KR200376856Y1 - A method for setting of robot action - Google Patents

Abstract

The present invention relates to a method of setting a computer operation of a robot having a plurality of servo motors each having a unique servo motor ID and a control unit for controlling the servo motor based on the servo motor control signal. The robot operation setting method according to the present invention comprises the steps of (a) setting the operation time form of the robot, (b) setting the number of servo motors used, and (c) selecting the servo motor to which the operation is to be set. , (d) setting the operation time of the servo motor selected in step (c), and (e) setting the operation direction and operation speed of the servo motor selected in step (c), In step (f) and step (f) to check whether the operation setting for all servo motors is not completed, return to step (c), and if the operation setting for all servo motors is completed, (G) compiling the setting contents of the servo motor into code that the robot can read. According to the present invention, a user who is not familiar with the computer language related to the robot operation can easily set the robot operation.

Description

A method for setting of robot action}

       The present invention relates to a method of setting a computer operation of a robot having a plurality of servo motors each having a unique servo motor ID and a control unit for controlling the servo motor based on the servo motor control signal.

In general, a robot is a mechanical type operated by a cam or the like according to a driving method, an air type used by air or an air cylinder, a hydraulic type using a hydraulic or hydraulic cylinder, and an electric motor such as a three-phase AC induction motor or a servo motor. It can be classified into used electric and the like, and generally has one or more arms or legs for performing a work operation.

In general, a servo motor used to drive an arm or a leg of an robot in an electric robot is driven and controlled by a controller built in the robot, and the robot controller includes a main controller and a servo-motor driver. . At this time, the main control unit is a part in charge of the user interface (User Interface), the user receives the machine language written using the program editor to interpret and generate a control signal, and serves to deliver the control signal to the servo-motor driver. According to the control signal transmitted from the main controller, the servo motor driver controls the servo motor installed in the joint of the arm or leg of the robot, and at the same time, checks the state of the servo motor to generate a malfunction signal when an abnormality is detected. You will be notified.

As described above, the control of the robot is written in a computer programming language such as C language or Q basic. Control signals written in a computer programming language are transmitted to the main control section through compilation, or are recorded in a semiconductor memory and mounted on a robot.

However, for the control of the robot as described above, the user should be familiar with the computer program related to the robot control, and the knowledge of data processing and computer communication of the microprocessor.

Therefore, when a setting related to robot control is newly created or an already made robot control setting needs to be changed as necessary, there is a problem that a general user cannot easily handle.

In order to solve the above problems, the present invention is to provide a robot control method that can easily create and modify the robot control settings only with a mouse and keyboard connected to the computer.

The robot operation setting method according to the present invention for achieving the above object is to operate the robot having a control unit for controlling the servo motor based on a plurality of servo motors and servo motor control signals each having a unique servo motor ID. In the method of setting in a computer, (a) setting the operation time form of the robot, (b) setting the number of servo motors used, (c) selecting the servo motor to be set the operation, Step (d) of setting the operation time of the servo motor selected in step (c), step (e) of setting the operation direction and operation speed of the servo motor selected in step (c), and setting of all servo motors are completed. In step (f) and step (f) of checking whether the operation setting for all servo motors is not completed, return to step (c), and if the operation setting for all servo motors is completed, the operation is set. And the inclusion of (g) the step of compiling a set of information, all of the servo motor as a code that the robot can be read out being preferred.

In addition, in the above-described step (f), if the simulator operation is selected in steps (f-1) and (f-1) of checking whether the settings of all servo motors are operated by the simulator, the simulator is operated to perform the simulation. And if the simulator operation is not selected, it is preferable to further include the step (f-2) to proceed to step (g).

In addition, the above-mentioned step (g) preferably further includes the step (g-1) of writing the compiled contents of the compiled servo motor into a writeable semiconductor memory.

In addition, the above-mentioned semiconductor memory is preferably EEPROM (Electrically Erasable Programmable Read-Only Memory).

Hereinafter, embodiments of the robot operation setting method according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a schematic block diagram of the entire system in which the present invention is used.

The robot 100 receives the control signal from the computer 200 and reads the control signal from the robot side communication unit 110, an external device and / or an internal memory, which transmits an abnormal operation state signal of the robot 100 to an external device. It includes a control unit 120 for controlling the operation of the robot 100 and a plurality of servo motors 130 operating according to the control signal of the control unit 120. The number of the servo motors 130 is not particularly limited and assumes that n servo motors 130 are used in this embodiment.

The computer 200 transmits a control language to the robot side communication unit 110 and a programming language related to the operation setting compiled by the computer side communication unit 1 210 and the memory writer 300 that receive the abnormal operation state signal of the robot. A computer-side communication unit 2 220, a computer programming language, a compilation tool, a storage unit 230 in which a robot operation setting program and a robot operation setting content are stored, a processor 240 for loading and compiling a program according to a user's request, and It includes an input unit 250 for inputting the setting content desired by the user.

At this time, the computer-side communication unit 1 210 and the computer-side communication unit 2 220 may be made through one communication port and the present invention is not limited to this configuration.

In addition, the input unit 250 preferably includes a mouse and a keyboard, and other input devices may be used.

The memory writer 300 may include a lighter-side communication unit 320 that receives a programming language related to the compiled operation setting transmitted from the computer-side communication unit 2 220, and a memory 310 in which the programming language regarding the compiled operation setting is recorded. Include.

In this case, the memory 310 is preferably an EEPROM. As is well known to those skilled in the art, an EEPROM is a ROM that allows a user to modify the contents in memory, which can be repeatedly erased or reprogrammed using a higher voltage than normal. Unlike EPROM chips, EEPROMs do not need to be removed from the computer to modify the recorded contents. A special form of EEPROM is flash memory, which uses the normal PC voltage to erase and reprogram the memory.

Hereinafter, a robot operation setting method will be described with reference to FIG. 2. 2 is a flowchart of a robot operation setting method according to the present invention.

First, the storage unit 230 of the computer 200 includes a conversion program for preparing the robot operation setting contents in a computer program such as C language or Q basic, and a simulator for simulating the operation of the servo motor constituting the robot. Assume that it is stored.

The user first sets a time form related to robot operation setting (step S100). That is, it is set whether to set the robot operation based on absolute time or based on relative time divided by a predetermined time by a predetermined ratio.

In this embodiment, it is assumed that m seconds is used for absolute time, and a percentage of m seconds is used for relative time.

Then, the user sets how many motors of the n motors constituting the robot are to be set (step S110). The number of servo motors used is not particularly limited and assumes that all n motors are set in this embodiment.

Thereafter, the user selects the servo motor 1 which is the first servo motor among the n servo motors constituting the robot (step S120).

Then, the operating direction (forward and reverse) of the servo motor 1, the operating speed (in this embodiment, it is assumed that all the servo motors have three operating speeds or that the speed at which they operate to a desired angle are free) and the operating time, etc. (Step S130).

If the absolute time is selected in step S100, the user may set the servo motor 1 to operate at a speed of 1 for 3 seconds in the forward direction, or set the servo motor 1 to operate at 45 ° for a 3% time period in the forward direction. have.

Even when the relative time is selected in step S100, the user may set the servo motor 1 to operate for 3 seconds at a speed of 1 in the forward direction, or set the servo motor 1 to operate at 45 ° for a 3% time period in the forward direction. have.

After checking whether such an operation of the servo motor has been performed for all the servo motors (step S140), the operation of all the set servo motors is shown on the display device (not shown) of the computer.

4 and 5 respectively show an example of the result screen according to the absolute time according to the embodiment of the present invention, and an example of the result screen according to the relative time according to the embodiment of the present invention.

The user who has completed the setting regarding the operation of all the servo motors can see the bottom surface of the result as shown in FIG. 4 or FIG.

In Fig. 4A, the "+,-" symbols in the bar graph indicate the rotational direction of the motor, "+" indicates the forward direction, and "-" indicates the reverse direction. The numbers in parentheses also indicate the speed of the motor. As can be seen from Fig. 4 (a), the servomotor 1 moves at a speed of (1) in the positive direction (+) for 3 seconds from 1 to 4 seconds, and then at a speed of (2) in the reverse direction (-). You can see that it is set to.

In Fig. 4B, the "+,-" symbols in the bar graph indicate the rotational direction of the motor, "+" indicates the forward direction, and "-" indicates the reverse direction. Also, the numbers in parentheses indicate the rotation angle of the motor. As can be seen in Figure 4 (b), it can be seen that the servo motor 2 is set to move by (-) 52 ° after moving (+) 30 ° for 3 seconds to 1-4 seconds.

In Fig. 5A, the "+,-" symbols in the bar graph indicate the rotational direction of the motor, "+" indicates the forward direction, and "-" indicates the reverse direction. The numbers in parentheses also indicate the speed of the motor. As can be seen in Fig. 4A, the servomotor 1 moves at a speed of (1) in the positive direction (+) for 3 m / 100 seconds from m / 100 to 4 m / 100 seconds, and then in the reverse direction (-) ( You can see that it is set to move at the speed of 2).

In Fig. 4B, the "+,-" symbols in the bar graph indicate the rotational direction of the motor, "+" indicates the forward direction, and "-" indicates the reverse direction. Also, the numbers in parentheses indicate the rotation angle of the motor. As can be seen in Figure 4 (b), it can be seen that the servo motor 2 is set to move by (-) 52 ° after moving (+) 30 ° for 3m / 100 seconds from 2m / 100 to 5m / 100 seconds. .

The user may confirm whether the desired servo motor operation is properly set through the above-described result screen, and may further select the operation of the simulator (step S150).

If the user selects the simulator operation, a virtual experience is possible through the operation of the simulator (step S155).

Thereafter, the operations of all set servo motors are converted into a computer programming language and then compiled (step S160).

The compiled computer programming language is transferred to a memory writer and stored in the memory (step S170).

In addition, the operation contents of the servo motor set by the user may be directly transmitted to the robot.

3 is a schematic diagram of a data structure according to an embodiment of the present invention.

As can be seen from FIG. 3, the data 400 transmitted to the robot is first transmitted with a control start 410 indicating the start of control through the data.

Then, in order to control one servo motor, the data start 420 indicating the start of control contents, the servo motor ID 430 designating the servo motor, the rotation speed 440 indicating the rotation speed of the servo motor, The rotation amount 450 indicating the rotation amount and the data end 460 indicating the end of the control content are transmitted.

After such data is transmitted as many as the number of servo motors, the contents of the control end 470 indicating the end of control through the data are transmitted, and then the communication between the computer 200 and the robot 100 ends.

As described above, the robot operation setting method according to the present invention has been described in detail with reference to the accompanying drawings.

However, it will be apparent to those skilled in the art that various modifications and variations are possible within the scope of the present invention, and such variations and modifications are within the scope of the appended claims.

As described above, according to the robot operation setting method according to the present invention, a user unfamiliar with any one or all of a computer programming language, a control of a microprocessor, and computer communication can easily set or modify an operation of a robot.

1 is a schematic block diagram of the entire system in which the present invention is used.

2 is a flowchart of a robot operation setting method according to the present invention.

3 is a schematic diagram of a data structure according to an embodiment of the present invention.

4 is an example of the result screen according to the absolute time according to the embodiment of the present invention.

5 is an example of a result screen according to relative time according to an embodiment of the present invention.

<Brief description of the main parts of the drawing>

100: robot 110: robot side communication unit

120: control unit 130: servo motor

200: computer 210, 220: computer side communication unit

230: storage unit 240: processing unit

250: input unit 300: memory writer

310: memory 320: lighter-side communication unit

400: data

Claims (4)

In the method for setting the operation of the robot having a plurality of servo motors each having a unique servo motor ID and a control unit for controlling the servo motor based on the servo motor control signal, (A) setting an operation time form of the robot; (B) setting the number of the servo motors used; (C) selecting a servo motor whose operation is to be set; (D) setting an operation time amount of the servo motor selected in step (c); (E) setting an operating direction and an operating speed of the servo motor selected in the step (c); (F) checking whether the setting for all the servo motors is completed; And If the operation setting for all the servo motors is not completed in the step (f), the process returns to the step (c). If the operation setting for all the servo motors is completed, the setting contents of all the servo motors for which the operation is set are robots. And (g) compiling with the readable code. The method of claim 1, wherein step (f) comprises: (f-1) checking whether the settings of all the servo motors are to be operated by a simulator; And If the simulator operation is selected in the step (f-1), the simulator is operated to perform a simulation. If the simulator operation is not selected, the method further includes the step (f-2) of proceeding to the step (g). How to set robot operation The method of claim 1, wherein the step (g) further comprises the step (g-1) of writing the compiled contents of the compiled servo motor to a writeable semiconductor memory. The method of claim 3, wherein the semiconductor memory is an EEPROM.