TWI821115B - Apparatus of controlling robot - Google Patents

Abstract

The present disclosure provides an apparatus of controlling a robot, for recording a teaching point at an appropriate position or at a regular time in response to a generation of teaching data. An apparatus (100) of controlling a robot includes a teaching information recording unit (110), a robot information acquisition unit (120), a recording necessity determination unit (130), and a control unit (140). The teaching information recording unit (110) is used to record a teaching information containing at least one of a position and a posture of a robot at a plurality of teaching points. The robot information acquisition unit (120) is used to acquire an information about at least one of a current position and a current posture of the robot. The recording necessity determination unit (130) is used to determine, based on a movement of the robot, whether to record the at least one of the current position and the current posture of the robot as a teaching information at a teaching point. The control unit (140) is used to control, in response to determining to record the at least one of the current position and the current posture of the robot as the teaching information at the teaching point, record the at least one of the current position and the current posture of the robot into the teaching information recording unit (110) as the teaching information at the teaching point.

Description

Robot control device

The present invention relates to a robot control device.

In recent years, many robots have become popular in the industry. This robot is used, for example, in the assembly, welding, and transportation of electronic components and mechanical components to improve the efficiency and automation of factory production lines. Such a robot needs to create a program for performing desired actions and record the program in advance as so-called teaching data.

The teaching data is generated by the operator operating the actual robot using the teaching pendant to record the movements. For example, if an operator records teaching information at multiple teaching points and generates teaching data, the robot moves according to the teaching data to move between the multiple teaching points.

Patent Document 1 discloses a technique for simplifying the teaching work as a direct teaching method for a robot equipped with a plurality of robot arms. This direct teaching method causes the slave arm to coordinate with the master arm while the master arm is moving to any teaching position. When the master arm reaches any teaching position, the position information of the master arm and the slave arm is recorded. . existing technical documents patent documents

Patent Document 1: JP Patent Application Publication No. 2017-94440.

However, although the robot moves according to the taught position and posture at the recorded teaching points, the operator may follow an unexpected movement trajectory during the movement between the teaching points, and it is possible that the robot may move in an unexpected direction during the movement between the teaching points. Interfering objects cannot be avoided while moving between points. In other words, when generating teaching data, the operator needs to estimate the movement trajectory of the robot between the teaching points and record the teaching points at appropriate positions, which is highly dependent on the operator's skills.

Therefore, an object of the present invention is to provide a robot control device that records teaching points at appropriate positions or timings when generating teaching data.

A robot control device according to one aspect of the present invention generates teaching data while operating the robot. The robot control device includes a teaching information recording unit that records the robot at a plurality of teaching points constituting the teaching data. Teaching information of at least one of the position or posture of the robot; a robot information acquisition unit that obtains information related to at least one of the current position or posture of the robot; a recording necessity determination unit that determines whether to move the robot based on the robot's motion At least one of the current position or attitude of the robot is recorded as teaching information at the teaching point; and a control unit controls, when it is determined to be recorded as teaching information, the current position or attitude of the robot. At least one of them is recorded in the teaching information recording unit as the teaching information at the teaching point.

According to this method, the robot information acquisition unit acquires information related to at least one of the current position or posture of the robot, and the recording necessity determination unit determines whether to use at least one of the current position or posture of the robot as a teaching based on the movement of the robot. Record the teaching information at the point. The recording necessity determination unit determines that the teaching point is recorded at an appropriate position or timing based on the motion of the robot. Therefore, the teaching information recording unit records the teaching information at an appropriate position or timing as the teaching information at the teaching point. At least one of the current position or attitude of the robot is periodically obtained. That is, since the robot control device can record teaching points at appropriate positions or timings based on the robot's movements, the dependence on the operator's skills is reduced, and the robot can appropriately avoid interfering objects.

In the above aspect, the recording necessity determination unit may determine based on at least one of the current position or posture of the robot and at least one of the reference position or posture of the robot among the teaching information recorded in the teaching information recording unit. Whether to record at least one of the current position or posture of the robot as teaching information at the teaching point.

According to this aspect, the recording necessity determination unit determines whether to record at least one of the current position or posture of the robot as the teaching information at the teaching point based on the displacement from at least one of the reference position or posture of the robot. That is, the robot control device can record the teaching point at an appropriate position or timing based on the displacement from at least one of the position or attitude of the robot that serves as a reference.

In the above aspect, at least one of the position or the posture of the robot serving as the reference may be at least one of the position or the posture of the robot most recently recorded in the teaching information recording unit as teaching information at the teaching point.

According to this aspect, the recording necessity determination unit determines whether to record at least one of the current position or posture of the robot as teaching information at the teaching point based on the displacement from at least one of the most recently recorded position or posture of the robot. That is, the robot control device can record the teaching point at an appropriate position or timing based on the displacement from at least one of the most recently recorded position or attitude of the robot.

In the above aspect, the recording necessity determination unit may be configured when the robot's movement distance from at least one of the reference robot's position or posture becomes a predetermined distance or more, or the robot's rotation angle becomes a predetermined angle or more. , it is determined that at least one of the current position or posture of the robot is recorded as teaching information.

According to this aspect, when the displacement from at least one of the reference position or attitude of the robot, specifically the movement distance of the robot or the rotation angle of the robot, is greater than or equal to the threshold value, the recording necessity determination unit determines that the current position of the robot is to be recorded. At least one of the position or attitude is recorded as teaching information. That is, the robot control device can record the teaching point at an appropriate position or timing based on a predetermined displacement from at least one of the reference position or attitude of the robot.

In the above aspect, the given distance and the given angle may be set according to the precision required for the robot's movement.

According to this method, since the threshold value is set according to the precision required for the robot's operation, the robot control device can record the teaching point at an appropriate position or timing according to the situation. As a result, the robot can appropriately avoid interfering objects and shorten the cycle time.

In the above aspect, the predetermined distance and the predetermined angle may be set in accordance with the operation speed for moving the robot.

According to this method, since the threshold value is set according to the operation speed for moving the robot, the robot control device can record the teaching point at an appropriate position or timing according to the situation. As a result, the robot can appropriately avoid interfering objects and shorten the cycle time.

A robot control device according to one aspect of the present invention generates teaching data while operating the robot, and the robot control device includes a teaching information recording unit that records data of the robot including a plurality of teaching points constituting the teaching data. Teaching information of at least one of the position or attitude; a robot information acquisition unit that acquires information related to at least one of the current position or attitude of the robot; and a recording necessity determination unit that determines whether or not each time a given time passes. record at least one of the current position or attitude of the robot as teaching information at the teaching point; and a control unit that controls, when it is determined to be recorded as teaching information, the current position or attitude of the robot At least one of the position or attitude is recorded in the teaching information recording unit as teaching information at the teaching point.

According to this aspect, the recording necessity determination unit determines to record at least one of the current position or posture of the robot as teaching information when the elapsed time becomes a given time (threshold) or more. That is, the robot control device can record the teaching point at an appropriate position or timing every time a given time passes.

In the above aspect, the given time may be set according to at least one of the precision required for the robot's movement and the speed at which the robot is moved.

According to this method, since the threshold value is set according to the precision required for the robot's operation, the robot control device can record the teaching point at an appropriate position or timing according to the situation. As a result, the robot can appropriately avoid interfering objects and shorten the cycle time.

In the above aspect, you may further include a recording instruction receiving unit that accepts a recording instruction to record at least one of the current position or posture of the robot as teaching information at the teaching point in the teaching information recording unit, The control unit performs control so that at least one of the current position or attitude of the robot is recorded in the teaching information recording unit as teaching information at the teaching point based on the recording instruction.

According to this method, the recording instruction receiving unit accepts the recording instruction from the operator and records at least one of the current position or posture of the robot as teaching information at the teaching point in the teaching information recording unit. The robot control device can also record teaching points at appropriate positions or timings, and record teaching points based on the operator's recording instructions corresponding to the situation.

In the above aspect, the teaching information recorded in the teaching information recording unit may include at least one of the robot's movement speed, interpolation type, and passing accuracy.

According to this method, since detailed settings included in the teaching information are made regarding the robot's movements, the robot can more appropriately avoid interfering objects and shorten the cycle time.

In the above aspect, the moving speed, interpolation type, and pass accuracy of the robot may be set according to the operation speed for moving the robot.

According to this method, since the detailed settings included in the teaching information are set according to the situation regarding the robot's movements, the robot can more appropriately avoid interfering objects and shorten the tact time.

In the above-mentioned aspect, the robot is operated based on the robot operation control instruction obtained by operating the operation terminal.

According to this method, since the robot moves according to the operator's operation, the robot can avoid interfering objects and record teaching points at appropriate positions or timings.

In the above method, the operation terminal is equipped with a sensor that detects the movement of the operation terminal, and the robot movement control instruction is determined in accordance with the detected movement of the operation terminal.

According to this method, the robot motion control instruction is determined according to the operation (movement) result of the operation terminal intuitively operated (movement) by the operator. Thereby, since the robot moves according to the operator's intuitive operation, the robot can more appropriately avoid interfering objects and record teaching points at appropriate positions or timings.

Effect of the invention According to the present invention, it is possible to provide a robot control device that records teaching points at appropriate positions or timing when generating teaching data.

An embodiment of the present invention will be described in detail below with reference to the accompanying drawings. In addition, the embodiment described below is only a specific example for implementing the present invention, and is not intended to limit the scope of the present invention. In addition, in order to facilitate understanding of the description, the same components are denoted by the same reference numerals as much as possible in the respective drawings, and repeated descriptions are omitted.

＜One Embodiment＞ [Structure of robot control device] FIG. 1 is a functional block showing each function in the robot control device 100 according to one embodiment of the present invention. In FIG. 1 , the robot control device 100 is connected to the robot 10 and the operation terminal 20 and controls the movement of the robot 10 based on instructions from the operation terminal 20 operated by the operator.

The operation terminal 20 is typically a teaching pendant. The operator operates the robot 10 via the robot control device 100 using a teaching pendant, and generates teaching data by performing a teaching operation of recording the movements of the robot 10 .

The operation terminal 20 is equipped with various sensors (such as acceleration sensors and inertial sensors such as gyro sensors) for grasping the movement, inclination, speed, angle, and displacement of the operation terminal 20 , It can also be equipped with an inertial measurement unit (IMU: Inertial Measurement Unit). In this case, when the operation terminal 20 is operated (moved) by the operator, the operation (movement) of the operating terminal 20 is detected by various sensors, and the robot control device 100 based on the detected operation terminal 20 The robot 10 is moved according to the motion control instruction of the robot 10 corresponding to the operation (movement) result. In other words, according to the (operation) action of the operation terminal 20, the robot 10 moves so as to correspond to the action.

This allows the robot 10 to be taught by a more intuitive operation (movement) than by inputting details using buttons or a touch panel provided in the teaching pendant. The motion control of the robot 10 and the recording of teaching points during the teaching operation tend to depend on the skill of the operator. However, as long as the robot 10 can be performed in accordance with the intuitive operation (movement) of the operation terminal 20 in this way, The motion control can reduce the dependence on the operator and record the teaching points appropriately.

In addition, as a specific example of being mounted on the operation terminal 20, an inertial sensor, an inertial measurement device, etc. can be cited, but it is not limited thereto. As long as the movement, position, displacement, etc. of the operation terminal 20 are detected, for example, it may also be used Cameras, optical sensors, etc. can then be used in combination.

In addition, the teaching operation may be performed by direct teaching in which the operator directly moves the robot 10 without using the operation terminal 20 such as a teaching pendant. The robot 10 is equipped with, for example, a force sensor, a torque sensor, etc. on the arm of the robot 10, detects the force exerted by the operator, and generates teaching data by calculating the applied force, movement speed, and rotation angle.

No matter what kind of teaching operation, if the operator records the teaching information at multiple teaching points to generate teaching data, the robot 10 will operate according to the teaching data, so that at the multiple teaching points move between.

The robot control device 100 generates teaching data by recording teaching information at a plurality of teaching points. Described below in detail is that, for example, when the robot 10 is a welding robot, the robot control device 100 generates teaching data while operating the robot 10 .

The robot control device 100 includes a teaching information recording unit 110, a robot information acquisition unit 120, a recording necessity determination unit 130, and a control unit 140.

The teaching information recording unit 110 records teaching information including at least one of the position or the posture of the robot 10 at a plurality of teaching points. Teaching information at the plurality of teaching points constitutes teaching data. In addition, the teaching information is information indicating the movement of the robot 10, and is not limited to information related to at least one of the position or posture of the robot 10. It may also include the moving speed, interpolation type, and pass of the robot 10 as described later. Accuracy related information, etc. Furthermore, if the robot 10 is a welding robot, the teaching information may include information on the movement of the arm of the robot 10 , information on the protruding length of the welding wire fed from the tip of the welding torch, and the like.

The robot information acquisition unit 120 acquires information related to at least one of the current position or posture of the robot 10 . For example, the robot information acquisition unit 120 acquires at least one of the position or attitude of the end effector (the tip of the welding torch) of the robot 10 . In addition, the robot information acquisition unit 120 may acquire information on at least one of the current position or attitude of the robot 10 based on the states of the six axes that control the movement of the arm of the robot 10 .

The recording necessity determination unit 130 determines whether to record at least one of the current position or posture of the robot 10 as teaching information at the teaching point based on the motion of the robot 10 . For example, the movements of the robot 10 include movements of the robot 10 based on at least one of the current position or posture of the robot 10 acquired by the robot information acquisition unit 120 and the teaching information recorded in the teaching information recording unit 110 . The displacement of the robot 10 is compared with at least one of the position or the attitude.

Here, at least one of the position or the posture of the robot 10 serving as the reference is typically at least one of the position or the posture of the robot 10 most recently recorded in the teaching information recording unit 110 as teaching information at the teaching point. The recording necessity determination unit 130 determines whether to record at least one of the current position or posture of the robot 10 based on how much the current position or posture of the robot 10 has been displaced relative to at least one of the most recently recorded position or posture of the robot 10 . One side is recorded as the teaching information at the teaching point.

The control unit 140 performs control such that, when the recording necessity determination unit 130 determines that at least one of the current position or posture of the robot 10 is to be recorded as teaching information, the control unit 140 controls the current position or posture of the robot 10 to be recorded. At least one of them is recorded in the teaching information recording unit 110 as teaching information at the teaching point.

[Follow the movement trajectories of multiple teaching points] FIG. 2 is a diagram showing a specific example in which a plurality of teaching points are recorded in the robot control device 100 according to the embodiment of the present invention. As shown in (A) of FIG. 2 , during the teaching operation, the robot control device 100 records teaching information at a plurality of teaching points P1 to P6 and simultaneously controls the robot 10 (for example, a welding torch) located at the point P1 150) Move to point P6 (movement track T10).

In more detail, the robot control device 100 moves the robot 10 located at point P1 by a given distance (for example, 50 mm, etc.), and when located at point P2, uses at least one of the current position or attitude of the robot 10 as the teaching point. The teaching information is recorded in the teaching information recording unit 110. That is, when the robot 10 is located at a point P2 that exceeds the range of the ball S represented by a radius of 50 mm from the point P1, at least one of the position or attitude of the robot 10 is recorded in the display as the teaching information at the teaching point P2. Teaching Information Record Department 110. Similarly, when the robot 10 is located at a point P3 that exceeds the range of the ball S represented by a radius of 50 mm from the point P2, at least one of the position or attitude of the robot 10 is recorded as the teaching information at the teaching point P3. Teaching information recording unit 110. Furthermore, the same applies to point P4, point P5, and point P6.

As shown in FIG. 2(B) , the robot control device 100 moves the robot 10 so that the plurality of teaching points P1 to P6 (movement trajectory T20 ) recorded in the teaching information recording unit 110 are followed during the teaching operation. . In this way, every time the robot 10 moves 50 mm, at least one of the current position or posture of the robot 10 is recorded as the teaching information at the teaching point, thereby generating teaching data. Therefore, the teaching operation can be performed The same or similar movement trajectory T20 as the movement trajectory T10 in makes the robot 10 move. In addition, since teaching points are automatically recorded at appropriate positions or timings, dependence on the operator's skills can be reduced.

In addition, here, the recording necessity determination unit 130 sets 50 mm as a given distance (threshold) as a criterion for determining whether to record the teaching information at the teaching point, and determines that every time the robot 10 moves 50 mm, At least one of the current position or posture of the robot 10 is recorded as the teaching information at the teaching point, but the given distance (threshold) is not limited to this. For example, it may be appropriately set according to the type, size, performance, required processing, and takt time of the robot 10 .

In addition, the given distance (threshold) is not limited to the movement distance of the robot 10. For example, the given angle (threshold) may be set to the rotation angle of the robot, arm, end effector, other tools, etc. Specifically, the recording necessity determination unit 130 may set 10 deg (degree) as a given angle (threshold) as a criterion for determining whether to record the teaching information at the teaching point, and every time the robot 10 rotates 10 deg, At least one of the current position or posture of the robot 10 is recorded as the teaching information at the teaching point.

Furthermore, both the movement distance and the rotation angle may be set as threshold values. The recording necessity determination unit 130 sets a given distance (for example, 50 mm, etc.) and a given angle (for example, 10 deg) as a criterion for determining whether to record as teaching information at the teaching point. Then, the recording necessity determination unit 130 determines that at least one of the current position or posture of the robot 10 should be recorded as the teaching information at the teaching point based on the fact that the robot 10 has moved 50 mm or rotated 10 degrees.

In addition, the judgment criterion may be set by combining the movement distance and the rotation angle. Alternatively, if the robot 10 moves 25 mm and rotates 5 degrees, the recording necessity determination unit 130 may determine to record at least one of the current position or posture of the robot 10 as the teaching information at the teaching point.

By setting an appropriate threshold value according to the situation in this way, the robot control device 100 can automatically record the teaching point at an appropriate position or timing based on the movement of the robot 10 . This can reduce dependence on the operator's skills.

In addition, in FIG. 2 , it is explained that at least one of the position or posture of the robot 10 serving as the reference is at least one of the most recently recorded position or posture of the robot 10 , but the invention is not limited to this. For example, it may be at least one of the position or the posture of the robot 10 set as a reference by the operator. Specific examples include the starting point for starting the teaching operation, the welding start point and the welding end point in the welding process, the retraction point for retracting the welding torch in each process, and the case where the operator hesitates during the teaching operation. restart point, other reference points, etc.

FIG. 3 is a diagram showing a specific example of recording a plurality of teaching points to avoid interfering objects by the robot. As shown in (A) of FIG. 3 , the operator avoids the interfering object 160 and moves the welding torch 150 from the start point T31 to the end point T32 on the movement trajectory T30 .

As shown in (B) of FIG. 3 , by using the teaching operation illustrated in FIG. 2 , the robot control device 100 records the teaching information at the plurality of teaching points P1 to P6 in the teaching information recording unit 110 , causing the robot 10 located at point P1 to move to point P6 (movement trajectory T11).

As shown in FIG. 3(C) , the robot control device 100 avoids interference by moving the robot 10 so as to follow the plurality of teaching points P1 to P6 recorded in the teaching information recording unit 110 during the teaching operation. Object (movement trajectory T21). On the other hand, suppose that the recording of the teaching point between point P1 and point P6 depends on the skill of the operator and the operator records only point P3 as the teaching point. Point P3 and point P6 The movement trajectory between them is not properly recorded, and the robot 10 may not be able to avoid the interfering object (movement trajectory T22).

In addition, the recording necessity determination unit 130 sets a predetermined distance (threshold) and/or a predetermined angle (threshold), and determines whether the robot 10 performs an operation above or above the threshold as the teaching information at the teaching point. The threshold is a standard for recording, but the threshold can be set to a fixed value (for example, 50 mm, 10 deg, etc.) as described above, or it can be set to a variable value according to the status of the teaching operation.

For example, the given distance (threshold) and/or the given angle (threshold) may be set according to the precision required for the movement of the robot 10 , or may be set according to the operation speed for moving the robot 10 .

Table 1 shows a specific example of setting thresholds for movement distance and rotation angle according to the accuracy required for the movement of the robot and/or the operation speed for moving the robot, regarding whether to record as a teaching point.

[Table 1]

In Table 1, when the precision required for the movement of the robot 10 is not high (low precision is sufficient) and when the operation speed in the teaching operation is high, the threshold value is set large (movement Distance=100 mm, rotation angle=15 deg). On the other hand, when high precision is required for the movement of the robot 10 or when the operation speed in the teaching operation is low, the threshold value is set small (movement distance = 50 mm, rotation angle = 10 degrees).

As a specific example, when there is no interfering object nearby and rough movement is enough, the robot 10 can move with low precision. By raising the threshold value, the distance between teaching points can be extended and the number of teaching points recorded can be reduced. On the other hand, when approaching the welding start position or moving near an interfering object, high accuracy is required in the movement of the robot 10 , and the distance between teaching points is shortened by lowering the threshold value and the number of teaching points is increased. records.

In addition, during the teaching operation, the operating speed of the robot 10 is set to a high speed, assuming that the operator is roughly performing the teaching operation. By raising the threshold value, the distance between the teaching points is lengthened and the number of teaching points is reduced. . On the other hand, in the teaching operation, the operation speed of the robot 10 is set to a low speed in order to allow the operator to perform the teaching operation carefully and accurately. By lowering the threshold value, the distance between the teaching points is shortened and the teaching points are increased. Number of records. This assumption is preferably applied when the operator performs a teaching operation based on direct teaching of directly operating the robot 10 .

In this way, as long as the given distance (threshold value) and/or the given angle (threshold value) are set according to the precision required for the movement of the robot 10 and/or the operating speed for moving the robot 10, it can be appropriately adjusted according to the situation. position or record teaching points at regular intervals. As a result, the robot 10 can appropriately avoid interfering objects and shorten the cycle time.

In addition, here, the high precision and the low precision are set for the accuracy required for the movement of the robot 10, and the threshold values of two levels of high speed and low speed are set for the operating speed of the robot 10 in the teaching operation. However, this is not limited to this. For example, you may set three stages of high precision, medium precision, and low precision, and three stages of high speed, medium speed, and low speed, and further set five stages such as levels 1 to 5, etc., or three or more stages, and set thresholds corresponding to each of them. . Regarding the threshold value, if more stages are set, the teaching points can be recorded at more appropriate positions or timings according to the situation. This has the effect of allowing the robot 10 to avoid interfering objects more appropriately and further shortening the takt time.

In addition, the threshold value set in steps is set based on the accuracy required for the movement of the robot 10 and/or the operating speed of the robot 10 in the teaching operation. However, the threshold value is not limited to this. However, for example, the operator may also respond to status to change the threshold.

In addition, although the description here is to set thresholds step by step and automatically record teaching points at appropriate positions or timings according to the situation, it is not limited to automatically recording all teaching points. For example, the robot control device 100 may also be equipped with Record the instruction receiving part (not shown), and you can also manually record a part of the teaching points.

The recording instruction accepting unit accepts a recording instruction to record at least one of the current position or posture of the robot 10 as teaching information at the teaching point in the teaching information recording unit 110 . As specific examples, there are cases where the robot 10 performs regular movements such as linear movement and circular movement, cases where the operator is hesitant about the operation, cases where the operator performs operations while conducting discussions, cases where ultra-high precision is required of the robot 10 Action situations, other special events, etc. In these cases, the automatic recording function of the teaching points is disabled, and the operator can manually record the teaching points at the appropriate location or at regular intervals.

[Robot control method] Next, a method of recording teaching information at a plurality of teaching points in the teaching information recording unit 110 while operating the robot 10 during the teaching operation will be specifically described in detail.

FIG. 4 is a flowchart showing the robot control method M100 executed by the robot control device 100 according to the embodiment of the present invention. In FIG. 4 , the robot control method M100 includes steps S110 to S150, and each step is executed by the processor included in the robot control device 100.

In step S110, the robot control device 100 determines whether the automatic recording function of the teaching point is valid. For example, when the operator enables the automatic recording function of teaching points, or when the operator wishes to manually record teaching points, the automatic recording function is disabled. Alternatively, the automatic recording function may be enabled when the robot 10 is moved to the start position of the teaching operation, and the automatic recording function may be disabled when the robot 10 is moved to the end position of the teaching operation.

If the automatic recording function of the teaching point is valid, the robot control device 100 proceeds to the process of step S120 (step S110 "Yes"). If it is invalid, the robot control device 100 ends the process (step S110 "no").

In step S120 , the robot control device 100 acquires information related to at least one of the current position or attitude of the robot 10 .

In step S130 , the robot control device 100 acquires at least one of the position or attitude of the robot 10 that serves as a reference among the teaching information recorded in the teaching information recording unit 110 . As a specific example, the robot control device 100 may obtain at least one of the position or attitude of the robot 10 recently recorded in the teaching information recording unit 110 as the teaching information at the teaching point.

In step S140 , the robot control device 100 determines whether to record at least one of the current position or posture of the robot 10 acquired in step S120 as teaching information at the teaching point in the teaching information recording unit 110 . For example, the robot control device 100 compares at least one of the current position or posture of the robot 10 obtained in step S120 with at least one of the position or posture of the robot 10 obtained in step S130, and determines whether a preset threshold value ( movement distance and/or rotation angle).

When the robot control device 100 determines that at least one of the current position or the posture of the robot 10 acquired in step S120 is recorded in the teaching information recording unit 110 as the teaching information at the teaching point, the robot control device 100 proceeds to step S150 If it is determined not to be recorded in the process (YES in step S140 ), the process returns to the process in step S110 (NO in step S140 ).

In step S150 , the robot control device 100 records at least one of the current position or posture of the robot 10 acquired in step S120 as the teaching information at the teaching point in the teaching information recording unit 110 , and returns to the process of step S110 .

As described above, according to the robot control device 100 and the robot control method M100 according to the embodiment of the present invention, the robot information acquisition unit 120 acquires information related to at least one of the current position or attitude of the robot 10 and records the necessity of determination. The unit 130 determines whether to record at least one of the current position or posture of the robot 10 as teaching information at the teaching point based on whether the robot 10 has been displaced by a threshold (movement distance and/or rotation angle) or more. Then, the control unit 140 performs control so that, when it is determined to be recorded as teaching information, at least one of the current position or posture of the robot 10 is recorded in the teaching information record as teaching information at the teaching point. Department 110. As a result, since the robot control device 100 can record teaching points at appropriate positions or timings, the dependence on the operator's skills can be reduced, and the robot can appropriately avoid interfering objects.

In addition, in the present embodiment, the recording necessity determination unit 130 determines whether to use at least one of the current position or posture of the robot 10 as a teaching based on whether the robot 10 has been displaced by a threshold value (movement distance and/or rotation angle) or more. The teaching information at the teaching point is recorded, but each time a given time passes, it may be determined whether to record at least one of the current position or posture of the robot 10 as the teaching information at the teaching point. Here, the given time includes not only the time when the position and angle of the robot 10 change and is recognized as actually moving, but also the time when the position and angle of the robot 10 do not change due to direction change, switching of processes, etc. and the time is recognized as stopping. In this case, the stop time may also be included in the elapsed time.

For example, assuming that the given time (threshold) is 1 sec, the recording necessity determination unit 130 determines that at least one of the current position or posture of the robot 10 is used as the teaching point every time 1 sec passes. The teaching information is recorded, and the control unit 140 may also perform control so that the teaching information recording unit 110 is recorded.

Furthermore, the given time (threshold value) may be set to a fixed value, or may be set to a variable value according to the status of the teaching operation. Specifically, as explained using Table 1, it can be set step by step according to at least one of the precision required for the movement of the robot 10 and the speed for moving the robot 10 .

＜Others＞ In the above-described embodiment, at least one of the current position or posture of the robot 10 is recorded in the teaching information recording unit 110 as the teaching information at the teaching point. However, the teaching information is not limited to this, and may also be Other information is recorded as teaching information and included in the teaching data.

Table 2 shows a specific example of elements that are set according to the precision required for the movement of the robot and/or the operating speed for moving the robot, and then recorded as teaching information. Table 2 shows that the movement speed, interpolation type, and passing accuracy are recorded as teaching information in accordance with the precision required for the movement of the robot and/or the operation speed for moving the robot.

[Table 2]

For example, when the precision required for the movement of the robot 10 is low, or when the operation speed in the teaching operation is high, the moving speed for moving the robot 10 is set to 100% (set reference speed), the joint interpolation action is performed, and the teaching information is recorded by passing the teaching point with low accuracy.

When high precision is required for the movement of the robot 10, or when the operating speed in the teaching operation is low, the moving speed for moving the robot 10 is set to 50% (set (a speed approximately half of the reference speed), the joint interpolation action is performed, and the teaching information is recorded in such a way that the teaching point passes with medium accuracy.

When ultra-high precision is required regarding the precision required for the movement of the robot 10, or when the operating speed during the teaching operation is ultra-low speed, the teaching points are not automatically recorded and the teaching points are recorded manually by the operator. . At this time, the moving speed of the robot 10 is set to less than 50% (for example, 500 cm/min, etc.), a linear interpolation operation is performed, and the teaching information is recorded so that the teaching point passes with high accuracy.

In this way, after the robot 10 is operated, the detailed settings are recorded in the teaching information recording unit 110 so as to be included in the teaching information. By generating the teaching data, the robot 10 can operate more appropriately based on the teaching data. Make the robot avoid interfering objects and shorten the cycle time.

Table 3 shows a specific example of the teaching operation in the welding process of the robot and the automatic recording and manual recording of the teaching points recorded in the teaching operation. Table 3 shows how, in the teaching operation (steps 1 to 14), teaching points are recorded (automatic recording and manual recording) according to the operation speed of moving the robot 10 .

[table 3]

The operator enables automatic recording (step 1), and initially, the robot 10 is operated at high speed (step 2). In this case, since the threshold value that serves as a criterion for recording teaching points is set to a relatively large value, the distance between the recorded teaching points is long and the number of teaching points is small.

As the robot 10 approaches the welding start point, the operator's operation becomes cautious, and the robot 10 is operated at a low speed (step 3). In this case, since the threshold value that serves as a reference for whether or not to record teaching points is set to a relatively small value, the distance between the recorded teaching points is short and the number of teaching points is large.

If the robot 10 comes close to the welding start point, the operator's operation becomes more cautious, and the robot 10 is operated at an ultra-low speed (step 4). At this time, it is set not to automatically record the teaching points, and when the robot 10 is located at the welding start point, the operator manually records the teaching points (step 5).

Here, the operator disables automatic recording (step 6) and teaches the welding process (step 7).

Then, when the robot 10 is located at the welding end point, the operator manually records the teaching point (step 8).

Again, the operator enables automatic recording (step 9), and the operator carefully moves the robot 10 to the retreat point at ultra-low speed (step 10). At this time, it is set not to automatically record the teaching points, and when the robot 10 is at the retraction point, the operator manually records the teaching points (step 11).

After that, the robot 10 is operated at a low speed so as to move from the retreat point (step 12). In this case, since the threshold value that serves as a reference for whether or not to record teaching points is set to a relatively small value, the distance between the recorded teaching points is short and the number of teaching points is large.

As the robot 10 moves away from the retraction point, the operator's operation becomes rough, and the robot 10 is operated at high speed and moves to the initial (end) position (step 13). In this case, since the threshold value that serves as a criterion for recording teaching points is set to a relatively large value, the distance between the recorded teaching points is long and the number of teaching points is small.

Finally, the operator invalidates automatic recording to end the process (step 14).

In this way, teaching points can be automatically recorded and manually recorded, and the teaching points can be recorded at an appropriate position or timing corresponding to the operating speed of moving the robot 10 during the teaching operation. As a result, the dependence on the operator's skill is reduced, and the robot 10 can appropriately avoid interfering objects.

In addition, in this embodiment, the robot 10 is described assuming a welding robot, but the invention is not limited to this. For example, a transport robot that transports components in a production line and an assembly robot that assembles components can be used as long as the teaching materials are followed. The robot that performs the action can be any other robot.

The embodiments described above are intended to facilitate understanding of the present invention and are not intended to limitly interpret the present invention. Each element included in the embodiment, their arrangement, materials, conditions, shapes, dimensions, etc. are not limited to the examples and can be changed appropriately. In addition, structures shown in different embodiments can be partially replaced or combined with each other.

10:Robot 20: Operation terminal 100:Robot control device 110: Teaching information recording department 120:Robot information acquisition department 130: Recording Necessity Determination Department 140:Control Department 150:Welding torch 160:Interference object P1～P6: Teaching points S: ball T10, T11, T20, T21, T22, T30: moving trajectory T31: starting point T32: end point M100: Robot control method S110～S150: Each step of robot control method M100

FIG. 1 is a functional block showing each function in the robot control device 100 according to one embodiment of the present invention. FIG. 2 is a diagram showing a specific example in which a plurality of teaching points are recorded in the robot control device 100 according to the embodiment of the present invention. FIG. 3 is a diagram showing a specific example of recording a plurality of teaching points to avoid interfering objects by the robot. FIG. 4 is a flowchart showing the robot control method M100 executed by the robot control device 100 according to the embodiment of the present invention.

10:Robot

20: Operation terminal

100:Robot control device

110: Teaching information recording department

120:Robot information acquisition department

130: Recording Necessity Determination Department

140:Control Department

Claims (4)

A robot control device that generates teaching data while operating a robot, the robot control device being characterized by having a teaching information recording unit that records a plurality of teaching points constituting the teaching data. teaching information of at least one of the robot's position or attitude; a robot information acquisition unit that acquires information related to at least one of the robot's current position or attitude; and a recording necessity determination unit that is configured to Determine whether to automatically record at least one of the current position or attitude of the robot as the teaching information at a teaching point at a certain time; and a control unit that performs control so that at least one of the current position or the posture of the robot is determined as the teaching information. In the case of recording, at least one of the current position or posture of the robot is recorded in the teaching information recording unit as the teaching information at the teaching point, and the given time corresponds to the teaching of the robot. At least one of the precision required for movement and the speed at which the robot is moved is set; wherein the robot is moved based on a robot movement control instruction obtained by operating the operation terminal; wherein, at the operation terminal A sensor that detects the movement of the operation terminal is mounted, and the robot movement control instruction is determined in response to the detected movement of the operation terminal. The robot control device according to claim 1, further comprising: a recording instruction accepting unit that accepts at least one of the current position or attitude of the robot as teaching information at a teaching point. To record the recording instructions to the teaching information recording unit; The control unit controls to record at least one of the current position or attitude of the robot as teaching information at a teaching point in the teaching information recording unit based on the recording instruction. The robot control device according to claim 1, wherein the teaching information recorded in the teaching information recording unit includes at least one of a movement speed, an interpolation type, and a passing accuracy of the robot. The robot control device according to claim 3, wherein the moving speed, interpolation type, and passing accuracy of the robot are set corresponding to an operation speed for moving the robot.

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