Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
  • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
  • G05B19/4093—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
  • G05B19/40931—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine concerning programming of geometry
  • G05B19/40936—Defining geometry with a high level language
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/34—Director, elements to supervisory
  • G05B2219/34346—User program fetches part of system program when flags are set and detected
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/45—Nc applications
  • G05B2219/45083—Manipulators, robot
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
  • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
  • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
  • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

• the present invention relates to a mouth robot control device in which a robot control condition is set by a monitor program described in a robot language. About.
• a series of tasks for example, grasping, moving, and placing the robot at a predetermined position are instructed to the robot in advance. There is a need .
• Such a teaching operation is generally required by the user.
• the robot operates according to the instructed instruction based on the user program stored in the robot control device.
• Figures ⁇ (a) and (b) show the user program for causing the robot to perform a series of operations, and the user program and the user program. It shows the operation procedure of the robot.
• the programs P0 to P7 shown in FIG. 7A are described in a predetermined robot language, and a series of operations shown in FIG.
• a user program is started by the system program on the robot controller, and the robot is controlled by the robot program.
• the operation command for is output.
• Such a status output function required by the robot control device is to generate a predetermined output when the robot is in the position, for example, when the robot is in the position. Is a specific command, such as generating an output when the robot is in the most retracted position, or stopping the operation of the robot when the safety shelf is open. It is described.
• the program to execute such a status output function usually needs to constantly monitor the port after power-on, so the system program It cannot be described in the same robot language as a user program that operates by being started from the beginning. There is a robot language that has a function called MONITOR to perform this kind of work, but programs using this language do not use robots or JITs. I can't constantly monitor my work. '
• the present invention has been made to solve such a problem, and it is possible to delete, change, or add a type of monitoring work that is always required, but it is necessary to store the type of monitoring work in ROM. There is no need to change the stored system program at all, and the user can easily delete, change, and modify input / output conditions that should be easily monitored in the normal robot language.
• the purpose is to provide an optimally flexible robot controller that can be added.
• the present invention always uses an ordinary robot language without having to learn a special monitor language, and only describes input / output signals and conditions to be monitored. Therefore, it is an object of the present invention to provide a robot control method capable of setting optimal control conditions according to a system.
• a robot control device for controlling the operation of a robot based on a program created by a robot language. , Which is input as a user program described in a robot language and stores a monitor program for monitoring a plurality of status outputs of the robot.
• Storage means starting means for accessing the monitor program from a system program and always starting at a constant period, and status of the robot
• a robot control device characterized by comprising output means for outputting a specific command corresponding to the output. Can be provided.
• the specific flag included in the system program set in the monitor program is set to, for example, "1".
• the start-up means such as a vector address compatible table, etc.
• FIG. 1 is a perspective view of a robot controlled by the robot control device of the present invention
• FIG. 2 is a system configuration diagram of a robot control device of the present invention
• FIG. FIG. 2 is a detailed configuration diagram of the main storage device shown in FIG. 2
• FIG. 4 is an explanatory diagram for explaining a procedure for loading a program into the main storage device
• FIG. FIGS. 6 (a) and 6 (b) are flow charts showing the processing flow of the boat control device, in which the bot performs a series of operations.
• FIG. 2 is a diagram showing a program for use, and an operation of a mouth bot by the program.
• FIG. 1 is a perspective view of a robot controlled by the robot control device of the present invention, that is, a 6-axis control articulated mouth robot.
• reference numeral 1 denotes a stand supporting an articulated robot.
• a 0-axis servomotor 3 for rotating each axis with respect to a vertical axis (Zo axis) is mounted on the upper part of the base 1.
• the 0-axis unit 5 that is rotated by this is provided on the ⁇ -axis servomotor 3 and is provided.
• the 0-axis unit 5 is rotated by the 0-axis servo motor 3.
• W A W-axis unit 7 is fixedly provided on the axis unit 5, and a W-axis arm 9 is rotatably supported by a bearing 9a.
• Yes. 11 is a W-axis drive mechanism, which consists of a W-axis servo motor, a W-axis ball screw, and a W-axis nut.
• a U-axis arm 12 is rotatably supported by a bearing 12a.
• the upper end of the U-axis intermediate link 14 is rotatably supported.
• the U-axis lower link is rotatably supported coaxially with the W-axis bearing 9a, and the lower end of the U-axis intermediate link 14 and the end of the U-axis lower link rotate with each other It is self-supported.
• the W-axis arm 9 and the U-axis middle link 14 are arranged in parallel, and the U-axis 12 and the U-axis lower link are arranged in parallel. They form a link mechanism with each other.
• Reference numeral 18 denotes a U-axis drive mechanism.
• the U-axis drive mechanism 18 includes a U-axis servo motor 18a, a U-axis ball screw, and a U-axis nut.
• the U-axis servo motor 18a is rotatably mounted on a support 7b extending from the W-axis unit 7.
• a wrist mechanism (hand) 20 is provided at the tip of the U-axis arm 12.
• This wrist mechanism 20 is an ⁇ -axis servo motor
• FIG. 2 is a system configuration diagram of a mouth-port control device for controlling the robot as shown in FIG. 1;
• the processor 30 operates according to the system program stored in the read-only memory 31.
• the processor 30 includes a read-only memory (R0M) 31 for storing a system program, and a keyboard display 3 for storing the system program. 2 and main storage device 3 3 and auxiliary storage device
• the keyboard display 32 is provided with a key (not shown) for starting the operation of the mouthboard control device, and is provided with a program written in the mouthboard language. During the execution of the ram, you enter the required parameters (eg position coordinates, speed, etc.).
• the main storage device 33 is composed of a system area SYS and a user area USER.
• the structure of the system area SYS and the user area USER is shown in detail in FIG.
• the system area SYS is an area in which a system program for managing the operation of the mouthboard control device is stored.
• the system program is stored in the ROM 31 shown in FIG. 2 in advance, and is read from R031 when the robot controller is turned on. Then, the data is initially loaded into the system area SYS of the main storage device 33.
• the system area SYS is provided with a status register 35 indicating the operation state of the mouth bot and a corresponding table 36, and the status register 35 is provided.
• the status register 35 is composed of n flags FLG1 to FLGn. For example, when the flag FLG1 is "1", the robot is in an in-line state. Indicates that the position is to be monitored, and when the flag FLG2 is "1", the arm is in the most retracted position. This indicates that when the flag FLG n is "1", monitoring whether the safety shelf is open or not is supported. .
• Each of the flags F1 to FLGn of the status register 35 of the system area SYS corresponds to the system reference area SREF in the user area USER, and According to the corresponding table 36 from the system program, when a predetermined flag, for example, FLG1 is "1", the space in the user area USER is set. Jump to the address # 0 OA.
• the system area SYS After the system program has jumped to the specified vector address in the user area USER, the system area is returned to the system area. There is a save area SAVE for returning to the system program in SYS, where the address before jumping to the vector address is stored. Is stored.
• the program start address storage area SADR stores the first address # 0000Z of the user program UROBPRO, which describes a series of operations in a robot language. .
• the user area USER is composed of a system reference area SREF and an evaluator program area UPR0, and the system reference area SREF monitors the state of the mouthboat.
• ROBPRO 1 to ROBPRO n to output a specific instruction corresponding to it Is stored in a vector address determined by the user.
• This system reference program ROBPR 01 to R 0 BPR 0 n is a robot! /
• the source program written in the Java language can be converted into a compiler, an interleaver, or an interleaver by using a compiler or an interpreter. This is the object program you have just downloaded.
• the program ROBPR 01 determines, for example, whether the robot is in the position and generates a specific instruction corresponding to the status output. For example, the program R 0 BPR 0 2 determines whether the arm is in the most contracted position and responds to the status output.
• the program ROBPRO n determines, for example, whether the safety shelf is open and responds to that status output. It generates a command to stop the robot operation.
• the user program area UPRO contains user programs that are executed in parallel by the knock ground processing of the system program.
• U0 BPR 0 is stored.
• the monitor program stored and stored as the user program UR0BPR0 is a source program written in the robot language. It is an object program that is compiled or interpreted by a compiler or an interpreter.
• FIG. 4 shows a system reference program R 0 BPR 01 to ROBPR to the user area USER of the main storage device 33. 0 n ⁇ User program UR0
• This figure explains the procedure for loading the BPRO.
• a monitor program originally resident in the system area SYS together with the user program written in the robot language is added to the source library 40.
• the program is described and stored in a robot language of the same system as a normal user program.
• the compiler or interpreter 41 translates a program described in the robot language stored in the source library 40, and translates the program.
• the result is stored in the object library 42 as an object ⁇ -gram.
• the object programs stored in the object library 42 are stored in the auxiliary storage device 341 in the system reference program. It is memorized as an object module or as an object module of an ether program. According to these object modules » the system reference area SREF and the user program area UPR0 of the user area USER are respectively defined by the unit 43. It is being loaded.
• step S1 the key for starting the operation of the robot controller from the keyboard device tray 32 was pressed. Judge whether or not. When this key is pressed, the program start address in the system area SYS is referenced.
• the storage area SADR is referred to, and the start address stored in this storage area SADR and recorded is displayed.
• the user program UROBPRO in the step # 0000Z is executed (step S2).
• the robot work program started by the system program is a robot program.
• Command a series of tasks to the server (step S3).
• the system program in the system area SYS is always executed. It has been. By the way, the system program will run when the power is turned on even before the robot starts working.
• Steps S4 to S6 and steps S.9 to S12 executed by the monitor program described in the robot language are It is executed as part of the processing of such a system program.
• steps S4 to S6 is performed by the status register determined by executing the system reference program R0BPR01 to R0BPR0n.
• step S4 check whether flag FLG1 is "1" or not.
• step S5 flag FLG2 is "1". Les, It is checked whether or not the flag FLGn is "1" at step S6.
• the flag FLG1 is "1" it is determined whether the robot is in the position or not, and the status is output. Proceed to step S9 for generating a specific instruction, and refer to the vector address correspondence table 3 & to specify the vector address corresponding to the flag FLG1.
• step S10 for generating a specific instruction corresponding to the status output, and when flag n is "1", it is determined whether the safety shelf is open. Judgment then proceeds to step S11 for issuing an instruction to stop the robot operation at that time, and the system at vector address # 0000X is referred to.
• step S11 for issuing an instruction to stop the robot operation at that time, and the system at vector address # 0000X is referred to.
• Execute the program R 0 BPR 0 II After executing the processing of steps S9, S10, ⁇ ... S11, return to the system program in the system area SYS again Therefore, the save area SAVE contains the address of the system program before jumping to the system reference program ROBPRO1 to ROBPROn. Is stored.
• Steps S9, S10, a certain layer executes the processing of S11, then proceeds to step S12, and refers to the save area SAVE of the system area SYS.
• step S7 Before jumping to the system reference program ROBPR 01 to ROBPRO n Return to the system program address.
• step S7 where the user program UROBPO continues to run, and the robot continues to work in step S8. During this time, the process returns to step S4 again in order to constantly monitor the status of the status register 35.
• the system reference area for outputting a specific instruction corresponding to the status output of the ⁇ -bot is stored in the system reference area SREF. Since the programs R 0 BPR 0 1 to R 0 BPR 0 n are stored in the vector address set by the user, the contents of the system area SYS and the Therefore, there is no need to delete or change the contents of R0M31.
• the robot control device of the present invention allows the Eisa to create arbitrary input / output states and operating conditions that should be monitored regardless of teaching or playback, using a robot language. This makes it possible to construct a robot system as desired by the user.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Human Computer Interaction (AREA)
• Manufacturing & Machinery (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Geometry (AREA)
• Numerical Control (AREA)
• Manipulator (AREA)

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Citations (6)

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• 1987
  • 1987-04-10 JP JP62088331A patent/JPS63256381A/ja active Granted
• 1988
  • 1988-04-09 EP EP88903367A patent/EP0359818B1/en not_active Expired - Lifetime
  • 1988-04-09 US US07/265,673 patent/US5008834A/en not_active Expired - Lifetime
  • 1988-04-09 WO PCT/JP1988/000362 patent/WO1988007916A1/ja active IP Right Grant
  • 1988-04-09 DE DE3855958T patent/DE3855958T2/de not_active Expired - Fee Related

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