JPS6121506A - Controller of working machine - Google Patents

Abstract

PURPOSE:To improve the control processing capability by providing a state transition flag to robot hand information section in control information (working information) activating a robot so as to avoid a redundant working operation at the control. CONSTITUTION:The controller 5 consists of a control information generating means 51, a memory means 52 and a control means 53 and the means 51 stores the control information to the means 52 by using a command of a teaching operating device 4 during teaching, the operating condition and an input from a sensor section 3 so as to store the control information to the means 52. The state transition bit (flag) is provided at the 1st bit in addition to the 0th bit representing open/close of the robot to the robot hand information section from the internal memory of the means 52. Thus in case of the control output, the state transmission flag is checked simply, it is not required to give output, that is, the bypass of the redundancy control is attained by referencing the state transition flag as the controller, thereby improving the control processing capability.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a control device for controlling a working machine such as an industrial robot, and particularly when operating a working machine based on operating conditions input in advance. The present invention relates to a control device for a work machine that prevents redundant operations.

[Conventional technology]

When operating a work machine, such as a teaching/reproducing type industrial robot, the industrial robot is manually operated in advance using a teaching operation device, and the position, speed, opening/closing of the robot hand, etc. related to the operation of the industrial robot are determined in advance. A teaching operation is performed in which information such as the following information is stored in the memory within the control device. Next, based on the work information obtained through the teaching work, a so-called "break-in operation" is performed to confirm the work information, and after that, the control device drives the industrial robot in real time based on the confirmed work information. (so-called "playbank" work)
.

An example of the work information taught above and used for reproduction is shown in FIG. The work information shown in Figure 2 is ~(k+
2) Shows the working conditions of each step, and each step
It consists of robot hand information indicating whether the robot hand is open or closed, position speed information that stores data for moving the robot hand to a predetermined position at a predetermined speed, delay time information, etc. In the example shown in FIG. 2, in step k, the position (X,.

Yk, zt+) and moved the robot hand to
"Closed" (flag -1), and in the next (k+1) step, set the speed to 4Ite position (Xk-+, Y *4+
.

Zk4+), hold the robot hand in the "closed" state, and move the robot hand to the position (L, z
, Yk-z, Zゎ2), the robot hand is opened.

Therefore, the control device sends control signals corresponding to the actuators of the industrial robot one by one based on the above-mentioned work information obtained through the teaching work, checks the feed pattern signal, and sequentially controls the actuators. is being carried out.

[Problems to be Solved by the Invention] In the conventional general control device, in the example shown in FIG. ”, so the “closing” action is repeated. However, this task is clearly redundant. For the "close" action, the control device outputs an output corresponding to the "close" action to the actuator of the robot hand. After that, a sensor detects and checks whether or not the robot hand actually sings. Such a check is generally performed by periodically inputting the results of the robot hand's operation within a sensor device at regular intervals. In the case of (k+1) step, the actuator does not operate because it is already "closed".
The above check also confirms that it is "closed" due to a one-cycle delay, but at least it does not change the fact that it is a redundant task.

A possible method for preventing the above-mentioned disadvantages is to input the open/closed state of the robot hand in advance in any step, and to bypass the drive if it matches the work information. However, in this method, if an "open" or "close" operation is required, this pre-check process itself becomes redundant.

In any of the above cases, the redundant work described above is undesirable especially in such a control device where high-speed work is required, and a solution is desired.

Another method is to check the work information of the previous step each time before outputting the control signal, and avoid redundant processing in the same case, but this is especially true when there are many control targets. However, the work involved in data transfer and comparison is complicated, and processing time is required, so it is not a satisfactory solution.

[Means and operations for solving the problem] The present invention has been invented to solve the above-mentioned problems.In the present invention, the operating conditions of a working machine are input, and the input operating conditions are In the control device for driving a working machine based on the input operating condition, the storage means stores the operating condition, and the storage means stores the operating condition with an indicator that the operation should be bypassed if the input operating condition is the same as the previous operating condition. control information creation means for storing the control information in the storage means; and control means for driving the working machine based on the operating conditions stored in the storage means, and control operations are not performed for those to which the bypass indicator is attached. A control device for a working machine is provided.

゛ [Example] Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing a control device for an industrial robot as an embodiment of the present invention. In FIG. 1, 1 is an industrial robot, 2 is an actuator unit including a servo system that drives the industrial robot 1, an actuator that opens and closes the robot hand, etc., and 3 is the position of an encoder, etc. that detects the operation result of the actuator. This is a part of the sensor including the sensor, open/close switch input, etc. Further, reference numeral 4 denotes a teaching operation device which manually operates the industrial robot 1 and teaches the operation to the control device 5. The control device 5 includes a control information creation means 51, a memory means 52, and a control means 53.

During the teaching operation, the control information creation means 51 controls the teaching operation device 4.
The control information (work information) for operating the robot is stored in the memory means 52 by receiving commands and operating conditions and input from the sensor part 3. When storing control information in the memory means 52, the control information creation means 5
1 performs processing that eliminates the need for the above-mentioned redundant control, the details of which will be described later. Control means 53
Based on the control information stored in the memory means 52 as described above, the robot 1 is actuated via the actuator section 2, the operating state of the robot is checked via the sensor section 3, and predetermined control is performed. go.

The above control device will be described in more detail with reference to FIG. FIG. 3 shows an example in which the combinator 6 is used as the control section W5. The computer 6 includes an arithmetic control unit (CPU) 61, an internal memory 62, an output control section (DO) 63, an input control section (DI) 64,
A CRT device 65 consisting of a cathode ray tube display (CRT) and a keyboard (KB), a floppy disk 66, and a bus 67
, and input/output data control line (Ilo DξC) 68
It consists of The actuator section 2, the sensor section 3, and the teaching operation device 4 are connected to the data control line 68.

Control information is stored in the internal memory 62, and how the control information is created by the teaching operation will be described with reference to the flowchart in FIG. 4.

The format of the control information is as shown in Fig. 5. Basically, as shown in Fig. 2, each step consists of a robot hand information section and an information section such as position speed. different from that of In other words, in addition to the 0th bit of the robot hand information indicating whether the q-pot hand is "open" or "closed", there is a "state transition bit" which will be detailed later.
is provided at the 1st bit in this example.

Inputting the instruction signal from the teaching operation device 4, the computer 6 recognizes that it is a teaching operation, enters the teaching operation mode, and the control information creation program stored in the internal memory 62' is activated via the CPIJ 61. . The control information creation program creates control information by manually inputting signals from the teaching operation device 4, the sensor part 3, and, if necessary, signals for actuator operation, in accordance with the teaching operation.

In FIG. 4, when it is detected that one teaching operation has been completed by input from the teaching operation device 4 (step 5
001), inputs whether the hand open/close switch on the teaching operation device is pressed and checks the input state (S
602). If it is not pressed, step 50 will be described later.
The process moves on to step 07. When pressed, if the previous work step in the internal memory 62, for example the current work step, is (k+l), the flag indicating the state of the hand in step k is read (SOO3). Next, it is checked whether the state of the step flag matches the state of the switch. In the example shown in FIG. 5, the hand position for the second step is "1", that is, "closed", and the switch of the teaching device 4 for the current step (k+1) is also "1". Therefore, proceed to step 5oos, and set the "state transition flag" of the first focus in the robot hand information section of step (k+1) to "
1”. In other words, state transition flag = 1 means that the content to be operated is the same as the previous time, and there is no need to repeat the control. On the other hand, state transition flag = 0 means that it is necessary to perform a control operation.

Next, depending on the state of the hand Φ open/close switch of the teaching operation device 4, the 0 of the (k+1)th robot hand information section is
Cents bits. In the example of FIG. 5, "1" is set. This is to store the actual control operation and to use it for determining the state transition of the next operation step.

On the other hand, in step 5007, the state transition bit is set to "
0'' to instruct that a control operation should be performed in that step, and then the same process as step 8006 is performed in step 8008.

The above process is repeated until the teaching operation is completed (steps 5009 and 5010).

After the above processing is completed, the control information obtained by the teaching operation is stored in the internal memory 62. Therefore, control is performed based on this control information, and a break-in operation is performed if necessary.

If any points to be corrected are discovered during this break-in operation, it is also possible to correct the control information as shown in FIG. 5, which is stored in the internal memory 62 via the CRT device 65. It is also possible to temporarily output the control information modified in this way to the floppy disk 66 and save it.

Control is performed using the control program stored in the internal memory 62.
This is done by activation via the PU 61, which will be described with reference to FIG. Now, suppose that the work has progressed to step , and the movement has finished (5100
), the control program reads the control information for the next step (k+1), adds a predetermined control operation to the servo system, etc., and then reads the state transition focus of the (k+1)th robot hand information section (S101). As shown in FIG. 5, the state transition focus is 1, so in this case, proceed to the next operation (
5105).

That is, since the state of the k-th robot hand and the (k+1)-th robot hand are the same, the same operation is not repeated in the (k+1)-th robot hand.

On the other hand, when moving to the (k+2) step, after adding a predetermined control operation to the servo system etc. based on the ilJm information, the state transition bit = 0, so in step 5103, the Oth bit of the robot hand information section is set. The open/close flag is read and an "open" operation is performed (5104). For this "open" operation, a command is issued from the CPU 61, and this command is output via the DO 63 to the on/off drive section of the actuator section 2 to open the robot hand. On the other hand, in CPυ61, the robot hand is "open".
This is checked at regular intervals via the on/off input section of the sensor part 3, DI 64. If it becomes "open" as commanded, it will move on to the next control operation.

As is clear from the above explanation, by providing the state transition flag, when controlling output, simply checking the state transition flag 5 eliminates the need to output the same operation over and over again, which improves processing during control. The burden is considerably reduced. On the other hand, since setting the state transition flag is performed when there is a relatively large amount of time during the teaching operation, this itself does not impose a processing burden during control and does not cause any problems.

Further, as described above, processing of the state transition flag is a simple process.

In the above explanation, the "open/close" operation of one robot hand was illustrated, but other "open/close" operations
It is clear that the present invention can be similarly applied to operations such as "closing" operation or positioning control.

In addition, in the above explanation, we have described the case where control information is created in conjunction with the teaching operation, but for example, data created in advance with a simulator etc. is input via a floppy disk, and the contents of the floppy disk are internally stored. When the data is transferred to the memory for use, as described above, for example, the state transition flag can be set when transferring from the floppy disk to the internal memory, and control can be performed based on this state transition flag.

On the other hand, the control device can bypass the redundant control operation as described above by referring to the state transition flag, and by selecting a mode, it can perform redundant control operations regardless of the presence or absence of the state transition flag as before. Needless to say, it is possible to do this.

In the above explanation, the case of teaching and reproducing industrial robots has been described, but it is clear that the invention can be applied to other systems. Further, the control device is not limited to a computer.

〔Effect of the invention〕

As described above, according to the present invention, redundant work operations during control can be avoided with relatively simple means, and the control processing ability of the control device can be improved.

[Brief explanation of drawings]

Fig. 1 is a configuration diagram of a control device for a working machine as an embodiment of the present invention 6, and Fig. 2 is a conventional control information former.
3 is a block diagram of the system shown in FIG. 1, FIG. 4 is a diagram showing the operation of creating control information in the system shown in FIG. 3, and FIG. FIG. 6 is a flowchart showing the control operation in the device shown in FIG. 3. (Explanation of symbols) 1... Robot, 2... Actuator part, 3... Part of sensor, 4... Teaching operation device, 5... Control device, 51... Control information creation means, 52...Memory means, 53...Control means, 6...Computer, 61...CPU. 62...Memory, 63...DOl 64...DI, 65...CRT device, 66...Front disk, 67...Bus, 68...I10 data/control line.

Claims (1)

[Claims] 1. A control device that inputs operating conditions of a working machine and drives the working machine based on the input operating conditions,
a storage means for storing an operating condition; a control information creation means for storing the operating condition in the storage means with an indicator that the operation should be bypassed if the input operating condition is the same as the previous operating condition; A control device for a working machine, comprising: a control means for driving the working machine based on operating conditions stored in a storage means, and a control operation is not performed for those to which the bypass indicator is attached.