s, +), point H(7) coordinates are (XA, y4.
Z2). Point FA is the current position of the hand (5).

The coordinates are (XA, 7A, ZA). Point FB
is the target position to which the hand (5) is to be moved, and the coordinates are (XB, yB).

ZB).

Next, the operation will be described based on the flow factors of the program.

First, immediately after the power is turned on, the daughter is placed in a trap.
) - Procedure (f05) - Procedure (100) is written repeatedly.

The corresponding point number (10a) is displayed on the display member. When prohibition button 4 is pressed, rY in step (101)
It is judged as J and moves to step (200), and the movement area (9)
teaching is performed.

That is, in step 1 (201) in Fig. 6, the hand (51) is moved to point A using the farm operation button (PBT).If the player moves, the player goes to step 2 (2o2) and the memory button When pressed, the process moves to step 1 (203). In step (205), the coordinates (XI, 71.21) of point A are stored in the memory (b) in association with the point number (10a), and the process returns to FIG. Return to the flowchart shown.

When another point number (10a) is displayed in step (ioo) and the prohibition button 4 is pressed again, ryJ is determined in step (1oi) and the process moves to the hand member (200). Point B with hand (5)
After moving to 2 points A, the coordinates of point B (X2.72.zl) are stored in the memory (to) 1g.
Return to the flowchart shown in Figure 5.

Similarly, score 0. D, B, ? , 6. The coordinates of H are associated with point numbers (10a) and stored in the memory (rice temperature).

Next, the teaching of 9 work positions will be described.

When a new point number (10a) is set in step (100) and the 1 work button Ql is pressed, rYJ is determined in step (102), the process moves to step (300), and the work point is taught.

That is, in FIG. 1, as shown in 1/[(301), the hand (5) is moved to the target position PB by the arm operation button (PBT). If you have moved, follow the steps (30
At step 2), the memory button Qυ is pressed and the process moves to step 2 (305). In step (3o5), the coordinates Cxs, 7B, ZB) associated with the point number (10a) are stored in the memory O3 as the working position, and the process returns to the flowchart of FIG. 5 again.

Next, the current position of the hand (5) is the point P^ shown in Figure 10.
Then, from this point FA, avoid the prohibited area (9) and move to the point FB.
This article describes autonomous driving that automatically moves up to

In step (100), point number (10
After displaying a) on the display wheel, press the automatic button - and the hand
j (105) K is judged as "Y" and moves 71 (4
00), automatic operation is performed.

That is, in FIG. 8, in 9 steps (4Q1), the variable (
” + 7 y z), the coordinate points (KA, 7A, ZA) of the current position FA are set respectively. Procedure (402
), a straight line connecting one point (x, y, z) and the target position PB can be seen. The hand [UOS] is moved along this straight line by a minute distance (ΔX, Δy, Δ2) toward the target position PB. This moved new point (x.

Step (404) determines whether or not y, Z) is in the prohibited area (9).
) will be investigated.

The details of this procedure (404) are as shown in FIG.

In other words, in step 2 (501), point (X, 7) becomes point A and point B.
It is investigated whether it is above the direct aAB that connects.

If it is at the top, it is obvious that it is outside the prohibited area (9) shown in FIG.
, y, and l are outside the prohibited area (9), and the flow returns to step 2 (405) Ic shown in FIG. In the step (405), advance the hand (5 steps) to the point (x, y, z).
40 (S), the coincidence with the target position FB is checked, and
e If the target position PB has not been reached, move to step (405).

The same procedure is repeated to move the hand (5) in the direction of the target position FB. Hand (5) advances to point P2.

In step (403), a small distance (ΔX, Δy) from point P2.

Δ2) If you move forward and enter the prohibited area (9) at point P3, you will enter the prohibited area (9) in 1 step (404).
It is judged that it is within.

There are reeds in the area surrounded by AB, CD, BO, and AD.

In other words, one point P3 is a straight line as shown in Fig. 11, and the value 2 is between the values z1 and 22, so in Fig. 9, two steps (5 (N), (505), (504), (505
), all of them are judged as rNJ, and in step 1 (506), it is judged as rYJ, and the process goes to step (507).

y, l are designated as being in the forbidden area (9), and the process returns to the flowchart of FIG.

In Fig. 8, the process moves to step (407) and points P3 updated in step 1 (403) is reached without proceeding with hand (5).
Proceed from 2 to point E. In step (408), the hand pauses until it advances to point E, and then moves to step (4Q9). Procedure (40
9), the point Ev) coordinates (It,
yl.

Z2) is set and the process moves to step (402). Procedure (40
In 2), a straight line ff1PB connecting point E and point FB can be seen.2
In step (405), a very small distance (
Melon.

Δy, Δ2) is updated. Updated new points (c
, y, z) is checked in step (404) to see if it is within the prohibited area (9). The range from point E to point PE is.

In step (505) shown in FIG. 9, rYJ is determined and the process moves to step (502). In step (502), point (x, y
, z) is designated as outside the prohibited area (9), and the hand Jl in FIG.
Moving on to r(sos). In step (405), one point (x, y
, z), and the hand (5) is advanced to 2 steps (40 (S)
You can check whether you have progressed to point FB with . If the process has not progressed, the process moves to step (403). Forbidden area in straight line KPn (9)
There is no way to enter the target position F along the direct 1EPB.
Move to B.

When the target position PB is reached, rYJ is determined in step (406) and the process ends.

According to the above embodiment, the prohibited area and the working position are taught separately, and when moving the hand, it is automatically detected whether or not the hand enters the prohibited area. Since the hand can be moved to the desired work position while automatically avoiding the problem, the teaching work becomes easier.

In the above embodiment, the case of moving between two points has been described, but even if one working point becomes three or more points.

Since it is only necessary to teach the work point and there is no need to teach the intermediate route, the teaching work becomes easy.

〔Effect of the invention〕

As described above, the present invention provides an industrial machine equipped with a driving body that stores a working position taught by an externally operable teaching means and automatically moves a movable body to the working position to perform work. In the control device, a prohibited area in which the movable object cannot enter is stored in the prohibited area storage means via the teaching means, and the current position of the E'T moving object is detected by the current position detecting means to determine whether or not it is included in the prohibited area. Since a route change means is provided that detects the prohibited area with the prohibited area detection means and moves the movable body to the target position via the point where the prohibited area is avoided based on the detection result, there is no need to teach the moving route of the movable body. By teaching the working position and prohibited areas, you can avoid obstacles,
This has the effect of making teaching work easier.

[Brief explanation of the drawing]

Figure 1 is a block diagram showing the configuration of this invention, Figures 2-g
z shows one embodiment of the invention, FIG. 2 is a perspective view showing the entire industrial machine, FIG. 3 is a front view of the teaching means, and FIG. 4 is a block diagram of the control device. FIGS. 5 to 9 are flowcharts of the work program, FIG. 10 is a coordinate diagram showing each position, and FIG. 11 is a diagram of IU. It is a coordinate diagram of a figure in which each position shown in the figure is projected onto the X7 plane. In the figure, (a) is a teaching means, (b) is a working position storage means, (C) is a driving means, (d) is a movable body, (θ) is a prohibited area storage means, and (f) is a prohibited area detection means. , (g) is the current position detection means, (h) is the route change means, (3) is the first arm (wA drive means, +41 is the second arm (drive means), +51 is -.nd (OJ drive body,謔 is a memory in which a control program is stored, 02 is a memory in which a working position is stored (working position storage means), and 0 is a memory in which a prohibited area is stored (inhibited area storage means). Note that the same figures are shown in Figure 1. Reference numerals indicate the same or equivalent parts. Agent Masuo Oiwa Figure 1 Figure 3 Figure 5 Figure 6 Figure 7 Figure 00 Figure 8 Figure 9 Figure 10 Figure 11 Written amendment to procedures (voluntary) 2. Name of the invention Industrial machine control device 3. Person making the amendment Drawing Figure 3

Claims (1)

[Claims] A prohibited area in which the movable body cannot enter, in a device equipped with a drive body that stores a work position taught by an externally operable teaching means and automatically moves the movable body to the work position to perform the work. is stored in the prohibited area storage means via the teaching means, the current position of the movable body is detected by the current position detecting means, and the prohibited area detecting means detects whether this current position is included in the prohibited area. A control device for an industrial machine, characterized in that a route changing means is provided for moving the movable body to the target position via a point that avoids the prohibited area based on the detection result.