JPS6027906A - Robot - Google Patents

Abstract

PURPOSE:To perform optimum teaching by incorporating a program consisting of both teaching contents based upon a PTP and a CP system having a linear interpolating function in a program to be stored. CONSTITUTION:The position data, sampling time, and interpolating speed of a PTP section are stored on PTP basis, and only the position data and sampling time of a CP section are recorded on CP basis. The switching between both systems is performed with a mode switching button in an operation box 4. Consequently, when a robot is put in regenerative operation, teaching data are read out of a storage device 3 successively to output operation commands to respective axis actuators of the robot body 11 successively by using a high-speed coordinate converter 5 at a PTP section point so that the robot moves to a target position at a sampling time speed specified with a straight line. The high-speed coordinate conversion processing is not performed at a point where is no PTP section, and operation commands are outputted to the respective axis actuators of the main body 11 successively at intervals of sampling time according to recording data.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to robots, and more particularly to robots applicable to painting robots, welding robots, and other work spouts.

Conventionally, for example, in a playback type industrial robot, when making the robot memorize (teach) the movement trajectory,
Traditionally, in linear motion parts, we have made teaching easier by using a so-called linear interpolation function that performs interpolation calculations in the control device so that if only the start and end points of the straight line are taught, the movement between them will be at the specified speed. We are trying to

However, when this linear interpolation function is used, teaching is limited to the PTP (Po1nt to Point) method. For example, in a teaching program for the mouth, one part is PTP teaching, and another part is the CP (Continuous Path) method. Therefore, it was not possible to combine the advantages of each teaching method to obtain an optimal teaching program.

The present invention has been proposed in view of the above circumstances, and its purpose is to combine the CP method and FTP (including linear interpolation function) method in any state when creating a teaching program for a robot. The goal is to provide a robot that can perform optimal teaching.

The mouthpiece according to the present invention includes an operation box for instructing teaching, playback, editing, etc., a storage device for storing a teaching program, a high-speed coordinate transformation processing device, and the aforementioned operation box, storage device, and high-speed coordinate transformation processing, respectively. Mouth J controlled by a device? In a robot equipped with a central processing unit that performs Watt control, the teaching program stored in the storage device includes a program that arbitrarily combines teaching contents of both the PTP method and the CP method having a linear interpolation function. It is characterized by the fact that RoyJ? This is a set control system that allows teaching of the CP method and PTP method (including a linear interpolation function) to be combined in any desired state.

An embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention;
FIG. 2 is a diagram showing an example of a motion locus taught in the embodiment shown in FIG. 1, and FIG. 3 is a diagram showing an example of the content of stored data stored in the storage device of the embodiment shown in FIG. It is.

In the 11th iJ, 1 is the control device, 2 is the central processing unit (
3 is a storage device (stores teaching programs), 4 is an operation pixel (instructions for teaching, playback, editing, etc.), 5 is a high-speed coordinate transformation processing device, and 6 is an input port (position 7 is a position detector input device (digitizes and binarizes the position detector of each axis of the locot), 8 is an output port (inputs commands from the central processor) data output), 9 is a servo amplifier (l: converts to a command signal for each axis actuator of the i-bot), lO is a drive source (energy source for operating the robot), and 1 is a lower +?
12 is a teaching handle (added when teaching is performed by moving the robot by hand), 13 is a target workpiece, and 14 is a workpiece transfer device.

The operation of the above embodiment of the present invention will be explained.

In the heather system, the following methods are possible for teaching the robot to memorize the movement order.

(a) CP teaching First, set the teaching mode of the operation box 4 to CP teaching. Next, attach the teaching handle 12 to the wrist of the robot body 1 (=J) and move the robot to the teaching start position (α).Next, press the recording button attached to the teaching handle 12 and at the same time press the mouth button. The central processing unit 2 of the control device 1 detects the position data of each movement M of the robot body 11 at fixed time intervals through the position detector input device 7 and the manual port, and sequentially stores it in the storage device 3. The teaching can be stopped by pressing the record button again.

(b) FTP teaching This differs from the CP teaching described above, in that it records one point at a time so that linear movement is performed at a specified speed between teaching points. This is a method of teaching by pressing the button.

In this case, during playback, the output port is sent to each axis actuator of the robot body 11 at predetermined time intervals (sampling time) using the high-speed coordinate conversion processing device 5 so that linear movement is performed between each teaching point at a specified speed. 8. Issue an operation command through the servo amplifier 9.

Now, in order to combine the above two teaching methods in one program, consider a case where a motion locus as shown in FIG. 2 is taught.

In Figure 2, points 1 to 5 are the PTP method, points 6 to (ni) are the CP method, points) n to (n+
Up to 4), teaching will be conducted using the PTP method. In this case, the contents of the data stored in the memory bag rMs that stores the teaching data are as shown in FIG.
In the case of the PTP method, position data, sampling time, and interpolation speed are recorded as shown by the FTP classification mark, and in the case of the CP method, only the position data and sampling time are recorded, respectively, as shown in the 02 classification mark. Switching between FTP and CP is performed using a mode switching button on the operation box 4. If it is recorded in this way, when the robot is regenerated, the teaching data will be read out sequentially from the storage device 3, and at the point with the 212 division mark, high-speed coordinate transformation will be performed so that the robot moves in a straight line to the target position at the specified sampling time speed. The processing device 5 is used to sequentially output operation commands to each axis actuator of the robot body 11 (online linear interpolation). At points where there is no 212 division mark, the above-mentioned high-speed coordinate transformation principle is not performed, and operation commands are sequentially outputted to each axis actuator of the robot body 11 at each sun cylinder time according to the recorded point data.

As described above, according to the present invention, it is possible to arbitrarily combine FTP and CP method teaching in one zologram of Lopit's teaching program, and it is possible to create an optimal teaching program for a robot in a short time. This will bring about the same effect.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention;
FIG. 2 is a diagram showing an example of a motion locus taught in the embodiment shown in FIG. 1, and FIG. 3 is a diagram showing an example of the content of stored data stored in the storage device of the embodiment shown in FIG. It is. DESCRIPTION OF SYMBOLS 1...Control device, 2...Central processing unit, 3...Storage device, 4...Operation box, 5...High speed coordinate conversion processing device, 6...Input port, 7...・Position detector input device, 8...output port, 9...servo amplifier,
10... Drive source, 1... Robot body, 12...
・Teaching handle, 13...Target work, 14
...Workpiece conveyance device. Applicant's Sub-Attorney Patent Attorney Takehiko Suzue Figure 1 Figure 2 Figure 3 Telephone number 1 - Easy tee 4-'/7 Ended

Claims (1)

[Claims] An operation box for instructing teaching, playback, editing, etc., a storage device for storing teaching programs, and a high-speed coordinate transformation processing device, respectively. Sixth, in a robot equipped with a storage device and a central processing unit that is controlled by a high-speed 1/1j standard conversion processing device and controls the robot, a linear interpolation function is included in the teaching program stored in the storage device. PT with
9. A robot whose characteristic is that it includes a program that arbitrarily combines the teaching contents of both the P method and the CP method.