JPS6198406A - Industrial robot - Google Patents

Abstract

PURPOSE:To decrease the time needed for a teaching job by combining and editing plural working programs of a robot main body to a matter to be processed to produce a new program. CONSTITUTION:The data on a program taught and stored is produced from the position data expressed by the degree of freedom in the X and Y axes, etc. for each point and the shift conditions including the shift speed/time, the interpolation conditions, etc. between points. When programs A and B are combined and edited, the data on the program A to be combined is kept as it is. Then the shift conditions MBO are added to the final point (m), and the data on the 1st point of the program B is added to the next data point. A new program thus edited and combined is shifted the 1st point of the program B without returning to the reference point since the conditions MBO are added to the point (m) of the program A.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to an industrial robot, and particularly to an industrial robot having means for editing and combining a plurality of stored programs.

[Object of the Invention] Conventional industrial robots, particularly coating robots, are taught in advance the working position with respect to the workpiece, and perform actual work at the taught working position.

Then, different programs are stored depending on the shape of the object to be worked on, and these programs are called up separately to perform the work.In the case of the object ()'1, which has a slightly different shape, the program is copied, modified, and deleted. It was handled by However, if the shape is a combination of two shapes, even if the individual shapes are almost the same as the pre-stored program, the same trajectory with different starting positions may be taught, or the four abilities mentioned above may be used to create the final result. In this case, the working position had to be taught point by point, and a lot of time had to be spent on teaching the teaching position.

The purpose of the present invention is to combine and edit programs of 9 work objects recorded in a storage device, create a new program corresponding to a new work object, and spend a large amount of time on teaching work. The purpose of the present invention is to provide a robot for Emme 2 that is capable of shrinking λ0 to .

According to the present invention, the above-mentioned objects include: a storage means for storing a work program of a robot main body for a workpiece; a combination editing means for combining and editing a plurality of programs stored in the storage means; This is achieved by an industrial robot characterized by comprising a reproducing means for reproducing the program of the means.

[Specific Examples] Next, the present invention will be explained in more detail using preferred examples shown in the drawings.

Referring to FIG. 1, the configuration of a robot control '4 device according to the present invention is shown. 1 indicates a CPU, which has a ROM3 and a RAM8 as a main storage device. As an auxiliary storage device, A
7 D y bidet 42 ri 10 hard de'' ri 12
Equipped with:, j6゜. 4 kou, 8 kou 1.1 kou 7. e2, 4..8 kou 5, remote teaching box 6
．． It has a keyboard 7. Reference numeral 17 indicates an interface section to the data bus 2. Looking at Figures 2 and 3, we get
Indicates the shape of the workpiece to be memorized. To perform the circular teaching shown in FIG. 2, the starting position of the robot body is set as a reference point Po, and the teaching operation is started from there.

Next, points are specified along the shape of the object to be worked on. P, P2. P3゜P4,
At P5, it coincides with the starting point P1. The program in that case is stored in RAM8 as program A.
to be memorized. The data is Table 11 Table 21 Table 39 Table 4
As shown in , the device data consists of two pieces of position data and movement conditions for each point:
Although shown as degrees of freedom, it is not limited thereto. Also, the moving conditions are
What is the moving speed and moving time of each point quantum? It is determined by the conditions between tl'i and the like. Here, the i point movement rules are valid from I point to 1+1 point. There are 110 commands in this song, which have the same effect as the movement conditions.

Such program data is created by a data creation device (that is, a keyboard) or by direct instruction by a person, and is stored in a memory as a main storage device or an auxiliary storage device. During playback, the program data is sequentially read by the CPU 1 as a playback means, and after reaching the final point, the program moves to the base Q, and the playback of the program ends once.

In the so-called teaching playback robot configured as described above, as explained below, the necessary programs are played back from among the programs stored in the storage device, and the programs are combined and edited. Create a new program and memorize it on your neck. As an example of combining and editing programs, the cases of programs A and B shown in Tables 1 and 2 will be described as an example. The data of the program A to be combined is left as is, and the movement condition M80 is entered at the final point m of the program Δ. The next 1-
Data from the first point 1 of the program 8 is input to the tab point 1.

That is, at point m, x and □ are entered as X data, and YA □ is entered as Y data. After that, point hm+
For i, X'Bl, YI31, point m knee 2
X, 2. Enter Y82 and print the contents of program B.
” Enter up to the final point of Gram B. These works 9
This is done using a keyboard (not shown in the figure) in the hardware configuration, which serves as a means for combining and editing programs. In a program that has been combined and edited in this way, the movement condition MB is set to the final point l-m of program Δ.
O is entered, and the next point contains the data of the first point of program BI7) J. From the final point of program A to the reference point (X, Y) = (0
, 0), but moves to the first point of program B, and the trajectory of program Δ, B is continuously repeated 17. This program C(1) is stored in the RAM 8 as a storage means shown in FIG. The second example of collaboration when using this program C(1)
Specific examples are shown in Table 4. This is a method in which the position data of point O of program B to be combined is entered into the position data of the final point of program A to be combined. Program B
The position of point 0 is always 0, so program B out of the new combined programs C(2) is (XAll.

YAl).

A third specific example of programs to be combined, as shown in Table 5, combines the first point of program B to the position data of the final point of program A to be combined. Program A to which the trajectory of program B is combined
17) ffl Starting from the end point, program B can be used like a 4-knob routine.

The above combined edited program C1゜C(2)
, C(3) can be arbitrarily selected and reproduced by the operator in one step, and the number of programs to be combined is not limited to two programs, but may be more than two programs ( Kari rq, ``y, es, p, p
).

As described above, according to the present invention, the robot control device includes:
Since it has a combination editing means that combines the reproduced programs, it is possible to create a new program using the existing program stored in the storage device, which takes much less time than creating a program by teaching. By shortening or editing, existing programs can be used like →knob routines, so data 1 with the same shape locus! If it is used as one program, it will be easier to create a program.

Program A Table 1 point X data Y data Movement condition OXAo(-01Y, (=()
) MA.

1xA1YA1MA1 2XA2YA2MA2 ”Ai YAi MAii41
X, Y.

A1・1A, +・I MAi・1”
XAra-I YM-I MAIB
-1mXMYAII+ Program B Table
2 points X data Y data Movement condition OXBo (=Q) YB
6 (=OIM,.

”BI YBI M812X82
Y82MB2 “Bj YBj”BjJ+1x
Bj+1BJ+I MBJ+IY・”XBn-1”8n-+ Man
-+nXBn YBn Program C (1)
Table 3 points X data Y
Data movement condition OXAo (=O)'
YA, (=OI MA.

1XA1YA1MA1 2x^2YA2MA2 ” XAi YAi
“Ai” XAi・I YMAi
・1Ai-tei 1 1Ol10-1XA YAm-1"Am-1"
xAll
YAm MB0 total” 8
1 YBI VIB+”
X82 YB2 MB2m
"JXB, Y8J'v18J 11+j+l XBJ, y8J÷1
MBJ・1 “n-1XBn-I YBn-+”
Bn-1m+nX5nYa.

Program C (2)
Table 4 points X data Y data Movement condition OXA. (=0)Y, o(
=O) MA.

1XA1YA1MA1 2XA2Y^2MA2 “Ai YAi” Aii+
i X Y1MAi+
1A4+i A1+1111-1
xAI-I YAm-I MAl
l-11X, YpaMBO (-X, +(X, -X, o)) (=YBo+(Y,
-YBo))”X81”Am YB1
"Am A81" XB2 "M
YB2”Am MB2m+JxBJ+xYBj+YAIMBjB
m+j+I XB, +ge xAI
a, J+1 AI
"Bj+1'/, +Y 1:1゛m+n-I XB,, +XAm YBn-
1”As MBn-1”nXBn ”Am
”Bn +YAs Program C (3)
Table 5 points X data Y data Movement condition 0, X, o(=ol YAo(=
O) M.

1XA1YA1M^1 2xA2YA2MA2 ”Ai YA'i MAi+
“I XA +・1YAi・1MA1・1”
xM-I YAm-I
MAm-11XAIIYA0MB1 (-XB1+(X, -X81)) (=Y, 1-(Y
, -YBl)) m+1 x, 2-(x, xB,)
YB, 2”M y811 MB2m+j-1x
B, +(x, -xBl) Y8j+(YA, -YB
l) MBJ"XB,j+1""Am"8
1”B, j+1””Am “81”B, jim+n-2
XB, -, + (XAll-XB,) YB, i (Y
Am-YB1' ”Bn-+ 1m+n-1
XB, + (XAlIl-XB,) YB, +
(YA, -YB11

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing the configuration of the robot control device according to the present invention, FIG. 2 is the trajectory of program A, FIG. 3 is the trajectory of program B, and FIG. 4 is the trajectory of program A and program B.
The trajectory of program C (1) when combined and edited,
Figure 5 shows the trajectory of the second program C (2) when program A and program B are combined and edited, and Figure 6 shows the trajectory of the third program C (2) when program A and program B are combined and edited. FIG. 3 is an explanatory diagram showing the trajectory of item 3). Pl...Point 1, P2...Point 2, P3...Point 3゜

Claims (1)

[Claims] (1) A storage means for storing a work program of the robot main body for the workpiece, a combination editing means for combining and editing a plurality of programs stored in the storage means, and a reproduction for reproducing the program of the combination editing means. An industrial robot characterized by comprising means.