WO1993008957A1

WO1993008957A1 - Method of automatically selecting proximity point in program

Info

Publication number: WO1993008957A1
Application number: PCT/JP1992/001392
Authority: WO
Inventors: Atsushi Watanabe; Takayuki Ito
Original assignee: Fanuc Ltd
Priority date: 1991-11-08
Filing date: 1992-10-27
Publication date: 1993-05-13
Also published as: JPH05134738A

Abstract

A method of automatically selecting a proximity point in the program so as to readily detect a block position in the program where a teaching position is to be corrected, in which the robot is moved to a teaching position changing position and a program retrieval instruction is inputted to a control device. Then, the control device determines the current position of the robot (A1) and finds the distance D between a position in which reading of the program is taught and the current position (A3 to A8). When the distance is shorter than a set distance D0 (A9), this block is displayed (A10) with the cursor set at it. The program is further read with successive candidate instructions inputted (A11) and blocks teaching successively detected positions lying within the set distance D0 are displayed in succession. Since a position desired to be changed is known, the robot can easily be positioned there. Because the control device automatically detects a block instructing a teaching position proximate to said changing position, a program correcting position is easily detected. In place of a method of comparing the distance D between said taught position and the current one with a set distance D0, it is possible that distances D between taught positions and the current one are determined one by one and a block indicating the minimum value is specified as the most proximate to the current position.

Description

Specification

Automatic selection of program near points

TECHNICAL FIELD The present invention relates to teaching a robot to a program, and more particularly, to correcting and re-teaching program position data.

Background technology

When trying to correct the position of a program that has already been taught to a robot, the position and posture of the robot to be corrected are not known. Even so, it is not clear to the operator where the position is in the teaching program. Therefore, in the past, the program taught was displayed on a display device, and the corresponding part to be corrected later in the course of class was searched for, or stored or recorded by the operator. It finds the corresponding program location based on that memory or record.

However, it is possible for the skilled operator to memorize the relationship between the position of the program and the position / posture of the robot, but it is possible for the skilled person to do so. This is almost impossible. Also, even if records are kept, it is troublesome to keep records, and it requires a lot of time and labor. Displaying the program on the display device and searching for the corresponding part at a glance from the beginning is also a troublesome task.Analyze and correct the contents of each block of the program one by one. Program location It is necessary to judge whether this is the case or not, and this case also requires a lot of time and labor. In particular, it is very difficult for a person who is not familiar with the program at the site to find the corresponding point from the program.

Disclosure of the invention

An object of the present invention is to provide a method of automatically selecting a nearby point of a program that can easily detect a block position of a program whose teaching position is to be corrected.

'In order to achieve the above object, according to one embodiment of the present invention, a robot is manually moved to an arbitrary position, and a program search command is input to the robot controller, so that the robot controller g G) The current position is obtained, a block in the program that teaches a position within a set distance range from the current position is detected, and the block is displayed on the display device.

Further, in another aspect of the present invention, the robot control device obtains the robot current position S by manually moving the mouth port to an arbitrary position and inputting a program search command to the robot control device g. In step (1) and (2), the program is sequentially read, and it is determined whether or not the teaching position of the block whose position has been taught is within the set distance range from the current position. Displayed on the display device, when the reading of the program is interrupted and the next candidate command is input, the program is read sequentially and a block that teaches the position within the set distance range from the current position g is displayed. So that

In another aspect of the present invention, the robot is manually moved to an arbitrary position, and a program search command is input to the robot control device. The current position is obtained, the program is read sequentially, and the block of the teaching position closest to the current position is obtained from the teaching position of the block whose position is taught, and the block is displayed on the display device. I do.

Further, another aspect of the present invention is that the robot is manually moved to an arbitrary position and a program search command is input to the robot control device. , And sequentially read each block of each program stored in the storage device of the robot control device, so that the taught position of the block whose position has been taught is within a set distance range from the current position described above. The program name is displayed on the display device if it is within the set distance range.

Further, in another aspect of the present invention, the robot control device obtains the robot current position by manually moving the robot to an arbitrary position and inputting a program search command to the robot control device. At the same time, each block of one program stored in the storage device of the robot control device is sequentially read, and the taught position of the block whose position is taught is set within a set distance range from the current position. The program name is displayed if it is within the set distance range. When the next candidate command is input when the program reading is interrupted and the next candidate command is input, the program block to be stored next is read very closely and the position within the set distance range from the above current position is taught. Each time a block is detected, the program name is displayed on the display device.

Further, another aspect of the present invention is that the robot control device manually moves the mouth port to an arbitrary position and inputs a program search command to the robot control device. In addition to obtaining the current position, each block of each program stored in the storage device of the robot control device is sequentially read, and from the teaching position of the block whose position has been taught, the current position is most frequently found. The block at the closest teaching position is obtained, and the name of the program in which the block is programmed is displayed on the display device.

Preferably, the detected block is displayed on the display device together with the program name.

As described above, according to one embodiment of the present invention, when the robot is moved to a position where the operation of the robot is to be changed, and a blob search command is input to the mouth port control device, the robot control device first The current position g of the robot is obtained, then the teaching program is read, and it is determined whether the distance between the teaching position of the block storing the position data and the current position is within the set range. If it is within the setting range, the block is displayed on the display device. Also, when the next candidate command is input, each block of the program is read again and the teaching position data is read. Searches for and displays blocks within the set range distance from the current position. Following this process, the operating system discovers a block of the program that is trying to correct the position data, and according to another aspect, the position data within a set distance range from the current position. Search for and display the block where the position closest to the current position was taught from the positions stored in the program, not the evening. Further, when a plurality of programs are stored in the robot control device, the above operation can be performed by designating the programs. In addition, the above operation is performed for all programs to be stored, and when a block whose distance from the current position is within the set range or the closest block is detected, the program name is set. Is displayed, and the program name and corresponding block are displayed to make it easier to find the program or block to be modified.

Brief explanation of drawings

FIG. 1 is a flowchart of a program near-point automatic selection process of a first embodiment performed by a processor of a robot control device according to an embodiment of the present invention;

FIG. 2 is a flowchart of the automatic selection process of the neighboring points of the program according to the second embodiment.

FIG. 3 is a flowchart of the automatic selection process of the proximity point of the program according to the third embodiment.

Figure 4 shows the block diagram of the robot control system in each embodiment. FIG.

BEST MODE FOR CARRYING OUT THE INVENTION FIG. 4 shows an embodiment of a robot control system for carrying out the present invention. The robot control device 10 has a processor 11 and the port processor 11 1 R0M12, which stores a control program for controlling the control device 10, RAM13, which is used for temporary storage of data, etc., a teaching program, various set values, parameters, and the like are stored. Non-volatile memory 14, Manual input device with CRT display device (hereinafter referred to as CR TZMD I) 15 Teaching for teaching the robot an operation program, etc. Operation panel 16, Robot joint axes 1 to N The axis control devices 17-1 through 17-7-N that control the axis are connected by path 18. The teaching operation panel 16 has an LCD screen, and displays programs and the like here. Each axis controller 17-1 to 17-N is connected to a support motor Ml to Mn for driving each joint axis via a sub-amber 1911 to 1919N, respectively. I have.

The robot control system and robot belong to the conventional robot control system and robot, and a detailed description thereof will be omitted.

FIG. 1 is a flowchart of a program neighborhood point automatic selection process executed by the processor 11 of the robot controller 10 in the first embodiment of the present invention. The first embodiment is characterized in that a block whose position within a set distance range from the current position of the mouth pot is taught is automatically detected and displayed. Sign.

First, the distance range DO of the position to be detected is set in the robot controller 10 with respect to the current robot position in advance, and the non-volatile memory 14 of the robot controller is set. If a plurality of teaching programs are stored in the same program, set the target teaching program name (program number) from the teaching operation panel 16 or CR TZM DI 15. If only one teaching program is stored, there is no need to set the program name.

Then, operate the teaching operation panel 16 to move the robot to the position where the position data is to be corrected by jog feed or the like. The position where the teaching position data is to be corrected, that is, the position where the robot operation is to be corrected due to a failure in the robot operation or the like can be clearly specified by the robot operation position.

Next, when a program search command is input from the CR TZM EI I 15 or the teaching operation panel 16, the processor 11 of the mouth port controller 10 is processed as shown in the flowchart of FIG. First, the current position (χθ, yo, ζθ) of the robot is determined (step Al). Next, the index i specifying the block in the program is set to "1" (step A2), and the i-th block indicated by the index i is read, and The i-th block is displayed on the display device of the teaching operation panel 16 or CR TZM DI 15 (steps A3 to A4). Then, the read block command is It is determined whether or not it is a program end command. If it is not a program end, it is determined whether or not it is an action statement (steps A5 and A6). If it is not an action statement, the index i is set to "1J increment". (Step A13), return to Step A3, read the next block and display it.The display of the block will be displayed in a stable manner, and will be scrolled when it is fully displayed on the CRT screen. The scanned block is displayed while scanning

On the other hand, if the block read in step A6 defines an action statement, the teaching position (p, yp, zp) taught in this block is read (step SA7), and in step A1, The distance D between the obtained robot current position (x0, y0, ζθ) and this teaching position (xp, yp, zp) 閎 is obtained by performing the following calculation (step A8) c

D = ((xp -xO) ² + (yp-y 0) ²

+ (z P-z 0) ² } ^1/2

It is determined whether or not the distance D between the teaching position thus obtained and the current position is equal to or less than the set distance range D0 (step A9). If the range is not ί¾, the process returns to step A13 and returns to index i. The processing of step A3 and the following steps are performed with “1” as the increment. On the other hand, the distance between the teaching position and the current position! ) Is within the set range DO, the process proceeds from step A9 to step A10, and the cursor is moved to the position of the display block indicated by the index i, and the block is moved relative to the current position. To inform the operator that the block is teaching a position within the setting range DO. In addition, the processor determines whether a next candidate selection command or a termination command has been input by a soft key or a command, and waits for the command to be input from the operation (evening). Steps A11, A12)

The operator reads the displayed program block and determines whether or not the corresponding block indicated by the cursor is the block to be corrected. The operator scrolls the CRT screen to read the contents of blocks before and after the block specified by the cursor, and corrects the block specified by the cursor to be corrected. It is only necessary to judge whether or not it is a problem. If the block indicated by this force solver is not the block to be corrected, a next candidate selection command is input, and processor 11 executes step A 13. Then, the index i is incremented by “1”, and then the process of step A3 is executed. Thereafter, this process is executed until a block to be corrected is detected, and when it is detected, an end command is input (step A12), and this process ends. Although not described in this flowchart, when a block to be corrected is detected, the block is corrected to the current position or desired position data and You may end the process. Also, without inputting the end command, the above processing is executed up to the program end, and the current position (x 0, y 0, ζ 0) It is also possible to detect a block that has taught a position within the set distance range DO from, and obtain a block to be corrected from the detected block. If a block that teaches a position within the set distance range DO from the current position (χθ, y0, ζθ) is not detected, it means that the set range D0 is too small. , In this case, the setting range! It is sufficient to reset the value to 0 and execute the processing of the flowchart in FIG. 1 again.

FIG. 2 is a flowchart according to a second embodiment of the present invention. The second embodiment differs from the first embodiment in that a block that has taught the position closest to the current position g is detected and displayed. First, move the robot to the position where the operation position is to be corrected, specify the program, and input the program search command. As in the first embodiment, the processor 11 of the robot control device 10 obtains the current position of the robot, sets the index i for designating the block in the program to "1", and designates it. Read from the i-th block of the programmed program, determine whether the command of the block is a program end or an operation statement, and if it is not a program end or an operation statement, set the index i to "1" increment. Read them sequentially from the beginning of the program (steps B1 to B5 and step Bll). However, unlike the first embodiment, the second embodiment does not display the read blocks at this stage.

If the read block is an action statement, this block Read the position (xp, yP, zp) taught in (Step B6), and find the distance D between the current position and the taught position as in Step A8 of the first embodiment (Step B. 7). Next, the distance stored in the register R (D) is compared with the obtained distance D (step B8). This register setting R (D) is an initial setting, and initially the maximum value that can be stored in the register setting is set. If the distance obtained in step B7 is smaller than the value stored in this register R (D) ('the distance obtained at the beginning is smaller), The distance D obtained in step B7 is stored in R (D), and the value of index i is stored. The current value of index i is stored in register R (i) (steps B9, B10). Next, the process proceeds to step B11, in which the index i is incremented by "1", and the processing from step B3 is executed. In step B8, if the distance D between the teaching position obtained in step B7 and the current position is equal to or greater than the value stored in the register R (D), the values in steps B9 and B10 are used. Proceed to step B11 without performing any processing. As a result, in the register R (D), the taught position data of the block in which the position closest to the current position in the block read up to that point was taught is stored. The value of the index i indicating the position (sequence number) of the block is stored in the register R (i). Thereafter, when the above processing is repeated and a program end is detected (step B4), the processing shifts to step B12, and the value stored in the register R (i) is displayed on the CRT screen. To The cursor is attached to the corresponding block and displayed, and the program block near the block is displayed. Register R (i) stores the index value indicating the block that taught the position closest to the current position in the program, so a force solver is added according to the value of register E (i). The block indicated by “” means the block that teaches the position closest to the current position. Usually, this position indicates the position or block to be corrected. Differently, it can detect blocks that are about to be fixed immediately.

FIG. 3 is a flowchart of a third embodiment of the present invention. In the third embodiment, a plurality of teaching programs are stored in the mouth port control device 10 and a teaching program is designated. The feature is that, in all stored teaching programs, a block that has taught a position within the set range DO from the current position where the robot is positioned is detected.

First, a distance range DO to be detected is set in the robot controller 10, the mouth port is manually moved to a position where the mouth port is to be corrected by jog feed or the like, and then a program search command is input. The processor 11 of the control device 10 obtains the current position of the robot, and sets the index j specifying the program and the index i specifying the block in the program to "1", respectively (step Cl). , C 2), and then determine whether or not the program indicated by the indicator j is stored. (Initially, this is the first program and usually exists.) If it exists, read the block indicated by index i of the program indicated by index j (step C 4)> It is determined whether it is a program end or an action statement (steps C5 and C6), and if it is neither a program end nor an action statement, the index i is incremented by “1” (step C5). C13), and return to step C4. If it is an action statement, the position taught by this block is read, the distance D from the current position is obtained (steps C7 and C8), and whether this distance is equal to or less than the set distance range DO is determined. (Step C 9), and if it is not less than the set distance range D 0, the process goes to Step C 13 to perform the processing of Step C 4 and below. That is, the processing of steps C4 to C9 and step C13 of the same processing as steps SA3 to A9 and step A13 of the first embodiment is performed.

On the other hand, when it is determined in step C9 that the distance D obtained in step C8 is equal to or less than the set distance D0, the program name indicated by the index j and the index i of the program are indicated. The cursor is attached to the block, and is displayed on the CRT screen (Step C10). In this case, too, the block before and after the block indicated by the index i is displayed. Rolling also displays the contents of other blocks. Then, it is determined whether a next candidate command or a termination command has been input (steps Cll, C12), and if a next candidate command has been input (step Cll), the process proceeds to step C13. In the same way as described above, the index i is incremented by 1 and Perform the following process.

Below 頫 Next, set distance from current position! When the block indicating the position in the parentheses is displayed, the next candidate instruction is issued, and the program end of the j-th program is read (step C5), the index j is set to “1”. (Step C15), and sets the index: L to "1" (Step C15), returns to Step C3, and returns to the program indicated by the value of the index j (next Judge whether there is a program, and if it is stored, execute the same processing from step C4 as described above.

The above processing is executed while sequentially updating the index j for the stored teaching programs, and the operator inputs an end command in the middle (step C12), or the above processing is completed for all the stored teaching programs. Then (step C 3), this process ends.

In the third embodiment, when the teaching position is within the set distance DO from the current position, the block is displayed. However, similar to the second embodiment, the block is closest to the current position. The block whose position has been taught and the program name to which the block belongs may be displayed. In this case as well, the block of the announcement position closest to the current position is obtained and displayed for each teaching program, and the next teaching program is input to the next position each time a next catch command is input. The block at the closest teaching position may be detected and displayed. As described above, as described in each of the embodiments, the present invention corrects the operation position of the robot when it is desired to correct the operation position, that is, the correction of the teaching position data of the teaching program. The location cannot be easily detected on the teaching program, but the position and posture of the robot to be corrected are naturally known. Can be specified. Then, by moving the robot to the position to be corrected, the robot controller automatically moves the robot within a set distance from the current position of the robot. The block that has been taught, or the block that has taught the nearest position S at the current position is detected and displayed, so the block on the program that is to be easily corrected is displayed. Position can be detected. In addition, when displaying blocks within the set distance range from the current position, the blocks that teach the positions within the set distance range are displayed sequentially by inputting the next candidate command. However, it is only necessary to find the target block from among them, and the block can be easily detected.

Further, when a plurality of teaching programs are stored in the robot control device, by specifying the teaching program, the setting is made from the current position of the robot V in the designated program. The block that teaches the position within the distance range or the block that teaches the position closest to the current position can be displayed, and the block to be corrected is displayed. Can be easily detected. Ma Also, in all the teaching programs that are stored, the program name and block that teach the position within the set distance range from the robot's current position or the position that is close to the current position are taught. The block being taught and the teaching program containing this block can also be displayed, so that the object to be corrected can be detected easily and without skill.

Claims

The scope of the claims

1. By manually moving the robot to an arbitrary position and inputting a program search command to the robot controller, the robot controller obtains the robot current position and obtains the current robot position. Detecting a block in a program that teaches a position within a set distance range from the position, and displaying the block on a display device, the method for automatically selecting a neighboring point of a program. .

2. The method according to claim 1, wherein a block in the program is detected and displayed on a display device, and the position of the block is corrected.

3. If a block that teaches a position within a set distance range from the current position is not detected, the set distance is reset to a larger value. Item automatic selection method of program neighborhood point described in.

4. By manually moving the robot to an arbitrary position and inputting a program search command to the robot controller, the robot controller obtains the robot current position and sequentially executes the program. It is determined whether the taught position of the block whose reading and position has been taught is within the set distance range from the above current position, and if it is within the set distance range, this block is displayed on the display device. Is displayed, the reading of the program is interrupted, and when the next candidate command is input, the program is read sequentially, and a block that teaches a position within the set distance range from the above current position is taught. The automatic selection method of the proximate point of a program, characterized in that the program is displayed.

5. If no block teaching a position within the set distance range from the current position is not detected, the set distance is reset to a large value. Automatic selection method of near point of program.

6. By manually moving the robot to an arbitrary position and inputting a program search command to the robot controller, the robot controller obtains the robot's current position, reads the program sequentially, and reads the program. A block at the teaching position closest to the current position from the teaching position S of the block taught by the program, and displaying the block on a display device. .

7. By manually moving the robot to an arbitrary position and inputting a program search command to the robot controller, the robot controller obtains the current position of the mouth port and obtains the current position of the mouth controller. Each block of each program stored in the storage device is sequentially read, and it is determined whether or not the taught position of the block whose position has been taught is within the set distance range from the current position, and the set distance is determined. A program near point automatic selection method, wherein the program name is displayed on a display device if it is within the range.

8. If no block that has taught a position within the set distance range from the current position is not detected, the set distance is reset to a larger value. Automatic selection method of program neighborhood point.

9. Manually move the robot to the desired position and By inputting a robot search command to the robot controller, the robot controller obtains the robot current position and obtains one program stored in the storage device of the robot controller. Each block is read sequentially, and it is determined whether or not the taught position of the block whose position has been taught is within the set distance range from the current position, and if the taught position is within the set distance range. The program name is displayed on the display device.When reading of the program is interrupted and the next candidate command is input, the program blocks to be stored next are sequentially read and within the set distance range from the above current position. Automatically selecting a nearby point of a program, wherein the program name is displayed on a display device every time a block that teaches a position in the program is detected.

10. If no block that has taught a position within a set distance range from the current position is not detected, the set distance is reset to a larger value. Automatic selection method of program neighboring points described in section.

1 1. By manually moving the robot to an arbitrary position and inputting a program search command to the robot controller, the robot controller obtains the current position of the mouth port and obtains the robot's current position. Each block of each program stored in the storage device of the controller is sequentially read, and the teaching position closest to the current position is selected from the teaching positions of the blocks whose positions have been taught. A block is obtained, and the name of the program in which the block is programmed is displayed on the display device. A special program near point automatic selection method.

1 2. The method according to claim 11, wherein the detected block is also displayed on the display device together with the program name.

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