JPS63283882A - Robot controller - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Objective of the Invention) (Industrial Application Field) The present invention relates to a robot control device that not only performs simple object bundling but also performs complex assembly work and the like.

(Prior Art) In recent years, advances in automation technology have led to rapid progress in unmanned manufacturing processes, particularly in the field of manufacturing and processing industries. There is a need for the development of robots that can perform complex assembly tasks on unmanned lines.

Traditionally, to teach robots complex assembly tasks,
The robot language was taught at the movement level by forcing students to perform each movement individually.

(Problems to be Solved by the Invention) However, in the conventional method of manually performing all work contents for each operation, the burden on the operator increases as the number of work contents increases. Further, the taught content is not determined in correspondence with the movement of the robot arm, but is only geometrically related, so there is no guarantee that the movement will proceed smoothly during actual work.

SUMMARY OF THE INVENTION An object of the present invention is to provide a robot control system that solves the above problems and easily teaches and executes complex assembly work.

[Structure of the invention]

(Means for Solving the Problems) In order to achieve the above object, the present invention includes at least two robot arms for work, a drive device for operating the robot arms, and a device for teaching the robot arms to work. at least two teaching arms, and a means for reading the movement of the robot arm and converting it once into a motion command for the robot, from a computer that sends a control signal to the drive device based on the created motion command. Configured.

(Function) When the robot control device according to the present invention is used, by operating the teaching arm, the motion is automatically converted into a motion command in the robot language without inputting the motion one by one in the robot language. Operators can intuitively and easily teach complex tasks.

(Example) The present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a block diagram of a robot control device showing an embodiment of the present invention.

As shown in the figure, this robot control device is composed of a teaching arm 1, a teaching switch 11, a computer 2, an operation command conversion means 21 in the computer 2, a driving device I\3, and a robot arm 4. The teaching arm 1 is used to input work details into the computer 2, and the teaching switch 11 is used to input data boundaries. The computer 2 stores the movement of the teaching arm and converts it into a movement command in robot language using a movement command conversion means 21,
Based on this, the control amount for the robot arm 4 is determined and sent to the drive device 3. The drive device 3 drives the robot arm 4 based on the control amount from the computer 2. The robot arm 4 performs assembly work based on instructions from the computer 2.

Next, the procedure for causing the robot arm to perform a task using this robot control device will be explained with reference to the flowchart of FIG. 2.

First, the operator sets the computer 2 to the teaching mode. Next, the operator operates the teaching arm 1 to teach one movement of the work. At this time, the robot arm 4 also moves in accordance with the movement of the teaching arm 1. After confirming that the predetermined movement has been performed accurately, the teaching switch 11 is pressed to instruct the computer 2 that it is the target point of the movement. Calculator 2 is
The position direction of the hand, which is the target value, is calculated from the posture of the robot arm 4 at this time, and from the posture data of the work arm from the movement start point to the target point, a linear interpolation command, one-circular interpolation command, or FTP command is executed. It determines the force and converts it into motion commands in robot language.

During the conversion, a series of work sample data of the posture data of the work arm 4 during motion teaching is used, and when the conversion is completed, this data is deleted. This teaching work is repeated until the teaching of the desired work is completed.

When the teaching is completed, the robot executes the work based on the already created robot language command sequence.

Note that the present invention is not limited to the above embodiments.

For example, in the embodiment described above, only posture data is used as data for conversion into robot language, but force and velocity data may also be used depending on the command of the robot language to be converted.

〔Effect of the invention〕

As described above, according to the present invention, by operating the teaching arm without inputting each motion in the robot language, the motion is automatically converted into a motion command in the robot language. can intuitively and easily teach complex tasks.

[Brief explanation of the drawing]

Figure 1 is a block diagram of the robot control device of the present invention, Figure 2 is a block diagram of the robot control device of the present invention.
The figure is a flowchart showing the operating procedure of this robot control device. 1...Teaching arm 11...Teaching switch 2.
... Computer 21 ... Robot language conversion means 3
... Drive device 4 ... Working arm agent Patent attorney Nori Chika Ken Yudo Hikaru Matsuyama! Figure 1'A2

Claims (1)

[Claims] at least two robot arms for work, a drive device for operating the robot arms, at least two teaching arms for teaching the robot arms to work, and the teaching arm corresponding to the movement of the teaching arms. A robot control device comprising a computer that has means for reading the movement of a robot arm and converting it into a robot motion command, and sends a control signal to a drive device based on the created motion command. .