JPS6258307A - Synchronous control system for plural robots - Google Patents

Abstract

PURPOSE:To omit the teaching time of each robot by sharing the teaching data on a single robot among other robots. CONSTITUTION:When the control data is written in a prescribed area of a control data table 31 of a master robot MA, an operator gives an instruction for transfer of data through a control panel 39. Thus a control part 30 reads successively the control data out of a table 31 and transfers them to all slave robots S1-Sn via an I/O port 38 and a data line 40. The robots S1-Sn red those transferred control data via the port 38 and a system bus 41 and write them to the table 31. This reduces the teaching time and at the same time the variance is prevented for the data received teaching.

Description

[Detailed description of the invention] [Industrial application field]

The present invention relates to a synchronous control system for a polishing robot used, for example, for polishing and finishing press molds, and other robots that input control data using a teaching method.

[Conventional technology]

In the case of a teaching-type robot, teaching is performed prior to actual work. More specifically, in the case of the seed mouth bot, an encoder for position feedback is provided on the shoulder part and the material part of the arm, and when the tip tool is traced along the desired passing trajectory, the encoder is outputs position data indicating the passing point of the tip tool. By sequentially storing this position data in the memory area, a control table is created in the memory area in which position data indicating the trajectory of the tip tool is arranged as control data. Therefore, in actual work, if the actuator is operated according to the control data table stored in the memory area, the tip tool will perform the work while passing through the teaching trajectory.

[Problems to be solved by the invention]

Now, one of the purposes of such teaching-type robots is to improve the efficiency of inputting control data, especially when one robot performs multiple M types of work. can save the effort of creating paper tapes that involve complex numerical analysis, but since there is no single volume of portable storage media like paper tapes, when many robots are performing the same work, The above-mentioned teaching work must be performed for each robot, and it is impossible to perform the teaching work completely uniformly for all robots, resulting in a problem that product variations are likely to occur.

[Means to solve the problem]

The present invention was made to solve these problems, and by sharing the data taught to one robot with multiple robots, the effort of teaching each robot can be saved. It is an object of the present invention to provide a synchronous control system for a plurality of robots that can omit the above description and prevent variations in taught data to obtain uniform products. In summary, the synchronous control system for multiple robots according to the present invention includes a master robot including a teaching means for teaching control data and a memory area for storing the taught control data, and a master robot having common specifications with the master robot. one or more slave robots comprising an actuator and a memory area having common specifications with the master robot, and means for transferring control data stored in the memory area of the master robot to the memory area of the slave robot, The above problem is solved by sharing the control data taught to the master robot by one or more slave robots.

[Effect]

That is, in the synchronous control system for multiple robots of the present invention, since the control data obtained by teaching the master robot can be shared and used by the slave robots, teaching can be performed for each robot individually. Moreover, since completely common control data can be used for each robot, there is little variation in products.

【Example】

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings. First, FIG. 1 is a diagram showing the principle of an actuator of a polishing robot according to an embodiment of the present invention, and both a master robot and a slave robot basically have the same actuator. In FIG. 1, 1 indicates a base, 2 indicates a shoulder, 3a and 3b each indicate a first arm fixed to the shoulder 2, and a shaft 4 allows the shoulder 2 to rotate freely relative to the base 1. I support it. In addition, a booby I75 is fixed to the tip of the shaft 4, and the rotation of the pulley 8 fixed to the rotating shaft 7 of the motor 6 is controlled by the pulley 5.
The signal is transmitted by a belt 9. Therefore, when the motor 6 starts, the rotation of the rotating shaft 7 is transmitted to the shoulder 2 via the pulley 8, belt 9, pulley 5, and shaft 4, and the first arms 3a and 3b fixed to the shoulder 2 are Rotates around axis 4. Note that 10 is an encoder that detects the rotation of the motor 6. Next, reference numeral 11 denotes a motor fixed to the shoulder portion 2, and the rotary shaft 12 of the motor 11 supports pulleys 13a and 13b inside the hollows of the first arms 3a and 3b. Furthermore, pulleys 14a and 14b are supported by a shaft 15 at the other ends of the hollow interiors of the first arms 3a and 3b, and a second arm 17 is fixed to the shaft 15. Therefore, when the motor 11 starts, the rotation of the rotating shaft 12 is caused by the pulley 13a (13b) - belt 16a (16b).
- transmitted to the shaft 15 via the pulley 14a (14b),
As the shaft 15 rotates, the 27th arm 17 rotates around the shaft 15. Note that 18 is an encoder that detects the rotation of the motor 11. Further, a motor 19 is fixed to the tip of the second arm 17, and the rotation of the rotating shaft 20 of the motor 19 is transmitted to the tip tool 22 via a transmission mechanism 21 using, for example, a bevel gear. Note that 23 represents a work table, 24 represents an object to be polished fixed to the table 23, and 25 represents a switch for generating a sampling signal for teaching. Further, a mechanism for tilting the table 23 and a mechanism for raising and lowering the base 1 are omitted in the drawings. In the case of a polishing robot having an actuator as described above, the rotation angle of the first arms 3a and 3b is determined according to the rotation amount of the motor 6, and the rotation angle of the second arm 17 is determined according to the rotation amount of the motor 11. At the same time, the coordinate position of the selection tool 22 is determined in accordance with the rotation angles of the first arms 3a and 3b and the rotation angle of the second arm 17. Therefore, by sequentially controlling the rotation amount of the motor 6 and the motor 11 according to the input control data, the tip tool 22 can be moved along a desired trajectory. Now, a polishing robot having the above-mentioned actuator has encoders 10 and 18 for position feed puncture.
As described above, the output pulses can be used for teaching. FIG. 2 is a block diagram showing an example of a control means for a polishing robot having the above-mentioned actuator, where MA indicates a master robot and 81 to Sn indicate slave robots. First, to explain the constituent elements shown in Fig. 1, 6
is the motor 6 for driving the first arm.10 is the encoder 10.11 is the motor 11 for driving the second arm.18 is the encoder 18.25 for detecting the amount of rotation of the motor 11. 1 and 2 respectively show switches 25 for generating sampling signals. Note that the motor 19 in FIG. 1 is not directly related to the teaching operation of control data, so although it is not shown in FIG. 2, a circuit for driving the motor 19 may be included in the control means. Needless to say. Continuing to explain with reference to FIG. 2, 30 is a control section constituted by, for example, a microprocessor, and 31 is a control section 3.
In addition to the area for storing programs, the memory 31 has an area for storing a control data table, which is an array of control data for determining the excitation pattern to be applied to the motors 6 and 11. It will be prepared. Further, 32 represents a counter, and 33 represents a driver. When the control data sequentially read from the control data table in the memory 31 is preset in the counter 32, the driver 33 amplifies the output of the counter 32 and controls the motor 6. to drive. As the motor 6 rotates, the encoder 10 generates a pulse, which causes a counter 32 to count down, and the motor 6 rotates until the output of the counter 32 reaches O. Therefore, by sequentially presetting control data to the counter 32, the rotation of the motor 6 follows the control data table in the memory 31. Similarly, 34 represents a counter, 35 represents a driver,
When the control data sequentially read from the control data table in the memory 31 is preset in the counter 34, the driver 35 amplifies the output of the counter 34 and drives the motor 11. As the motor 11 rotates, the encoder 18 generates a pulse, which causes a counter 34 to count down, and the motor 11 rotates until the output of the counter 34 reaches O. Therefore, by sequentially presetting control data to the counter 34, the rotation of the motor 11 follows the control data table in the memory 31. Further, in FIG. 2, numeral 36 indicates a counter for extracting position data of the motor 6, and similarly, numeral 37 indicates a counter for extracting position data of the motor 11, which are used during teaching. Furthermore, 38 indicates an I10 boat, 39 a control panel, and 41 a system lot. In addition, slave robots 31 to Sn are also master robots MA.
It basically has the same control means as the teaching method, but includes elements necessary for teaching, a switch 25 for generating tapping and sampling signals, and a counter 36 for extracting position data of the motor 6 during teaching. A member corresponding to the counter 37 for extracting position data of the motor 11 is not provided. Regarding slave robots, slave robot S
, an example of the control means is shown in the figure, but the slave robots 82 to Sn also have control means having the same configuration. The present embodiment is characterized by the control means of the master robot MA and the control means of each slave robot 31 to 3n.
are connected to the control means of the master robot MA via an I10 port 38 and an external data line 40, respectively.
The control data taught to the mask robot l-MA is transferred to each slave robot S1-3n via the I10 port 38 and the data line 40, and the control data taught to the mask robot l-MA is transferred to each slave robot S, ~ This means that Sn will share it. The present invention will now be described in detail with reference to the above matters. First, teaching is the tip tool 2 of the master robot MA.
2 along a desired trajectory on the object 24 to be polished. When the tip tool 22 is moved over the object to be polished 24, the first arms 3a and 3b rotate around the axis 4, and the second arm 17 rotates around the axis 15, respectively, in accordance with the trajectory of the tool. do. The rotation of the first arms 3a and 3b is based on the axis 4-Boo'J.
5 - belt 9 - transmitted to shaft 7 via pulley 8 and rotates encoder 10; Similarly, the rotation of the second arm 17 is from the shaft 15 to the pulley 14a.
(14b) - Belt 16a (16b) - Transmitted to shaft 12 via pulley 13a (13b) and rotates encoder 18. The encoders 10 and 18 each generate a pulse each time they rotate by a certain angle, and the pulses generated by the encoder 10 increment the counter 36, and the pulses generated by the encoder 1 increments the counter 37. - The output of 37 is derived to the system hash 41. On the other hand, the operator closes the switch 25 at an appropriate timing, and at the timing when the switch 25 closes, the control unit 3
A sampling signal is added to 0. And the control section 3
0. reads the output of the counters 36 and 37 via the system bus 41 at the timing when the sampling signal is applied, and stores this value in the area for storing the control data table secured in the memory 31 while updating its address. Memorize sequentially. Therefore, by turning the switch 25 at an appropriate timing while moving the tip tool 22 along a desired trajectory, the control data table is stored in the area reserved for storing the control data table in the memory 31. It will be stored. After the control data table is stored in a predetermined area in the memory 31 in this way, when the workpiece 24 is set on the master robot MA and slave robots 81 to Sn, the operator first A data transfer instruction is given from 39. In response, the control unit 30 reads control data stored in a predetermined area in the memory 31 in table order, and sends the read control data, together with its address, to all slave robots via the I10 port 38-data line 40. Sequentially transfer to SI to Sn. The operations of each slave robot) St to Sn are all the same, so to explain the slave robot SI as an example, the control unit 30 of the slave robot S+ transfers the control data transferred together with the address via the I10 port 38 and the system bus 41. The control data table is read and sequentially written into an area prepared as a control data table in the memory 31. Note that the write address of each control data at this time is specified by the address transferred from the master robot MA together with the control data. By repeating the above operation every time the control data is transferred from the master robot MA, the control data stored in the predetermined area of the memory 31 of the slave robot S is stored in the predetermined area of the memory 31 of the slave robot S. A control data table with the same contents as the data table will be stored. Now, when the transfer copying of the control data table to the slave robot S1 is completed, the control unit 30 of the slave robot S1 sends a transfer completion signal to the master robot MA via the I10 port 38-data line 40, and controls the master robot MA. The unit 30 sends this transfer completion signal to I10.
A reception is made via the port 38, and the completion of transfer of the control data table to the slave robot S1 is known. When the transfer and copying of the control data table to the slave robot S1 is completed in this way, the same control operation as described above is sequentially executed for the slave robots 82 to Sn, and all slave robots sr) S+ to Sn are Transfer copying of the control data table is completed. When the transfer completion signal from the n-th slave robot Sn is received, the control unit 30 of the master robot MA lights up a transfer completion lamp (not shown) on the operation panel 39, and controls all the slave robots. Notify the operator that transfer copying of the data table has been completed. When the operator turns on the start switch on the operation panel 39 of Mask Robot l-MA after knowing from this display that the transfer and copying of the control data table to all slave robots has been completed, this start signal is first sent to the master robot. is added to the control unit 30 for the master robot M.
The control unit 30 of A sends a start signal to all slave robots 81 to Sn via the I10 boat 38 and data line 40.
control unit 30 of all slave robots 81 to Sn.
When this is received through the ■/○ port 38, it starts operating. The operation after startup is exactly the same for master robot MA and slave robots S, ~Sn, so to explain about master robot MA, first, control unit 30
The motor 19, which is only shown in the figure and is omitted in FIG. Polishing of the workpiece 24 is started. At the same time, the control unit 30 sequentially reads the control data constituting the control data table stored in the memory 31,
The counters 32 and 34 are sequentially set. Then, the output of the counter 32 becomes H level as the counter 32 is set, and the output of the counter 32 is amplified by the amplifier 33 to rotate the motor 6. Similarly, the output of the counter 34 becomes H level as the counter 34 is set, and the output of the counter 34 is amplified by the amplifier 35 to rotate the motor 11. First, the rotation of the motor 6 is caused by the pulley 8 - belt 9 - pulley I7.
5-The first arms 3a and 3b, which are transmitted to the shoulder 2 via the shaft 4 and fixed to the shoulder 2, rotate around the shaft 4. Similarly, the rotation of the motor 11 is Boo'J13a (13b).
- belt 16a (16b) - is transmitted to the shaft 15 via the pulley 14a (14b), and as the shaft 15 rotates, the 27th
- The arm 17 rotates around the axis 15. Then, the counter 32 is counted down by pulses generated by the encoder 10 as the motor 6 rotates, and similarly, the counter 34 is counted down by pulses generated by the encoder 18 as the motor 11 rotates, and the values of the counters 32 and 34 are counted down. When becomes 0, the drive signals that the amplifiers 33 and 35 give to the motors 6 and 11 drop, but since the control data read out from the memory 31 is sequentially set in the counters 32 and 34, the motors 6 and
11 rotates in accordance with the control data stored in the memory 31 as a whole. Since the position of the tip tool 22 is determined in accordance with the rotational position of the mokuro 11, the tip tool 22 repeats the trajectory during teaching. In the above embodiment, a two-joint polishing robot was used as an example, but it goes without saying that the degree of freedom of the robot itself is arbitrary. Further, the transmission control procedure between the master robot and each slave robot is not particularly limited as long as control data and addresses can be transferred in a one-to-one correspondence. Further, in the above explanation, a polishing robot is used as an example, but the present invention reduces the labor and effort of teaching when multiple teaching-type robots having the same actuator perform the same work. The essence of the present invention is to eliminate variations in control data, and therefore, the present invention can be widely used in any teaching type robot.

【effect】

As explained above, according to the present invention, when multiple robots having the same actuator perform the same work, the control data created by teaching one robot can be shared by the other robots. Therefore, the teaching of control data only needs to be done for one robot, which reduces the teaching effort, and allows simultaneous work using the same control data, which improves product quality. It becomes possible to significantly reduce variations, and it is possible to stabilize product quality, especially when polishing a large number of molds at the same time, such as glass molds.

[Brief explanation of drawings]

FIG. 1 is a mechanism diagram showing an actuator of a robot according to an embodiment of the present invention, and FIG. 2 is a block diagram according to the first embodiment of the present invention. 2... Shoulder part 3a, 3b... First arm 6... Motor lO... Encoder 11.
...Motor 17...Second arm 18...Encoder 25...Switch 30...Control unit
31...Memory 32, 34...Driving counter 36, 37...Teaching counter 38...I
10 boats 40...external data line 41...data bus

Claims (1)

[Claims] A master robot comprising a teaching means for teaching control data and a memory area for storing the taught control data, an actuator having common specifications with the master robot, and a memory area having common specifications with the master robot. Synchronization of multiple robots in which multiple slave robots are connected via a data line and the slave robots are activated after the control data stored in the memory area of the master robot is transferred to the memory area of the slave robot. control system.