WO1989006007A1

WO1989006007A1 - Method of teaching and reproducing operation program for an industrial articulated robot

Info

Publication number: WO1989006007A1
Application number: PCT/JP1988/001265
Authority: WO
Inventors: Nobutoshi Torii; Ryo Nihei; Akihiro Terada
Original assignee: Fanuc Ltd
Priority date: 1987-12-14
Filing date: 1988-12-13
Publication date: 1989-06-29
Also published as: JPH01156804A

Abstract

A method of teaching and reproducing operation program for an articulated robot that carries out the operation depending upon the load conditions. A ROM (24) of a robot controller (20) stores a plurality of data tables that determine speed values and acceleration values corresponding to an operation range of articulate drive motors (M, MV) depending upon the load weight. The ROM (24) further stores a maximum load inertia determined for the wrist drive motors (Malpha, MZ) and the corresponding servo gain value. In the step of teaching the operation program, the operator sets the load weight as well as load inertia at the time of registering the operation program from a start point to an end point. At the time of reproduction, the corresponding speed value, acceleration value and servo gain are read from the ROM (24) and are automatically set to the servo unit (34).

Description

Description Teaching of operation programs and playback methods for industrial articulated robots

The present invention teaches an operation program to an industrial robot, and reproduces (plays back) the taught operation program by the robot. In particular, this section describes how to teach and play back operation programs for industrial articulated robots. Conventional technology

The industrial articulated robot has multiple robot arms that pivot around the orchid by the drive of a motor, and is installed at the forefront of these robot arms. The robot arm is provided with a robot wrist, and the robot arm is pivoted, and the robot wrist performs the same rotation, vertical movement, etc. The desired robot operation is achieved by cooperation with the robot, and usually has a robot wrist in front of two or more robot arms. An end effector such as a gripper or work tool is attached to the tip of the robot wrist. The operation of such an industrial articulated robot is performed by a teaching operation panel (teaching panel or telephone) connected to the robot controller. Using the teaching pendant), a human inputs a motion input by button operation or key operation to manually operate the robot, and moves the robot to a desired point on the motion locus. Location information and the work done there Mouth Pot The teaching process of storing the operation program data in the storage unit of the control unit, and the operation program data stored in the storage unit is taught using the display device of the teaching operation panel. It consists of an editing process for making changes and the like, and a regenerating process for automatically operating the robot by playing back the contents of the taught / stored »work and the changed operation program.

During the automatic operation of such an industrial articulated π-bot, the robot arm and the robot wrist are automatically driven by the motor according to the displayed program. When the end effector is positioned at the target position and the desired work is performed, the robot arm (multiple) may be used if the load weight and load inertia applied to the robot are large. The load on each motor during operation may deviate from its rated output depending on the conditions of acceleration and speed applied to the wrist and the robot by the motor. Conventionally, in order to avoid such a deviation from the rated output, the speed and acceleration conditions of the motor are set in consideration of the worst condition of the load condition, so that safety is ensured. Was.

However, in the above-mentioned method, the robot operation that does not effectively use the performance of the motor is performed, for example, the operation is performed at a slower speed even though the operation can be performed at a higher speed. Inefficient operations such as the above may occur, resulting in inefficiency of the robot operation and inconvenience that it is impossible to shorten the operation time cycle.

In order to eliminate such inconveniences, the operating area of the joint drive motor is divided into several parts, and the movement time is minimized in response to the operation. Prepare and, at this time, 复 There is also provided a pot control device having a built-in calculation means for selecting and setting the optimum acceleration and speed based on a fixed beach calculation formula in consideration of the sword and load inertia. However, the operator must set or confirm the conditions such as load weight and load inertia in each of the program teaching stage, editing stage, and playback stage, or confirm the settings. In order to further improve safety, it is required that workers recognize the actual load inertia on the wrist motor. By setting and confirming the settings, it is required to be able to set the optimal support gain and to confirm it. Disclosure of the invention

Accordingly, an object of the present invention is to provide a teaching method of an operating program and a reproducing method for an industrial orchid-type robot capable of responding to such a demand. It will not be provided.

In view of the object of the invention described above, the present invention provides a plurality of robot arms that are articulated with each other, and a robot provided at the forefront of the plurality of robot arms. A robot wrist, and an end effector mounted on the robot wrist, wherein the plurality of robots are respectively supported by a corresponding orchid drive motor. The robot robot is driven to move the extreme ends of the plurality of robot arms to a desired target position and positioned, and the wrist motor drives the robot wrist to move forward. Operation program via a robot controller to an industrial articulated robot in which the robot end effector performs the robot work How to teach and regenerate 刖 Regarding each orchid motor »motor, corresponding to the operation area; a plurality of data tables for determining the angle value and acceleration value according to the magnitude of the load weight.記憶 Store and prepare in the storage means of the pot control device,

In addition, for the 刖 id and wrist motor, a predetermined maximum load inertia and a servo gain value corresponding to the IS are stored in the storage means in advance.

In the process of the operator teaching a series of robot operations from the operation start point to the operation end point, when the program of the robot operation is registered, the negative load inertia is registered. A process is set up for the operator to set the

At least at the time of recall, the speed and acceleration value of the iSt drive motor that is set to the set load weight in mm are automatically selected from the data table, and The drive motor and the wrist motor's service station are automatically set, and at the same time, the wrist motor's servo gain value corresponding to the set load inertia. Is now automatically set in the service

It provides a method of teaching and playing back TP programs for industrial articulated robots, which specializes in the teaching of robots.負荷) <£) ο It is possible to securely set load conditions and confirm the settings during the process and program regeneration process. BRIEF DESCRIPTION OF THE FIGURES

Other objects, features, and advantages of the present invention will be further clarified below based on embodiments shown in the drawings.

FIG. 1 shows a horizontal joint type robot as an example of an industrial joint type robot to which the teaching and reproducing method of the operation program according to the present invention is effectively applied. Block diagram showing the configuration,

FIG. 2 is a diagram showing a state in which a velocity / acceleration table and sample data are stored in R0M of the robot controller.

Fig. 3 is an explanatory view in which a part of the above table is enlarged, and Fig. 4 is a view of the first and second pages of the setting screen that is visually displayed on the display of the teaching pendant. ,

Fig. 5 shows the load condition setting screen.

Fig. 6 shows the load condition confirmation screen.

Figure 7 shows the confirmation screen,

Fig. 8 shows the alarm display screen that warns that the load condition has not been confirmed. BEST MODE FOR CARRYING OUT THE INVENTION

Referring to FIG. 1, a horizontal articulated robot to which the teaching / playback method of the operation program according to the present invention is applied is formed around the axis において at the top of the base 1 ϋ. It has a first ice flat arm 12 provided so as to be able to turn, and a second horizontal arm 14 which can be turned around the axis U at the tip of the first horizontal arm 12. The tip of the second horizontal arm 14 can be turned in the direction indicated by the arrow around the vertical axis. In addition, a robot wrist 16 capable of moving and displacing up and down as shown by arrow Z is provided. The orchid drive motors M6> and MU for driving the rotation of the first and second eihei arms 12 and 14 are formed, for example, by a well-known direct drive motor and provided on a base. 10 and at the tip of the first ice flat arm 12, the first horizontal arm 12 rotates around the axis Θ, for example, at 300 ° °), while the second ice flat arm 14 has a turning range of 270 ° (± 135.) About axis U.

On the other hand, the robot wrist 16 has a configuration driven by wrist drive motors 、 and Μ formed by a well-known AC support motor. At the end of the robot wrist 16, an end effector (illustrated 赂) such as a hand is attached. '

The robot controller 2G for controlling the operation of the horizontal orchid-shaped robot has a CPU 22 as a central processing means, and the CPU 22 has a bus 23 connected to the CPU 22. Operation panel 28, operation panel 30, input / output circuit 32, axis control unit with ROM 24, RAM 26, liquid crystal display, etc. And 34 mag. R M M 24 stores various programs necessary for the arithmetic processing executed by the CPU 22, and stores a table of arrest values and acceleration values according to the present invention, which will be described later. The stored data and the value of the servo gain corresponding to the load inertia are stored in advance. In the RAM 26, the teaching data input from the teaching operation panel 28 and the operation panel 30, various setting data input from the operation panel 30, and the calculation results performed by the CPU 22. The control processing data such as is stored. Teaching operation panel 28 Equipped with the above surface display, lamps, operation buttons, function keys, etc. for displaying numerical values necessary for various operations such as teaching, editing, and checking the bot. You. The operation panel 30 has operation buttons and the like for controlling and executing a desired robot operation. The input / output circuit 32 is a circuit in which various sensors and the like provided in the robot body and a port control device 2D exchange control signals. The axis control unit 34 is a servo system that servo-controls the driving action of the aforementioned joint drive motors MΘ, MU, wrist drive motors M, MZ, A device with a digital system. The axis control unit 34 receives the position command data of each axis o, U, Z according to the taught program, and the motor corresponding to the input. The electric output for generating the drive torque is sent from the servo amplifier assembly -36 equipped with a servo amplifier for each axis to the corresponding drive motor MO etc. At this time, in the case of the Lanc 節 drive motors MΘ and MU, the negative load applied via the end effector at the forefront of the robot arm. The acceleration corresponding to the change between the load and the load inertia, and the maximum speed, the joint axis 6), and the time constant for realizing the turning drive around the U, the support of each motor Must be set in the system, and in the case of wrist drive motors M and MZ, the negative Robot wrist movement that satisfies the two mutually contradictory conditions of improving stability by reducing movement cycles and responding to changes in the inertia. Therefore, it is important to set the servo gain in response to changes in the load inertia. In order to satisfy such a need, according to the method of the present invention, the R MM 24 of the π-bot control device 20 is previously provided with the RU-section drive motors MO and MU in advance. Data tables on acceleration and maximum speed are stored for each range of load weight and for the operating range of the rain motor. That is, as described above, as an example, the joint drive motors MO and MU have an operating range of (Soil 150 °) and the latter have an operating range of (Soil 135 °). Assuming that the first and second horizontal arms 12 and 14 are moved from the starting point of the robot arm from a certain starting point, depending on the operation program shown, Move to the end point. · In order to perform positioning, the first Eihei arm 1 2 performs the required turning motion, the second ice flat arm 14 performs the required turning operation, and the first ice flat arm 12 performs the required turning operation. With respect to the amount of turning motion, the turning displacement is performed from one operation start point to one operation end point, and the above-mentioned certain start point and end point operation is achieved by superimposition of both. Therefore, the first horizontal arm 12 has no pivoting motion amount or motion region △ O is divided into several parts, for example, 0 to 30 ′, 30 ° to 60 °,

⁶ 0 β ~ 9 0 Bruno, 9 0 ° ~ 1 2 0 β, 1 2 0 ° ~ 1 5 0 turning displacement of the second ice flat arm 1 4 sealed ° (swivel end position from the turning start position ), A data table of the acceleration value and the maximum speed value is prepared in advance, and a plurality of types of data tables are prepared according to the load weight (kg) and stored in R0M24. The ROM 24 stores servo gains SG _n (n: 1, 2, ...) that are appropriately selected in advance according to the load inertia. Then, the acceleration value, maximum speed value, and servo gain SG _n in these tables are processed using the teaching operation panel 28. If the user selects and sets the load weight and load inertia in the process of registering, editing, and checking each operation program, the set load weight, The set load inertia is recorded in the RAM 26, so that the CPU 22 controls the load according to the set negative load and the set load inertia. Is selected from the data table of R デー M24, and is also selected from the stored servo gain to the axis control unit 34 via bus 23. It is to be set.

FIG. 2 is a diagram showing a state in which the above-mentioned data table and the surrogate data are stored in R〇M 24. FIG. 3 is an enlarged view of a part of the above data table. When the load weight is, for example, 0 to 2 kg, the data table corresponds to a plurality of operation areas of ΔΘ. You can see how multiple tables are being prepared. Same rather, the load weight when the 2 ~ 4 k _g. 4 ~ per such cases 6 kg, respectively Te over table is prepared. Of course, these numerical data on the load weight are merely examples, and it is not possible to select various appropriate load weight ranges according to the capacity of the joint drive motor and the like. Needless to say. Similarly, the values of the load initiator 0.0 0.0 to 0.2 O kg-cm-sec ² are merely examples.

Next, in this pitfall, the method of setting the load weight and load inertia in the robot data program data teaching process, editing process, and preparation process before playback is described. explain .

The load weight and load inertia are displayed on the teaching operation panel 28 (Fig. 1) together with various operations such as program teaching, editing, and confirmation. It is configured to be set through a certain setting operation by the operator. For this purpose, the display screen of the teaching operation panel 28 displays, for example, on the first page, a surface for executing the setting of the load condition, prior to the setting surface corresponding to the position data. In view of this, for each program, it is possible to set the food conditions in consideration of the maximum load agitation expected during the execution of the program.

FIG. 4 shows the first and second pages displayed on the display screen of the teaching operation panel 28, and the first page shows the setting of the load stirring as described above. Is the side to perform.

Here, the load condition, that is, the load weight and the load initiator, are registered and registered when the robot operation program is registered in the teaching process, and the registered program is called and edited. At the time of editing, at the time of calling and confirming the program at the time before the start of playback according to the registered or edited program and before the start, the operator can perform the setting δ operation. The numerical value of the load condition can be set by pressing the key corresponding to the numerical value of the software end key on the teaching operation panel 28. It has become.

Fig. 5 shows the surface of the first page of Fig. 4 at the time of registration, and the software keys F1 to F5 (one example, the number of classifications of the set load weight value) The number of keys increases and decreases according to the number of servo gain values and servo gain values.) By operating, the load weight value and load inertia value can be set and written in the flashing setting field. In addition, it is passed without setting by mistake at the time of registration. In this case, a confirmation screen is displayed to confirm whether or not the settings have been made before playback.If it is overlooked at that time, the negative load value is predicted at the start of playback. The maximum value to be set is automatically set in advance.

At the time of editing, if there is a load condition that has already been set, a confirmation screen for confirming whether or not the execution of the load dumb is acceptable with the set value is called and confirmed. Is displayed, a confirmation screen appears (No.

(Fig. 7), if the load conditions that have already been set are used as they are, or if they pass without being confirmed, a call for confirmation is made in the regeneration process. At this time, an unconfirmed alarm screen is displayed (Fig. 8).

Also, when a program is called during editing, if the load condition for the program has not been set, the load condition column on the screen flashes. At that point, the settings can be made using the software key. Also in this case, when the setting operation is not performed, the load condition is automatically set to the maximum value at the start of the regeneration process.

If a call for confirmation is made prior to the start of the playback process, the display on the teaching pendant 28 will display the message “Check the load conditions J”. The set value flashes along with the message, and you can check whether the value is correct or not.This confirmation screen is shown in Fig. 6. If the confirmation operation is not performed at that point, an alarm surface will be displayed at the start of playback, warning that the load condition has not been confirmed for the program (Fig. 8).

If not set, it is possible to set the load conditions at that time. The maximum load condition is automatically set at the start of the operation, and the program of the mouth port operation is executed.

In the process of teaching and playing back the robot operation program, the maximum value of the load condition is automatically set when the power is turned on for the first time to the teaching operation panel 28. This prevents accidents caused by sudden operation of the pot.

As described above, the present invention has been described by taking a specific Hiraban-knot type robot as an example.However, the teaching / playback method of the robot operation program according to the present invention depends on the load conditions. It can be applied equally to various orchid-shaped robots where there is a risk that the drive motor in the robot's movable part may be loaded more than the permissible value. Not only robots that move with the robot, but also multi-stage articulated π-bots that have the freedom to move within the three-dimensional free space, are within the scope of the technical idea of the present invention. The supplier can apply the teaching * reproducing method of the present invention by appropriately modifying and changing it.

As is clear from the above description, the teaching of the operation program in the industrial orchid-shaped robot according to the present invention ♦ According to the reproduction method, the program required for the operation of the robot At the time of teaching, editing, and playback confirmation, the food conditions related to the orchid drive motor and wrist drive motor were set for each program including a series of robot operations. Considering changes in the load conditions during operation, set the maximum load conditions from among them, and set the maximum speed, acceleration, and servo gain of the π-pot operation experimentally in advance in a table or stored value. The robot was selected from the list and operated under that condition, so that the safety in robot operation was further improved and the program was implemented. ^ 褂 g ^ ¾ ^ Q ■ ^! ! .

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Claims

Claim aspects

1. A plurality of robot arms connected to each other, a robot wrist provided at the forefront of the plurality of robots, and a robot arm attached to the robot wrist. A plurality of robot arms, each of which is driven by a corresponding orchid drive motor, so that the leading ends of the plurality of robot arms have a desired purpose. Industrial joint type in which the robot wrist is driven by a wrist motor and the mouth end effector performs a robot operation. In a method of teaching an operation program to a robot via a robot control device and reproducing the operation program,

For each of the orchid drive motors, a plurality of data tables, each of which determines a speed value and an acceleration value corresponding to the operation area thereof, are stored in advance in the robot controller according to the magnitude of the load weight. Memorize and prepare in the means,

In addition, for the wrist motor, a servo gain value corresponding to a predetermined maximum load inertia is stored in the storage means in advance,

における While the robot teaches a series of robot motions from the operation start point to the operation end point, the load weight and the load inertia are registered when registering the robot »work program. A process is set up by the operator to set the

At least at the time of recall, the speed value and acceleration value of the Orchid drive motor corresponding to the set load weight are stored in the data. It is automatically selected from the table and automatically set to the multi-joint drive motor and to the servo unit of the wrist motor. The wrist motor's servo gain value corresponding to a load inertia is automatically set in the servo unit.

Teaching and reproducing method of operation program of industrial orchid robot with special features.

2. The method according to claim 1, further comprising a step of confirming at least the setting of the load weight at the time of editing or recalling the operation program including the series of robot operations. Teaching and playback method of the operation program of the industrial articulated robot described in.

3. If the above-mentioned confirmation step is missed when the operation program is called for editing or reproduction, the maximum load in the table at the start of reproduction of the operation program Instructions on the operation program of the industrial joint type robot described in 2. of the request range in which the speed and acceleration values corresponding to the weight and the maximum load inertia are set. And playback method.

4. If the load weight and load inertia have not been set at the time of registering the operation program, at the time of editing call or at the time of reproduction call, a display prompting for setting is performed. A teaching method and a reproducing method of an operation program of an industrial orchid-shaped robot according to claim 1 or 2.