KR100306114B1 - Personal computer based on-line robot teaching device and method - Google Patents

Abstract

The present invention relates to a PC-based on-line robot teaching apparatus and method for teaching a robot arbitrarily during work to continue operation with a changed point value and managing various points for various models. According to the present invention, the point edit signal input unit, the jog movement signal input unit, the servo off teaching signal input unit, the point movement control unit, a memory allocation unit for allocating memory according to the maximum number of teaching points available for each model, and a graphic user When the user selects the model and the location number, the user loads the point value of the corresponding location number into the memory in the corresponding directory, and uploads the point value to the upper graphical user interface unit. If the teaching mode is selected by the user, Select one of Move, Servo Off Teaching, save the teaching point input in the selected way in an arbitrary variable, save the teaching value in memory for use in actual work, and then permanently save the teaching point value stored in memory. When the signal to be stored is inputted, the teaching point value is stored in the hard disk, so that the robot can be taught during work and various point management is possible for various models.

Description

Personal computer based on-line robot teaching device and method

The present invention relates to PC-based robot teaching, and in particular, teaches a robot arbitrarily during work, and continues the operation with a changed point value and manages various points for various models. A line robot teaching apparatus and a method thereof.

In general, robot teaching has been made in an off-line teaching method by attaching a teaching pendant to a robot controller of a stand-alone type.

In addition, as the PC Embedded robot controller appeared, a desired robot driving was performed by directly inputting a teaching point in the source code instead of the teaching pendant.

1 is a block diagram showing a general robot driving and teaching apparatus.

In the robot driving and teaching apparatus of this configuration, the teaching pendant 3 is attached to the stand-alone robot controller 2, and the operator uses the teaching pendant 3 to stop the robot 4 in the stopped operation state. Move to the desired position and find the corresponding teaching point. The teaching point obtained here is stored in the robot controller 2 in the position table format as shown in FIG. In some cases, the position value may be transmitted to the host computer 1, or the position value may be modified in the host computer 1 and stored in the robot controller 2.

However, such a general robot driving and teaching apparatus has a disadvantage in that the corresponding process line must be stopped during teaching, and post-teaching operations must be restarted from the beginning, and point values for various models are systematically determined due to the capacity limitation of the robot controller. There are disadvantages that it is difficult to manage, and the communication burden due to the point transfer between the host computer and the robot controller increases.

Therefore, in order to improve this, the PC embedded robot controller has appeared in the related art. Here, all the operations related to teaching can be programmed on the personal computer 5 to meet the needs of the developer.

However, such a conventional robot driving and teaching device also stores data about a point in a program source in a fixed manner and moves a fixed position according to a fixed sequence. Therefore, when there is a position change or a model change, the source of the program is changed. There was an inconvenience to change again.

Therefore, the present invention has been proposed to solve various problems occurring in the conventional robot driving and teaching apparatus as described above,

An object of the present invention, by using a PC Embedded robot controller to teach the robot arbitrarily during the operation (continued) to continue the operation with the changed point value, PC-based on to manage a variety of points for various models To provide a line robot teaching method.

In the personal computer-based on-line robot teaching apparatus of the present invention for achieving the above object, a point edit signal input unit for inputting a point edit signal, when the point is changed using a jog to input the position value It consists of a jog movement signal input unit for inputting, a servo-off teaching signal input unit for inputting a pointing signal generated when moving the robot after servo off, and any one of the point edit signal input unit, jog movement signal input unit, and servo-off teaching signal input unit A teaching data input unit for inputting teaching data through one input unit;

A graphic user interface for displaying a point value input from the edit signal input unit, a jog movement signal input unit, and a servo-off teaching signal input unit on a screen, and loading the input teaching point value into the memory;

A memory allocator configured to allocate memory according to the maximum number of teaching points that can be utilized for various models based on points transmitted from the graphic user interface;

And a hard disk configured to store a teaching point value stored in a memory through the memory allocator and to store a point table generated for the model.

According to another aspect of the present invention, when a user selects a model and a location number, a first value of loading a point value of a corresponding location number into a memory from a corresponding directory and uploading the point value to a higher graphical user interface is provided. Steps;

When the teaching mode is selected by the user, one of the point editing, jog movement, and servo off teaching is selected through the teaching data input unit, the teaching point input by the selected method is stored in an arbitrary variable, and the teaching value is stored in the actual work. Storing in memory via a memory allocator for use;

A third step of storing the teaching point value in the hard disk when a signal for permanently storing the teaching point value stored in the memory is inputted, and returning to the point number selection step if the teaching value is not used in an actual operation; Personal computer-based on-line robot teaching method comprising a.

1 is a block diagram of a general robot driving and teaching device;

2 is a position table for driving the robot of FIG. 1;

3 is a configuration diagram of a conventional PC-based robot driving and teaching device;

4 is a block diagram of a PC-based robot driving and teaching apparatus according to the present invention;

5 is a flowchart showing a PC-based on-line robot teaching method according to the present invention;

FIG. 6 is a display state diagram of the graphical user interface unit of FIG. 4; FIG.

<Explanation of symbols for the main parts of the drawings>

101: point edit signal input unit 102: jog movement signal input unit

103: servo off teaching signal input unit 104: point movement control unit

105: graphical user interface unit 106: memory allocation unit

107: memory 108: hard disk

Teaching according to the present invention acquires teaching points in three ways: directly editing points, moving jog, and moving the robot after servo-off, and storing the acquired teaching points separately in a PC memory and a hard disk, respectively. It separates the movement of the robot from the movement to the teaching point. In other words, the teaching point values are temporarily placed only in the memory, and after performing various operations, only the most appropriate values are stored in the hard disk. The next time you continue your work, you load this value into memory. This allows you to work with the internally changed point value without terminating the operation.

In addition, the teaching points for various models are stored in different places of the hard disk, and if necessary, only the values for the corresponding models are temporarily stored in the memory to drive the robot.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention according to the technical spirit as described above in detail.

4 is a block diagram of a PC-based robot driving and teaching apparatus to which the present invention is applied.

Here, reference numeral 101 is a point edit signal input unit for inputting a point edit signal, 102 is a jog movement signal input unit for inputting a position value when a point is changed using a jog, and 103 is a robot moving after servo-off. It is a servo-off teaching signal input unit for inputting a pointing signal generated by using this function.

In addition, reference numeral 104 is a point movement control unit for generating a point movement signal for moving the robot, 105 is a graphic user interface for displaying the robot control situation and input point values on the screen, and 106 is for each model. Memory allocation unit that allocates memory according to the maximum number of teaching points that can be utilized.

Reference numeral 107 denotes a memory for storing a new point value or a point value for moving the robot, and 108 is a hard disk for storing the generated point table.

Reference numeral 110 is a point table corresponding to the corresponding model 109.

Here, the point edit signal input unit 101 is for the operator to directly input the teaching data of the robot using a keyboard or a keypad, and the jog movement signal input unit 102 is a position where the operator wants the robot using the point movement control unit 104. After moving up, the position data is input using a button on the user interface screen. The servo off teaching signal input unit 103 turns off the servo of the motor constituting the robot, and then the operator directly moves the robot. The position data is input by using a button on the user interface screen, and the point movement control unit 104 is a part used when moving the robot in the jog movement signal input unit. I'm talking about what to do. This part also includes a part to confirm that the teaching is properly stored at the desired position after completing the teaching data input.

Accordingly, in the personal computer-based on-line robot teaching apparatus of the present invention, a point edit signal input unit 101 for inputting a point edit signal, a jog movement signal for inputting a position value when a point is changed using a jog The input unit 102 is composed of a servo-off teaching signal input unit 103 for inputting a pointing signal generated when the robot is moved after servo-off. The point edit signal input unit 101 and the jog movement signal input unit 102 are used. A teaching data input unit for inputting teaching data through any one of the servo off teaching signal input unit 103, the edit signal input unit 101, the jog movement signal input unit 102, and the servo off teaching signal input unit 103. Graphical user interface that displays each point value input from the screen and loads the input teaching point value into the memory. A memory allocator 106 for allocating memory according to the number of teaching points that can be utilized to the various models based on the points transmitted from the ES 105 and the graphic user interface 105, and And a hard disk 107 for storing the teaching point value stored in the memory through the memory allocator and storing the point table generated for the model.

In the PC-based robot driving and teaching apparatus according to the present invention configured as described above, the memory allocating unit 106 allocates memory according to the maximum number of teaching points that can be most utilized for each model 109.

Where the amount of memory allocation

Memory allocation amount = number of teaching points x 4 (x, y, z, θ) x size.

In the above description, x, y, z, θ are variables of the existing point table as shown in FIG.

In addition, the hard disk 108 stores each point table 110 generated according to the registered model 109. That is, whenever a new model is created, the point table 110 according to the corresponding model is automatically generated and stored in the hard disk 108. Here, in the method of storing the point table in the hard disk 108, a new directory is created based on the model name, and only the point table of the corresponding model is created in the directory.

If a user selects a location in the graphical user interface unit 105, the model name is searched in the hard disk 108 internally to find a corresponding directory, and then a location number is searched to pre-allocate a matching teaching point value in the directory. To the memory 107 (point loading operation). Then, the value loaded here becomes the actual position to move the robot during the work, and in the teaching mode, the point is displayed as a default on the graphic user interface unit 105 screen through the point upload operation.

In addition, one of the teaching methods by inputting the point editing signal input unit 101, the jog movement signal input unit 102, and the servo-off teaching signal input unit 103 is selected for the point to be taught in the graphic user interface unit 105. Acquire the teaching point value of the robot. The acquired teaching value is stored in an arbitrary variable. At this time, the teaching point may be checked while moving the robot by transmitting the corresponding point value to the point movement controller 104.

On the other hand, the teaching point value obtained as described above is currently stored in an arbitrary variable, in order to apply the value in actual robot operation, the value must be transmitted to the memory 107 (point transfer operation). If the value is to be maintained even at power off, the point value in the memory 107 is recorded in the directory for the corresponding model (point save operation).

5 is a flowchart illustrating a PC-based robot driving and teaching method according to the present invention.

As shown, when the model and the location number are first selected (ST1 to ST2), the point value of the corresponding location number in the corresponding directory is loaded into the memory 107, and then to the upper graphical user interface unit 105. Upload the value (ST3).

Here, you can check the current teaching value. If you do not want to teach, return to the first step, and if you want to teach, select the teaching mode (ST4 to ST5).

In this case, selecting the teaching mode means selecting one of a point edit signal, jog movement, and servo off teaching.

After the teaching is completed, the teaching value is saved in an arbitrary variable (ST6), and if the teaching value is to be used in the actual work, the variable value is stored in the memory 107 (ST7 ~ ST8), and the teaching value is not used in the actual work. If so, the process returns to the point number selection step ST2.

Meanwhile, if the acquired teaching value is to be stored permanently, the acquired teaching value is stored in the hard disk 108 again (ST9 to ST10). Otherwise, the process returns to the first step.

Figure 6 is implemented in a real graphical user interface (GUI) based on the PC-based robot driving and teaching method according to the present invention as described above.

Here, it is implemented to correspond to the multi-robot system, the robot type 111 represents the type of robot that can be used for the same model, and the feed speed 112 represents the moving speed during jog movement. The point number 116 represents the selected teaching point and their values are uploaded and displayed in the next coordinate value 117. In order to actually teach the robot, x, y, z, θ (jog movement) of the teaching 119 and the offline teaching button 118 are used. Press the move button 113 to move the robot to the position displayed in the current coordinate value (117). After the teaching is completed, the data transmission button 114 is pressed to store the coordinate values in the memory, and the data storage button 115 is pressed to store the coordinate values in the hard disk.

As described above, the present invention has the advantage that it is possible to flexibly perform a new task only by changing the teaching point value even when the model of the workplace increases to n. In other words, when a new model is generated, a new directory is created on the hard disk and a new point table is created in the directory. Therefore, if only the correct teaching point value is recorded in the point table by the method of point edit signal, jog movement, servo off teaching, etc. The addition is made easy.

In addition, if the teaching point is shifted during work and needs to be corrected, the teaching point can be easily corrected only by changing the teaching value during the work without stopping the work and then teaching. There is.

Claims (4)

Point edit signal input unit for inputting point edit signal, jog movement signal input unit for inputting the position value when changing point using jog, servo for inputting pointing signal generated when moving robot after servo off A teaching data input unit comprising an off teaching signal input unit and inputting teaching data through any one of the point edit signal input unit, the jog movement signal input unit, and the servo-off teaching signal input unit; A graphic user interface for displaying a point value input from the edit signal input unit, a jog movement signal input unit, and a servo-off teaching signal input unit on a screen, and loading the input teaching point value into the memory; A memory allocator configured to allocate memory according to the maximum number of teaching points that can be utilized for various models based on points transmitted from the graphic user interface; And a hard disk configured to store a teaching point value stored in a memory through the memory allocator and to store a point table generated for the model. The personal computer based on-line of claim 1, wherein the memory allocator determines an allocation amount of memory based on a teaching point number x 4 (x, y, z, θ: point table variable) x size. Robot teaching device. When the user selects the model and the location number, loading the point value of the corresponding location number from the corresponding directory into the memory, and uploading the point value to the upper graphical user interface unit; When the teaching mode is selected by the user, one of the point editing, jog movement, and servo off teaching is selected through the teaching data input unit, the teaching point input by the selected method is stored in an arbitrary variable, and the teaching value is stored in the actual work. Storing in memory via a memory allocator for use; A third step of storing the teaching point value in the hard disk when a signal for permanently storing the teaching point value stored in the memory is inputted, and returning to the point number selection step if the teaching value is not used in an actual operation; Personal computer-based on-line robot teaching method comprising a. The method of claim 3, wherein Personal computer-based on-line robot teaching method, if you do not want to permanently store the teaching value obtained in the second step return to the first step.