WO2005045541A1

WO2005045541A1 - Robot system

Info

Publication number: WO2005045541A1
Application number: PCT/JP2004/014621
Authority: WO
Inventors: Toshiharu Maki; Ryuichi Morita
Original assignee: Kabushiki Kaisha Yaskawa Denki
Priority date: 2003-11-11
Filing date: 2004-10-05
Publication date: 2005-05-19
Also published as: JP2005148803A

Abstract

There is provided a robot system capable of checking the position modification of an operator. The robot system includes a robot (1), a pendant (2)or operating the robot (1) by an operator, and a robot control device (3) controlling the operation of the robot (1). The robot system has a function to limit the teaching content by the operation mode. The robot system includes: an operation mode selection unit (9) for selecting one of the position registration mode for registering a new teaching position and the position modification mode for modifying the teaching position taught by the position registration mode; and a modification range storage unit (31) for storing the modifiable range with respect to the reference position operated by the position registration mode. When the modification position operated by the position modification mode is in a modifiable range with respect to the reference position taught by the position registration mode, the modification position is registered.

Description

Specification

Robot system

Technical field

The present invention relates to a robot system for an industrial robot that performs an operation based on taught data.

Background art

In an industrial robot, a key for operating the robot is arranged on a pendant operated by an operator, and the operator moves the robot to a desired position by operating the key. Then, by pressing a key located on the pendant, the current position of the robot is stored in the robot controller. As another teaching method, there is an off-line teaching technique of virtually realizing a robot installation environment by a computer, creating a teaching position of the robot, and loading the created position to the robot. The position indicated by these methods takes the form of an instruction to the robot together with data such as the interpolation method up to the position and the speed, and is stored in the robot controller (for example, see Patent Document 1). .

[0003] In addition, regarding the operation of an industrial robot, the functions of the robot itself, such as an administrator who changes the working conditions of the industrial robot, an operator who performs daily operations of the industrial robot, and additional functions of the industrial robot. Task sharing is usually performed, such as by superusers who customize services. And the authority according to the duties is given.

For example, in order to enable these operators to properly perform their work duties, a robot control device that includes an operator identification means and restricts the operation content of the operator based on the identification result of the identification means has been developed. is there. This will be described below. Register the ID of the operator that can be operated by the administrator as a user ID list. By entering the user ID, the operator can identify whether it matches the user ID list registered by the administrator. If it does not match the user ID list, the user cannot continue the operation. In this way, security is managed based on the user ID. In this way, the teaching position can be registered based on the authority of the operator. (For example, see Patent Document 2).

Patent Document 1: JP-A-8-194520 (page 2, left column, fifth row, left column, 31st line) Patent Document 2: JP-A-2002-239953 (page 5, right column, 37th line, 1st line Page left column, second row) Disclosure of the Invention

Problems to be solved by the invention

[0004] However, in the conventional industrial robot, if the teaching position is changed once, the change cannot be canceled and the position is changed again. Further, even if the change is prohibited or permitted based on the authority of the operator, there is a problem that an operator who has the authority to change the position cannot cope with an error.

Therefore, the present invention has been made in view of such a problem, and provides a robot system capable of checking a change in position of an operator.

Means for solving the problem

[0005] A robot system according to claim 1 of the present invention includes a robot, a pendant for an operator to operate the robot, and a robot control device for controlling the operation of the robot. In a robot system having a function of restricting a teaching content, one of a position registration mode in which a teaching position can be newly registered and a position change mode in which the teaching position taught in the position registration mode can be changed. An operation mode selection unit for selecting a mode; and a change range storage unit for storing a changeable range with respect to the reference position operated in the position registration mode, wherein the change position operated in the position change mode is the position. When the reference position taught in the registration mode is within the changeable range, the change position is registered. .

The robot system according to claim 2 of the present invention includes a reference position storage unit that stores a reference position operated in the position registration mode, and a change position storage unit that stores a change position operated in the position change mode. And when the change position is within a changeable range with respect to the reference position, the change position is stored in the change position storage unit.

4. The robot system according to claim 3, wherein the reference position operated in the position registration mode is stored in the reference position storage unit and the changed position storage unit. Is what you do.

The robot system according to claim 4 of the present invention is characterized in that the robot system can be operated in the position registration mode based on the identification information of the operator.

The robot system according to claim 5 of the present invention is characterized in that the change range storage section is stored for each of the reference positions.

The robot system according to claim 6 of the present invention is characterized in that the change range storage section is stored as a plurality of files.

The invention's effect

[0006] According to the robot system of the present invention, the content of the position change of the operator can be checked, so that the operator can be prevented from operating due to a simple mistake. Also, by setting the allowable range that can be changed, there is a remarkable effect that the collision between the robot and other interfering objects can be prevented.

Brief Description of Drawings

FIG. 1 is a system configuration diagram of Embodiment 1 of the present invention.

FIG. 2 is an example of a screen display unit according to Embodiment 1 of the present invention.

FIG. 3 is an example of an identification information input unit according to Embodiment 1 of the present invention.

FIG. 4 is an operation mode configuration diagram of Embodiment 1 of the present invention.

FIG. 5 is an example of the work of Example 1 of the present invention.

FIG. 6 is a program example of Embodiment 1 of the present invention.

FIG. 7 is a detailed view of an instruction according to the first embodiment of the present invention.

FIG. 8 is an example of a teaching position according to the present invention.

FIG. 9 is a detailed view of an instruction according to the second embodiment of the present invention.

Explanation of symbols

[0008] 1 robot

2 pendants

3 Robot controller

4 Screen display

9 Operation mode selection section 22 Operation mode storage

30 Program storage

31 Change range storage

BEST MODE FOR CARRYING OUT THE INVENTION

An embodiment of the present invention will be described below with reference to FIGS.

Example 1

FIG. 1 shows a system configuration diagram of Embodiment 1 of the present invention.

The robot system includes a robot 1, a pendant 2 for an operator to operate the robot 1, and a robot controller 3. The pendant 2 includes a screen display unit 4 and an operation key group 10. The control of the pendant 2 is controlled by a pendant control unit 6 in the robot controller 3. The operation mode switching switch 5 is a switch for switching between the teach mode and the playback mode. The robot control device 3 includes a program storage unit 30 for storing a robot operation program.

[0011] When the power of the robot control device 3 is turned on, a mode called a pre-online mode is activated. In this mode, the status of hardware and connected devices is checked, and normal startup is checked. Normally, in the pre-online mode when the power is turned on, the connection state of the pendant 2 and the like are confirmed via the pendant control unit 6. At the stage where it is confirmed that the robot system is normal in the prion-line mode, the mode is shifted to the online mode in which the robot can operate. At this time, the pendant 2 transfers the state of the operation mode switching switch 5 to the pendant control unit 6 in the operation mode.

[0012] The state of the operation mode switching switch 5 is transferred to the operation mode selection unit 7. In the operation mode selection section 7, if the operation mode switching switch 5 is in the play mode, the processing is shifted to the play back control section 8. If the operation mode switching switch 5 is in the teach mode, the process shifts to the operation mode selection section 9.

The playback control unit 8 is a mode in which when a start button is pressed, a designated robot program is called, and the robot 1 is operated based on the robot program. At this time, editing of the called program cannot be performed. When the hold button is pressed, the execution of the program stops. That is, robot 1 Operation also stops. The start button and the hold button may be provided on the pendant 2 or on the robot controller 3. It is also possible to receive start or hold signals by digital signals from a higher-level control panel such as an external sequencer.

[0013] The operation mode selection section 9 is processed when the operation mode switching switch 5 is in the teach mode. There are at least two types of operation modes. One type of operation mode is a position registration mode in which a new program can be created and a new teaching position can be registered. For example, when welding a workpiece, this is an operation mode in which a new teaching position can be registered by examining the welding location, welding speed, target position, torch angle, advance angle, and the like.

Another type of operation mode is a position change mode in which a new position cannot be registered, but the currently registered position can be changed. For example, in the case of welding a workpiece, fine adjustment of the target position of the start point position and the end point position of a wire system or the like is performed.

An example of the operation mode selection unit 9 will be described with reference to FIG. In FIG. 2, an operation mode selection menu for selecting an operation mode is displayed on the screen display unit 4. However, if this mode is not selected, a normal operator can check the status display of the robot and the display of the interface with the external device. In addition, the robot 1 can be operated using a jog key (a key for operating each axis of the mouth bot) in the key group 10 of the pendant 2.

Here, an example of a case where a new position is registered will be described. This operation cannot be performed unless the location registration mode is entered. In such a case, the user selects the position change mode shown in FIG. 2 by using the cursor keys of the key group 10. This information is notified to the operation mode selection unit 9 via the pendant control unit 6. The operation mode selection unit 9 displays on the screen display unit 4 an identification information input unit 20 for allowing the operator to input identification information for entering the position change mode. Figure 3 shows this example.

The operator inputs the position change mode password by combining the keys of the key group 10. This input data is notified to the pendant control unit 6 and the operation mode selection unit 9. The operation mode selection section 9 has a password registration table 21 for the location registration mode. The password in the password table and the password input in the identification information input unit 20 are collated. Figure 4 shows a detailed block diagram. It is assumed that the operator has selected the location registration mode and entered MORITA in the identification information input unit 20.

The robot controller 3 reads the password in the password table 21 force position registration mode. In this case, MORITA is read. The MORITA input from the identification information input unit 20 and the MORITA read from the password table 21 are collated. If the collation result is negative, the operation mode selection unit 9 sets the operation mode to the position registration mode. In the position registration mode, the user operates the key group 10 arranged on the pendant 2 of the robot 1 to operate the robot and register the current position, as in the conventional case. Fig. 5 shows a diagram of the actual arc welding work, and Fig. 6 shows the details of the program. When the robot 1 welds the workpiece 100, it is moved to the welding standby point P1. For this movement, the robot 1 is moved by pressing the key group 10 arranged on the pendant 2.

When the movement is completed, an instruction is registered in the program storage unit 30 by pressing a registration key in the key group 10. The command at this time is to select linear interpolation or joint interpolation.

<o

Similarly, teach the commands from P2 to P4 together with the position.

FIG. 6 shows an example of a program registered as described above.

Line 001 represents a move to P1 at a joint speed of 30%. Line 002 moves to P2 at a speed of 500 cm / min by linear interpolation. After reaching P2, in line 003, a welding start command is output at a welding current of 200A and a welding voltage of 22V. In line 004, the robot moves at a speed of 60 cm / min while performing welding on P3. At line 005, welding end processing is performed, and at line 006, the process moves to P4 and waits.

Regarding the move instruction of the program shown in FIG. 6, the details of line 004 in FIG. 6 will be described with reference to FIG. The operation position P0003 at the time of execution is stored at the rear of the tag of V = 60. The operation position P0003 at the time of execution is a changed position when changed in a position change mode described later. The reference position SP0003 in the position registration mode is stored in the rear part. The position variable number is stored as an additional item of the MOVL instruction on line 004. Toes In addition, the reference position SP0003 and the change position P0003 are stored in a storage area separate from the program. At the time of teaching, the same position is simultaneously stored in the reference position SP0003 and the change position P0003. Thus, the teaching is completed in the position registration mode.

The change range storage unit 31 that stores the changeable range is stored in advance as a system parameter of the robot controller 3. Alternatively, it can be set in the location registration mode.

Next, an operation regarding the position change mode will be described. In the position change mode, the operator's identification information is not input. As described above, the position of the robot is changed by operating the keys of the key group 10 of the robot.

[0017] As shown in FIG. 8, the position registered in the position registration mode is SP0003. Move the control point of the robot to A0003 and change the position. When the key for changing the position is operated, the current position A0003 of the robot is read. Then, the distance between the reference position SP0003 and the current position A0003 is obtained. If the obtained distance force is smaller than the changeable range R stored in the change range storage unit 31, the current position A0003 is stored in P0003.

Next, when the current position is B0003, since the distance between B0003 and the reference position SP0003 is larger than R, the position is not changed to B0003. At this time, the screen display section 4 of the pendant 2 displays a message indicating that it is out of the change range, and warns the operator.

As described above, in the position change mode, the position is not registered if it is out of the changeable range.

Example 2

In the first embodiment, the data in the change range storage unit 31 is described as one parameter in the system. However, the second embodiment shows an example in which the data is stored for each reference position.

In FIG. 9, at the rear of the reference position SP0003, R = 20 and a position change range of 20 mm are registered as additional items of the command.

This data can be edited in the position registration mode, and cannot be edited in the position change mode.

In this way, the operator cannot change the position to an erroneous position due to an erroneous operation because the operator can perform only fine adjustment on an actual welding line or the like. Also, as R = 20, By displaying it at the rear of the command, the operator can be alerted.

As another example, by setting a change range around the X-axis, the Y-axis, and the Z-axis instead of the XYZ position alone as a file, it can also be used to restrict the position and orientation. In this case, the change range can be switched by selecting a file as appropriate. Although the operation mode is managed by the identification information, the operation mode can be managed by an external input signal. At this time, the operation mode is switched to the position registration mode or the position change mode by ONZOFF of a signal to the external force robot controller 3 which is not identification information.

Industrial applicability

The present invention is useful for a robot system of an industrial robot that performs a work based on the taught data.

Claims

The scope of the claims

[1] In a robot system including a robot, a pendant for an operator to operate the robot, and a robot controller for controlling the operation of the robot, the robot system having a function of restricting a teaching content by an operation mode,

An operation mode selection unit for selecting one of a position registration mode in which a teaching position can be newly registered and a position change mode in which the teaching position taught in the position registration mode can be changed; A change range storage unit that stores a changeable range with respect to the reference position operated in the registration mode, wherein the change position operated in the position change mode is the same as the reference position taught in the position registration mode. A robot system for registering the change position when the change position is within a changeable range.

[2] a reference position storage unit that stores a reference position operated in the position registration mode;

A change position storage unit that stores a change position operated in the position change mode, wherein when the change position is within a changeable range with respect to the reference position, the change position is stored in the change position storage unit. 2. The robot system according to claim 1, wherein the robot system is stored in a robot.

3. The robot system according to claim 2, wherein the reference position operated in the position registration mode is stored in the reference position storage unit and the changed position storage unit.

4. The robot system according to claim 1, wherein the robot system can be operated in the position registration mode based on the identification information of the operator.

5. The robot system according to claim 1, wherein the change range storage section stores! For each of the reference positions.

[6] The robot system according to claims 1 to 4, wherein the change range storage unit is stored as a plurality of files.