JPS6027043B2 - Program control method for industrial robots - Google Patents

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention sequentially discusses work programs such as position commands and operation speed commands recorded in a random access memory (hereinafter referred to as memory) and performs playback operations. The present invention relates to a program control device for industrial robots and the like, and particularly to a device for modifying the contents of a work program stored in a memory.

[Conventional technology]

Conventionally, in order to record a work program in the memory of an industrial robot, an operation called teaching is used. For example, the robot is positioned at a desired position by fine movement such as inching or cinching, and a recording command is given to record the position coordinates. A method is used to record it as a command value.

In order to modify the command value of a certain step in a recorded work program, play the robot up to that step, stop the playback, and position the robot at the correct position using the same operation as teaching. The recording is redone (for example, Hakama-Seki Sho 49-1127361, Toku-Seki Sho 49-112358). [Problem to be solved by the invention] When using such an industrial robot in the field, the difference in operating speed between fine movement during teaching and high-speed movement during playback causes dead zones in the robot's control system and drive transmission mechanism. Discrepancies occur between the teaching position and the playback position due to backlash or friction.

There is a misalignment between the positions during teaching and playback, inaccuracies in manual teaching, and objects being worked on by robots such as parts feeders, press molds, and die-casting molds cannot be set accurately in the previous setting position every time the setup is changed. Due to some discrepancies, it is now necessary to modify the work program to make the work more accurate. It is preferable to modify these work programs while having the robot perform playback motions, and to make further modifications as necessary while observing the modified motions.
In the conventional system, as described above, it was inconvenient to have to stop the reproducing operation of the robot every time an attempt was made to make a correction. In addition, in order to correct the misalignment between teaching and playback, the robot had to be positioned and memorized in a position that anticipated the misalignment during teaching. Then, when I tried to position the workpiece by shifting it, the workpiece did not fit into the mold and I could not teach it to the desired position. Furthermore, in addition to modifying position commands for the purpose of improving accuracy, it is also possible to modify work program data that commands operating speed commands, input/output signal timing, etc. for the purpose of shortening cycle time while reproducing operation. desirable.

[Summary of the Invention] The present invention overcomes these conventional problems and makes it possible to modify the work program without stopping the regeneration operation even during the regeneration operation, and to eliminate the need to operate the robot each time. A feature of the present invention is that the correct amount of rash can be set quickly.

〔Example〕

Before describing embodiments of the present invention, FIG. 1 shows a block diagram of a reproduction operation according to a conventional method.

Reference numeral 1 denotes a random access memory such as a core memory or a wire memory, and data read out from there is temporarily stored in a register 2.

The output of the register 2 is given to the position control circuit 3 as a position command to drive the robot, and the position control circuit 3 drives the mechanical body 4 of the robot until the commanded position is reached. When the machine body 4 reaches the commanded position, the position control circuit 3 reads out a request for issuing the next position command and sends it to the control circuit 5, and the output control circuit 5 stores the next position command. The address of the memory 1 that is currently displayed is set in the address counter 6, and the memory 1 is commanded to start taking out firewood. In this way, the work programs recorded in the memory 1 are retrieved one after another and a reproduction operation is performed. As shown in an embodiment of FIG. 2, the present invention adds a modified address setter 7, a modified data setter 8, and a switching command circuit 9, a gate 10, and a switch 11 as switching means to the conventional device shown in FIG. Consisted of.

The correction address setter 7 is a setting device for setting the address to be corrected in the memory 1, the correction data setting device 8 is a setting device for setting the correct content to be corrected, and the gate 10 of the switching means is a setting device for setting the address to be corrected in the memory 1. In order to specify the address, either the modified address setter 7 or the address counter 6 is selected by a signal from the switching command circuit 9. switch 11
transmits a correction request from the operator to the switching command circuit 9.
The offer request from the position control circuit 3 is given to the switching command circuit 9. To explain the operation of the switching command circuit 9, when a correction request from the switch 11 arrives before a read request from the position control circuit 3, the gate 10 serving as the selection means selects the correction address setter 7. After switching to the above, a write start command is sent to memory 1. Conversely, when the read request from the position control circuit 3 arrives before the correction request from the switch 11, the gate 10 is switched to select the address counter 6 and the read request from the position control circuit 5 is sent. convey a signal. Also, if one request is processed before the other request is completed, for example, if a proposal request comes while data for one step in a work program is being written in response to a modification request. gives priority to the first-arriving signal so that it waits until one step of writing is completed and then processes the download request. With the above configuration, the work program can be easily modified.

The operator first sets the address to be corrected in the corrected address setting device 7, sets correct data in the corrected data setting device 8, and then presses the switch 11. At this time, even if playback is in progress, the time that memory 1 is used to propose one step of the work program is quite short compared to the operating time of the robot, so the time when memory 1 is not used is used. You can write to make corrections. Even if a request for discussion comes during writing for correction, the time during which the read request is delayed by the switching circuit 9 is only one step of writing time in the worst case, which can be ignored compared to the operating time of the robot. FIG. 3 shows another embodiment of the invention.

In this embodiment, the operator can see the contents of the memory immediately after the correction, and the correction data setting device 8 uses a counter such as a binary counter or a binary coded one-boot counter. The contents of the memory are determined and preset to this counter, and the contents of the counter are also displayed in the display circuit 14.
Displayed by. In order to write correct data, the operator must provide the counter correction circuit 15 to count up or down the counter.
When the contents of the counter become the desired data, the contents of the counter can be written into the memory 1 by using the modification request switch 11. For this reason, the switching means includes a correction output request switch 12 for reading out the modified contents of the memory 1 compared to the configuration shown in FIG. 13 and this control signal, the switching command circuit 9 processes the recitation request for reproduction, the signal of the modification request switch 12, and the signal of the modification request switch 11 on a first-come-first-served basis,
In the case of a modified logical output request, a function is added to control the gate 10 to logically generate the contents of the address indicated by the modified address setter 7, and to instruct the memory 1 through the gate 10 to start the logical output. [Effects of the Invention] As described above, according to the present invention, a correction address setter for setting an address to be corrected on the memory is provided in addition to the address counter for discussion, and data to be corrected is further set. It is equipped with a correction data setting device, a switching command circuit and selection means for selecting either one of a proposal by an address counter and writing by a correction address setting device and a modification data setting device, and the switching command circuit is configured to request a modification. If the other request arrives before the processing for one of the two requests is completed, the processing for the other one will be executed after the processing for the other one is completed. With a write request, the address to be corrected in memory and the correction contents at this address can be immediately written to memory, and even when the robot is in playback operation and the machine body is being driven, the robot's movement can be changed. This has the advantage that data in a work program at any address can be quickly and easily modified without interruption.

[Brief explanation of the drawing]

FIG. 1 is a block diagram when an industrial robot is regenerated by a conventional device, FIG. 2 is a block diagram when an industrial robot is regenerated, showing one embodiment of the device of the present invention, and FIG. 3 is another embodiment of the device of the present invention. FIG. 2 is a block diagram showing the industrial robot when it is regenerated. 1...Random access memory, 2...Register, 3.
. . . Position control circuit, 4. Machine body, 7. Modified address setter, 8. Modified data setting device, 9. Switching command circuit, 10. Gate forming selection means, 11.
...Switch. Figure 1 Figure 2 Figure 3

Claims (1)

[Claims] 1. In a program control device for an industrial robot that sequentially reads a work program recorded in a random access memory in response to a read request for a playback operation and performs a playback operation, the data of the work program read from the memory is read out. To drive the machine body of the industrial robot based on the register that stores temporarily and the data stored in this register, and to output a read request for the next position when the machine body reaches the commanded position. a position control circuit, an address counter for sequentially reading out the data recorded in the memory, and setting an address at which the next position command is stored in the address counter in response to a read request, and reading the data into the memory. A read control circuit that commands a start, a correction address setter that sets an address to be corrected on the memory, a correction data setter that sets the correct content to be corrected in the memory, and a correction request for correction. a switch for selecting the corrected address setter when receiving a correction request from the switch, outputs a signal for selecting the corrected address setter, sends a write start command to the memory, and receives a read request from the position control circuit. When received, outputs a signal for selecting the address counter as well, transmits a read request to the read control circuit, and processes one of the correction request from the switch and the read request from the position control circuit. A switching command circuit that waits until one processing is completed and then generates a selection command to execute the other processing if a request for the other one comes before the other processing is completed; a selection means that receives a signal and selects either the output of the address counter or the output of the corrected address setter and supplies the selected one to the memory; A program control device for an industrial robot that can also modify a work program at an arbitrary address on the memory.