JPS61196303A - Control system for robot system - Google Patents

Abstract

PURPOSE:To improve the working efficiency of a robot by adding the 1st-3rd data to the passing point information when necessary and setting the working state of a corresponding robot at a relevant passing position in response to those 1st-3rd data and the data given from other robots. CONSTITUTION:When a reproducing action is carried out with a robot system received a teaching process, a reading means is first used to read the position information on the first passing point and the correlation data out of a memory means (S11). The presence of the correlation data is decided (S12) and then the contents of the correlation data are decided (S13). The operation proceeds to one of steps S14-S16 according to a fact that the correlation data is equal to REC where a corresponding robot is stopped at the relevant passing position and also waits for a start instruction given from another robot, SREC where the robot is stopped and also a start instruction is given to the robot at the opposite side or XW where both robots are started. Then the robot performs the process according to each stop contents after stopping temporarily.

Description

Detailed Description of the Invention (Field of the Invention) The present invention relates to a control method for a robot system, and in particular, in a robot system that includes a plurality of robots that can communicate with each other through a predetermined communication means, This paper relates to a control method that improves motion-related control processing.

(Explanation of prior art) In industrial robots, multiple robots are often made to work together on a single workpiece.In such cases, these multiple robots are brought under the control of one control device. It is also possible to control the robot as if it were a single robot.Conversely, even if the robot is an O-pot that works on the same workpiece, when the work areas of each robot are far from each other, etc. It is also possible to control these multiple robots independently.

However, there are cases where it is appropriate to have multiple robots operate alternately even though their work contents are related to each other. In such a robot system, a control means for each robot is provided, and a communication means is used to control them. A configuration is adopted in which the devices are connected and if one stops, the other is started, and if the other stops, one is started.

An example of such a robot system is a robot system (hereinafter referred to as a "parent-child robot") that includes a first robot and a second robot whose origin is on a predetermined control axis of the first robot.

), an example of which is shown in Figure 1. In this figure, in this parent-child robot, a second robot P2 having a welding torch PT at its tip is attached to the control axis of a first robot P1 having a gripping means PH at its tip. In this parent 46 pot, after gripping the work PW at the position indicated by PA in the figure at the position indicated by the imaginary line in the figure, it is moved to the work position PG, and while gripping the work PW at this work position PG, Welding work will be performed using a welding torch PT. Then, while the workpiece PW is gripped and moved, the second robot P2 does not need to perform any work. On the other hand, after the workpiece PW is fixed at the working position @PG, as long as the workpiece PW remains fixed, the first robot P2 There is no need to drive the robot P1. Therefore, as described above, these two robots P1. P2 can be controlled by separate control means, and communication between them such as simply alternating operating states is sufficient.

Furthermore, in the case of a parent-child robot as exemplified here, the mutual positional relationship of the tip of the second robot with respect to the first robot is important, so from the perspective of maintaining this mutual positional relationship, it is important to While the first robot is moving, it may be desirable not to give the second robot its own motion, but to allow it to move only in accordance with the motion of the first robot.

In this way, parent-child robots and the like often have a system configuration in which they operate alternately, but if such a system is applied as is, the work efficiency of the robot system may decrease. For example, in the example shown in FIG. 1, when moving the workpiece PW from the position indicated by PA to the work position PG,
When the second welding torch PT is in a state where it will collide with an obstacle, the movement of the first robot P1 is temporarily stopped, the position and posture of the second robot P2 is changed, and then the movement is resumed. The first robot P1 must be moved.

In this way, even if multiple robots can perform tasks alternately, considering the work sequence, there are cases where work efficiency decreases due to having multiple robots perform tasks alternately. This is a major drawback of the control system.

(Objective of the Invention) The present invention is intended to overcome the drawbacks of the conventional control method as described above, and to create a robot that can ensure high work efficiency by improving the operational relationship between multiple robots. The purpose is to provide a system control method.

(Structure of the Invention) In order to achieve the above-mentioned object, the control method of the robot system according to the present invention employs the following structure. Although not limited in any way, by referring to FIG. 4, which depicts an embodiment described later,
This configuration will be easier to understand.

That is, the control method of the present invention targets a robot system including a plurality of robots that can communicate with each other through a predetermined communication means, and in each of the plurality of robots, the robot is It is assumed that predetermined data regarding the operational relationship between the robot and other robots is stored in advance in the storage means (for example, by teaching). At the time of reproduction, the reading means reads out the predetermined data in relation to the passing position.

The control means of each robot communicates with other robots according to the data, and also controls the movement of the robot at the passing position according to the operational relationship according to the data and the data given from the other robots. Operation state f! to set the state. A setting means is provided.

This operation state setting means is configured to: (1) stop the robot at the passing position and wait for a start command given from another robot through the communication means when the predetermined data read is the first data; (1) when the predetermined data read is second data, the robot stops at the passing position and communicates with the other robot through the communication means; and second state setting means for setting a second state in which a start command is given to the second state.

Further, the operation state setting means for at least one of the plurality of robots further includes: (1) starting the robot from the passing position when the read predetermined data is third data; It includes third state setting means for setting a third state for giving an activation command to other robots through the communication means.

Then, the drive output generating means generates a drive output according to the state set by the operating state setting means, and each robot is driven. Therefore, by suitably realizing the states (1) to (4) above at desired passing positions, it becomes possible to perform simultaneous operations in addition to alternate operations of a plurality of robots.

(Description of Embodiments) (1) Example Premises Structure FIG. 2A is a perspective view showing the mechanical structure of a robot system RO which is an embodiment of the present invention. axis β
This parent-child robot is constructed by supporting a child robot (α-based robot) having 5 degrees of freedom between control axes α to α5 in the middle of a parent robot (β-based robot) having 6 degrees of freedom between control axes α to α5. This robot system R○ will be explained in detail below.

First, in the β-based robot, a moving table 2 is provided on a straight horizontal guide 1 and is movable in the X direction shown in the figure.The moving table 2 is moved in the X direction by being driven by a hydraulic motor MX. It will be done.

Further, a first horizontal arm 3 is vertically supported on the movable table 2, and a turning angle β1 of the first horizontal arm 3 is changed by a hydraulic motor M1. A second horizontal arm 4 is vertically supported at the tip of the first horizontal arm 3, and further,
A tenth rotating body 5 is vertically supported at the tip of the second horizontal arm 4. The turning angle β2 and the turning angle β3 of the horizontal second arm 4 and the first rotating body 5 are determined by the hydraulic motor M2,
M3 (not shown). 1st
A vertical arm 6 is supported on the rotating body 5, and its β4
The position in the direction is changed by driving the hydraulic motor M4. A gripping means 7 as a first end effector is provided at the lower end of this vertical arm 6, and its rotation angle β5
The change in is brought about by hydraulic motor M5. Furthermore, the claws 7a of the gripping means 7 can be opened and opened by a hydraulic cylinder (not shown).

On the other hand, the α-based robot is a robot whose origin is the center of rotation of a second rotating body 8 coaxially supported by the first rotating body 5, and this second rotating body 8 and this first rotating body a vertically rotating first arm 9 that is horizontally pivoted on a rotating body 8;
The vertically rotating second arm 10 is horizontally pivoted at the tip thereof, and the third arm 11 is horizontally pivotably supported by the vertically rotating second arm 10.

These respective rotation angles α, elevation angles α, α3, and α4 are determined by electric motors M11 (not shown), M12°M
13 and M14, respectively. Further, a holder 12 is supported on the third arm 11 with the direction perpendicular to the axis of elevation of the elevation angle α of the third arm 11 as an axis, and this holder 12 supports the second end effector (welding A torch T) is held. and,
The rotation angle α5 of this holder 12 is changed by an electric motor M15. The above are α-series robots.

The control axes X, β1 to β5, and α of the β-based robot described above
The control axes α to α5 of the system robot are equipped with encoders E, E1 to E5° and E11 to E15 as position detection means.
(both not shown) are provided, and the rotation angle and elevation angle of each control axis can be detected by these. Each control axis (each degree of freedom) of this robot system RO is configured to be controlled by a playback method using a control device (for example, a microcomputer) to be described later.

FIG. 2B is a diagram showing an example of a workpiece machining state by the robot system RO described above. A steel plate W1 as a workpiece is transferred to the robot system RO by another device (not shown).
Assuming that the β-based robot is positioned in a horizontal state in the movement area of keep. In this state, the torch T as the end effector of the α-based robot
This is how the parts to be welded are temporarily attached.

(2) Embodiment 1 Next, the electrical configuration of the robot system RO shown in FIG. 2A will be described. FIG. 3 is a block diagram showing an example of a control device for each of the α system and β system when the present invention is implemented by a microcomputer. Of these, the β-system control device C8β will be explained first. This β
The system control device C8β includes a microcomputer COβ including a CPU (denoted as cPUβ) and a memory MEβ that are connected to each other by a path line BLβ. The pass line B[β is also connected to a teaching box TBβ, an X-axis servo system SX1β1 to servo systems Sβ5 for the axes SX1β1 to β5, and a gripping means 7, which is placed under the control of a microcomputer COβ.

Of these, each servo system includes the aforementioned hydraulic motors M to M5 and encoders Ex to E5. In addition, the teaching box TBβ is connected to a passing point of the gripping means 7 at 11Q in addition to a mode changeover switch MSβ, a speed setting switch SSβ, a joystick JSβ1 gripping means switch GS, a teaching switch TSβ, and is used to input correlation data, which will be described later. A correlation data input switch R8β is provided. This correlation data input switch R8β has four switching positions: No, REC, XREC, and XW (the meaning will be explained in detail later).

It should be understood that switches such as an interpolation switch are also added to this teaching box "Bβ" as needed.

On the other hand, the α system control device C8a also uses a CPU (cPU
Shown as ) and the memory MEcl are connected to a microcomputer C via a bus line BL.
0(x. And this path line BL
The teaching box TB (x, αα, servo systems Sα1 to Sα5 for the axes 1 to α5 (hydraulic motors M11 to M15 and encoders E11 to E15)
Includes each. ), and a welding power source WS for the welding torch T are connected and placed under the control of the microcomputer COo. This α-based teaching box T
Like the β series, Ba also has a mode selection switch MS, speed setting switch SS, joystick JS (x
, a welding line α BS, etc., and a correlation data input switch R8. However, unlike the β system, the correlation data input switch R8 (x) of the α system does not have a switching position corresponding to xW (the reason will be explained later).

These two control devices cs having such a configuration
cs and β can communicate with each other through communication line CL. Therefore, the transmission and reception of signals, which will be described later, can be performed via this communication line CL, but the communication means in this invention is not limited to communication lines between independent and separate devices; It should be pointed out in advance that when a plurality of control means are integrated in form, it may be an internal communication means for exchanging signals between them.

Further, the relationship among control-related means in this embodiment is schematically shown in FIG. 4. In FIG. 4, the left side corresponds to the β-system robot, and the right side corresponds to the α-system robot. This figure expresses the configuration of the present invention in a mode corresponding to this embodiment, and each means included in this is the microcomputer COβ mentioned above.

Although it is realized mainly with C0(x), its detailed contents will become clear from the following explanation.

(3) Correlation - Itoyo and Fura Here, correlation data and flags that have an important meaning in this embodiment will be explained.

First of all, what is meant by "correlation data" in this specification?
Data related to the movement relationship between the robot and the robot that should be stored in memory in relation to the passing position (passing point) of the robot during teaching, and in this embodiment, the following three types of data are used. say about.

This data called RFC corresponds to the "first data" in this invention, and is used to stop the robot at the passing position and to wait for a start command from other robots 1 to 1. f! ! (Hereinafter referred to as “REC processing J (Re
This is called receive processing). ).

The concept of this RFC processing is shown in FIG. Of these, (a
) is used when teaching the position data of the passing position W1bo of the β-based robot.
Denoted as Rn. ) is also stored,
FIG. 3 is a diagram abstractly showing the movement trajectories of the end effectors of the β system and the α system. In this case, the β system stops at the passing position 1bo, and the α system robot stops at the passing position Hal.
, and sends the activation command A-XMT.

This temporal relationship is shown in FIG. 4(b). In this figure (b), the progression of time t is shown downward, and for each robot, a double-lined arrow indicates a moving state, and a block indicates a stopped state, respectively. In this example, the β-system robot reaches passing position bo first and stops there, and then the α-system robot reaches passing position am and stops, and at the same time, a start command A-X is sent to the β-system robot.
MT is given. The β-based robot is prepared to receive this activation command A-XMT by being assigned RFC data.

■XREC data This data called XREC corresponds to "second data" and is a state in which the robot is stopped at the passing position and a start command is given to the other robot via the communication line CL (hereinafter referred to as rXREc processing J
(Processing Receive and Transmr). ).

The concept of this XREC processing is shown in FIG. The meanings of the symbols etc. are the same as in Fig. 5, and X indicated by 11
When REC data is added, the β-based robot stops at the passing position Hbo and moves to the passing position a.
The startup command B-XMT is given to the alpha-based robot that was stopped. Note that the stopped β-based robot will later start moving again in response to a start command A-XMT sent when the α-based robot arrives at another passing position a.

■XW data This data called XW corresponds to "third data" and is used to start the robot 1- from the passing position and also give a start command to the other robot via the communication line CL. , is data that instructs processing to start both. However, in this embodiment, both robots are not started independently, but both are started after confirming that the other robot has a start command. This process also aims to improve the Therefore, the XW data in this embodiment is a process (hereinafter referred to as "xW process J (Transmit and W a
It is called "IT processing". ) is the data that instructs.

The concept of this process is shown in Fig. 7. Similarly, when XW data indicated by “x w ” is added, the β-series robot starts up the α-series robot that has stopped at the passing position afil. It is activated by giving the command B-XMT, and at the same time the β-system robot also passes through the robot. It is started from.

Since this xW process is a process that activates both robots, it is not necessary for all robots in the system to have this function. In other words, in a system consisting of two robots as in this embodiment, if one robot is given this function, the other robot can be activated in conjunction with the XW processing of the other robot. Therefore, in this embodiment, the β-type robot is the main robot and is configured to be capable of xW processing, and the α-type robot is the slave robot, and the function of xW processing is not prepared.

The above is the content of the correlation data. These three types of correlation data are code data that has been determined as appropriate, and these are stored in the memory together with the position data of the passing points during teaching, and can be used later. Each time the data is read, a routine for each process prepared in advance in the memory corresponding to each correlation data is executed.

Next, as one mode for performing such processing, the types of flags provided in the control means of each robot will be explained. FIG. 8(a) shows the status word B-8 set in the operation state setting means of the β-based robot.
Indicates the contents of W. This status word B-8W includes four types of flags related to the above processing.

The explanation of them is as follows.

■Flag rB-XMTJ This flag is a flag for instructing the β system to give a startup command to the α system, and the startup command shown as rB-XMTJ in Figures 6 and 7 above is , which indicates that the ON state of this flag has been transmitted to the α system.

(2) Flag rB-RECACK This flag is used to report to the α system that the β system robot is in a state where it has a start command given by the α system robot. When this B-RECACK is turned on, it means that the β system is ready to receive a startup command. This flag and a flag intended to be transmitted to the above B-XM flutter flag α system,
In this embodiment, it is assigned to the most significant bit MSB and the next most significant bit of status word 5-SW.

■Has flag FB-WAIT This flag indicates that the β-system robot is waiting for a report from the α-system that the α-system robot is waiting for a start command. be. This flag is used when the β-system robot performs XW processing to confirm that the α-system robot has a start command and to perform simultaneous activation.

■Hula re-REC holding” This flag is a flag that indicates that the β-series robot is in a state of waiting for a startup command given from the α-series robot. The contents of this flag are similar to B-RECACK, but while B-RECACK is intended for reporting to the α system, this B-REC holder is used to indicate its own status. This flag and the above B-WA
Since the IT holding flag is not intended for transmission, it is distinguished by assigning a bit near the least significant bit LSB, separately from B-XMT, 1BJl-, and B-RECACK.

Figure 8(b) shows the status word A- for the α system.
8W is shown. This α-based status word has the same types of flags as the above-mentioned β-based status word, except that it does not have a WAIT flag.
, In the explanation of ■, it is sufficient to read the α system and β system interchangeably, so we will omit the redundant explanation (in order to distinguish between the two,
The alpha series is marked with "A-" and the beta series is marked with B-.)

The reason why there is no "hey WΔIT holding" flag is because XW processing is not performed in the α system, so there is no need to have the holding status reported by the other party.

Further, the content of each flag of each status word A-3W, B-8W shall be mutually notified to the other party. Therefore, if necessary, it is possible to know not only the contents of the status word of the robot in question but also the contents of the status word of the other robot.

(4) Muenie No. 1 The operation of this embodiment having the above-described configuration will be explained, but first, the teaching procedure will be described. This teaching procedure is shown as a flowchart in Fig. 9, and the movements of each robot assumed in this teaching are shown abstractly in Fig. 10.
This FIG. 10 will be explained first. In this figure, b,
bl.

The end effector (grip) of the β-based robot is determined by...
Representing each passing position of the holding means 7), al, a2 . ... represents each passing position of the end effector (welding 1 to -chi T) of the α-based robot. However, these only show the relationship between starting and stopping, and do not accurately show the respective trajectories. Also, the small white circles attached to some of the passing positions indicate the positions where each robot should temporarily stop, and the solid line connecting the small white circles indicates the positional relationship of the two robots in the stopped state. It is for displaying. Furthermore, the downward arrow indicates the movement of the robot. The display of R, XR, etc. is based on FIGS. 5 to 7.

In this Figure 10, first, the β-based robot is at bo,
It is assumed that the α-based robots are stopped at a□. Then, both of them depart at the same time, and the β-type robot is b
2, and the α-based robot moves to a3. Therefore, in bo, the β-based robot performs xW processing, aol
, :, the α-based robot must perform RFC processing.

Next, the β-based robot moves from b2 to b4, while the α-based robot remains stopped at a3. Therefore, since the α-based robot must stop itself at a3 and start the other robot, XREC processing is required.

On the other hand, since the β system in b2 waits for a startup command from the α system, it is an RFC process. When the β-system robot reaches b4, it stops and gives a start command to the α-system robot (XREC processing), and the α-system moves from a to a5, stops at this a5 position, and returns to the β-system. and gives a start command (XREC processing).

The β system moves from b to b5 in response to this, but if it is desired to start them simultaneously, a start command is given to the α system, and the system itself also starts f71 (XW processing). Similarly, it is assumed that the series of operations ends when the β system reaches blo and the α system reaches alo.

Referring to the flowchart of FIG. 9 with such an example of operation in mind, first in step S1, each end effector is positioned at the first passing point of each robot. Then, in the next step S2, it is determined whether the above-mentioned REC, determine whether there is. For example, in the β series robot shown in Figure 10. Since xW processing is required at the position, this step S2
Then, the process moves to step S3, and this correlation data xW is set using the correlation data input switch R8ββ belonging to the teaching box TB in FIG. 2A.

On the other hand, if such correlation data is not required, for example, step S3 is bypassed when it is simply passed through, as in b and al in FIG. This is for example correlated data input switch R8o or R8β.
This means setting the ``'NO'' position.

In the next step S4, the correlation data set in this way (only if there is) and the position information taken from the encoder of each robot according to the positioning of the end effector are input and stored in the memory. I'll let you. However, during actual teaching, the moving speed and welding conditions are also taught, but since these settings are not related to the gist of this invention, their explanation will be omitted here. similar)
.

Once the data is captured in this way, it is determined in the next step S5 whether the passing point is the last passing point, and if it is not the last passing point, the passing point is updated in step S6, and the process returns to step S1 to perform the same process. The process is repeated, but when the final point is reached, teaching is completed.

Thus, in the example of FIG. 10, b - blo, a0
Location information for each of the 10 locations and correlation data for some of them are stored.

By the way, as shown in FIG. 10, REC, XREC,
Data regarding each process of XW can be stored as needed, but due to the nature of these processes, there are some restrictions on the settings, some of which are described below. Enumerate.

(2) First, in this embodiment, only the β-type robots are made to perform XW processing, so when teaching the α-type robots, data instructing the xw processing should not be added.

■Next, two robots must not perform RFC processing at the same time. This is because both devices are in a state of waiting for a startup command and cannot be activated thereafter.

■After one robot performs XREC processing, the processing that the other robot can perform at the stopping point after moving is
Limited to RE C or Xw processing. This is also because, similar to (2), one side starts the other side with XREC processing and then stops, so when the other side stops next and starts RFC processing, both will be in a waiting state.

(2) There are some other restrictions, but they are obvious to those skilled in the art once they know the nature of each process, so their explanation will be omitted.

(5) 111 Earth Unit II Next, an outline of the reproduction operation of the robot system taught in this way will be explained with reference to the flowchart of FIG. 11.

First, initialization is performed in step 310, and in the next step 811, the reading means is used to store the position information of the first passing point and the correlation data (if any) in the storage means (
memory). Then, in step 312, it is determined whether or not there is correlation data, and if there is, the process moves to step 313, and the content of the correlation data is determined. Depending on whether the correlation data is REC, XREC, or XW, step S14.815. The process advances to one of S16, and after once stopping, processes corresponding to each step process are executed. Details of each of these processes will be described later.

When the RFC, XREC, or xW processing is performed in this way, the process proceeds to step 817, where the drive output generating means applies a drive output to the robot's drive mechanism in the state instructed by those processes, and from the corresponding passing point. Performs step processing such as moving and stopping. If there is no correlation data in step S12, the process directly proceeds to step 517, where movement or the like is performed. As described above, the content of this step S17 includes welding, gripping, and the like in addition to simple movement, but for simplicity, movement is considered.

In the next step 318, it is determined whether the final passing point has been reached, and if not, the passing point is updated in step 819, and the process returns to step 811 to repeat the same process, but the final passing point has not been reached. and ends the playback operation.

(6) Details of CXRECXW processing The details of the RFC, XREC, and XW processing, which have already been outlined, are explained below.
This will be explained with reference to FIG. This figure 12 shows the 8th
Although this is a flowchart of processing in the β-system robot mainly showing the relationship with each flag shown in the figure, the same applies to the α-system robot (however, there is no XW processing). In each block of this flowchart, the parts separated by broken lines mean that the processing in the part above is accomplished based on the flag change in the part below.

Also, REC, XREC.

In any of the ×W processes, the β-based robot is assumed to first stop once.

(2) RFC processing This processing is performed by the "first status setting means" in this embodiment.

If the correlation data read together with the position information regarding the passing point is REC data, first, in step 850 in FIG. 12, a message indicating that the β system is waiting for a start command from the α system robot after it has stopped is sent. A report, that is, a standby report, is sent from the β system to the α system. This is achieved by turning on the flag B-RECACK. In the next step 351, it is determined whether there is a start command from the α system to the β system, that is, whether A-XMT is on. If the start command has not been issued yet (if A-XMT = OFF) ) is step 352
It is determined whether the α system is in a standby state for an activation command (A-REC wait flag is on). If the α system is also in the standby state, both are in the standby state, and either teaching has been performed in the prohibited manner as pointed out earlier, or this state has occurred due to some error. This means that the error has occurred, so error handling is performed.

When it is confirmed in step S52 that the A-REC wait flag is correctly turned off, the next step 8
The process advances to step 53, and the B-REC holding flag is turned on to put the β system into a "startup command standby state." and,
At step 854, a startup command (A-XMT=
on), and when the activation command is received, step S55
Proceed to.

If the activation command has already arrived from the α system in step 851, the process directly proceeds from step 851 to step 855. In this step 855, when the β system confirms the activation command from the α system, this activation command and the ``start command standby state'' of the β system are released. This is A-
This is achieved by clearing the XMT flag and the B-REC holding flag. In this way, stop and wait,
When the reception of the subsequent activation command is completed, step content processing, for example, movement of the β system is executed.

(2) XREC Processing This processing is carried out by the "second state setting means" in this embodiment.

In XREC processing, the β system gives a startup command to the α system.<B
- XMT is turned on), the procedure is the same as the above-mentioned REC processing. Therefore, after giving such a start command in step 360 of FIG.
The process moves to 0, and thereafter, the same processing as in ■ is performed.

■XW processing This process is carried out by the third state setting means in this embodiment. As mentioned above, this process is performed only in the β-system robot, so the α-system (on the right side) in FIG. Please note that this third state setting means is not provided in the control means of ).

In the xW processing, first in step 870, β
Cancels the standby report (B-RECACK) from the system. Normally, this B-RECACK is turned off at this point, but by clearing it, you can prevent the β system from erroneously continuing to issue standby reports. .

In the next step 871, a startup command is given to the α system by turning on the B-XMT flag. Then, in step 872, it is determined whether a standby report has been received from the α system, that is, whether A-RECACK is on, and if it is off, the process moves to step 873 and the β system is set to "standby". "Reporting status", that is, B
- Turn on the WAIT wait flag. This is because simultaneous activation is attempted by having the β system activated until the α system receives the activation command.

Then, in the next step S74, the standby report (
A-RECACK=on) is waited for, and when A-RECACK is turned on, the process proceeds to step 375. Step 8
If a standby report has already been issued from the α system in step 72, the process directly proceeds to step 875.

In this way, given the waiting report from the α system,
Since the activation command B-XMT has already been given to the α system, the α system can be activated at this point. After confirming this, in step S75, the standby report (A-RECACK) from the α system and the “standby report status J (holding B-WAIT)” of the β system are canceled. The process moves on to step content processing corresponding to activation of both the β system and the β system.

(7) 1 Ahead ■1 FIG. 13 shows the operation when such reproduction processing is performed on the teaching content shown in FIG. 10. This first
Figure 3 shows the positions and states of the end effectors of the β system and α system (moving or stopped), as well as the positions of the end effectors of the α system and β system.
This is a diagram showing startup commands and standby reports among the contents of communication with the system as time t progresses, and the method of displaying the status is based on FIGS. 5 to 7.

First, let's look at the β system. In this case, the α system is a. As shown in Fig. 10, xW for the β system is
Since the RFC data has been given for the data and the α system, the β system and the α system are activated simultaneously when the α system sends A-RECACK and the β system gives B-XMT. Next, when the β system stops at b2 (here, RFC
B-RECACK from β system to α system
On the other hand, the α system stops at a3 (because it is an XREC process, it sends >A-XMT. As a result, the β system starts, but the α system remains stopped (this state is Send A-RECACK to report)
. When the β system stops at b4, the β system now performs XREC processing and provides B-XMT to the α system. A- from α system
Since RECACK has already been sent, the α system starts from a at this point. The β system remains stopped at b4, and this is reported as B-RECACK.

Thereafter, such processing is repeated, the β system and the α system perform alternate or simultaneous operations, and the reproduction operation is executed in a correlation according to the teaching content.

(8) 11Lji= Although the contents of this embodiment have been described above, the present invention is not limited to the above embodiment, and for example, the following modifications are possible.

(2) The robot system to which the present invention is applied may include not only two robots but also three or more robots. In that case, x, W in the above embodiment
The processing corresponding to the processing can be performed by the control means of one or more of the robots. For example, the first
In the case where there are three robots R1 to R3 as shown in Fig. 4(a), if the robot R1 is provided with an xW processing function (that is, provided with the [third state setting means]), Fig. It is possible to perform a combination of both activations as shown by the medium broken line. Also, as shown in the same figure (il), when there are four robots R11 to R14, robot R11
When the R12 is provided with an xW processing function, it is possible to activate both combinations as shown by the broken line. If there are two or more robots to which the startup command is given, then 3
It is also possible to run more than one device at the same time. However,
This does not prohibit all robots included in the system from having XW processing functions.

(2) In the first embodiment, various flags were used to indicate the status, but the means for indicating such a status is not particularly limited. In addition, in the above embodiment, simultaneous activation is performed based on the introduction of the WAIT wait flag, but if simultaneous activation is not particularly required and it is sufficient to simply create a state in which two or more robots are moving together, , there is no need to employ such simultaneous activation means.

■Multiple robots are not limited to being configured as parent-child robots. It may also be a combination of robots that are morphologically independent. Furthermore, the present invention can be applied to robots other than playback type robots; for example, in the case of a numerical 1t11 controlled robot, correlation data may be input and stored together when inputting numerical data. Furthermore, the correlation data input may be selected using a numeric keypad or the like.

(Effects of the Invention) As explained above, according to the present invention, by simply adding the first to third data to the passing point information as appropriate,
Not only can a plurality of robots be operated alternately, but they can also be operated simultaneously, which has the effect of significantly improving the work efficiency of the robot system.

[Brief explanation of the drawing]

FIG. 1 is an operation diagram for explaining the operation of a conventional robot system, FIG. 2A is a perspective view showing the mechanism of a robot system to which an embodiment of the present invention is applied, and FIG. 2B is the robot system of FIG. 2A. FIG. 3 is a diagram showing an electrical configuration of the robot system of FIG. 2A, and FIG.
A block diagram showing the relationship between various means for Q Ill, Figures 5 to 7 are explanatory diagrams of the process of revealing correlation data, Figure 8 is a diagram showing various flags in the status word, Figure 9
The figure shows flowcharts 1 to 1 showing examples of teaching processing.
Figure 0 is a diagram showing an example of teaching content, Figure 11 is a flowchart showing an outline of playback processing, Figure 12 is a diagram showing processing based on correlation data, and Figure 13 is an operation in playback processing. FIG. 14 is a diagram for explaining the present invention in detail. RO...Robot system, co coβ...Microcomputer, α ゝT8 T0n...Teaching box, α' R8R8β...Phase open data input switch, α9 ■...Welding torch, 7... Gripping means PG Fig. 14 (a) (b) Fig. 2A'la Fig. 28 Fig. 10 jli Fig. 13

Claims (4)

[Claims] (1) A control method for a robot system including a plurality of robots capable of communicating with each other through a predetermined communication means, in which the control means of each of the plurality of robots: (a) reading means for reading predetermined data stored in the storage means regarding the operational relationship between the robot and other robots from the storage means in relation to the passing position; (b) reading by the reading means; The robot at the passing position communicates with other robots according to the predetermined data sent by the robot, and the robot communicates with other robots according to the predetermined data and the data given from the other robots through the communication means. (c) drive output generating means for generating a drive output according to the operation state set by the operation state setting means and providing the drive output to the drive mechanism of the robot; (b-1) When the predetermined data read by the reading means is first data, each of the operation state setting means of the plurality of robots sets the robot at the passing position. (b-2) a first state setting means for stopping the robot and setting a first state having a start command given from another robot through the communication means; (b-2) the predetermined data read by the reading means; a second state setting means for setting a second state for stopping the robot at the passing position and giving a start command to another robot through the communication means when the robot is the second data; (b-3) When the predetermined data read out by the readout means is third data, the operation state setting means of at least one robot among the robots in FIG. A control method for a robot system, comprising: a third state setting means for setting a third state in which the robot is started and a start command is also given to other robots through the communication means. (2) Each of the operation state setting means of the plurality of robots includes: (b-11) a first operation state setting means for instructing that the robot is in a state of waiting for a startup command given from another robot;
(b-12) a second flag means for reporting to other robots that the robot is in a state of waiting for a start command given from another robot; (b-13) another and a third flag means for instructing a start command to the robot, and the first to third state setting means are configured based on the indicated state of each of the flag means set according to the predetermined data. A control method for a robot system according to claim 1, wherein the robot system is configured to set the state of the robot. (3) The operation state setting means of the at least one robot further includes: (b-14) the robot waits for a report from the other robot to the effect that the other robot is waiting for a start command; The third state setting means sets the waiting state indicated by the fourth flag means, and the third state setting means sets the waiting state indicated by the fourth flag means, Waiting for the second flag means of the other robot to report that the robot is in a state of waiting for a start command, and the third flag means of the robot instructs the other robot to receive a start command. and simultaneous activation means for simultaneously starting the robot and the other robot when the other robot reports that it is waiting for a start command by the second flag means of the other robot. A control method for a robot system according to claim 2. (4) The robot system is configured as a robot system including a first robot and a second robot having an origin on a predetermined control axis of the first robot, and the operating state of the first robot is Claims 1 to 3, wherein the setting means includes the third state setting means.
A control method for the robot system according to any one of paragraphs.