JPH0337904Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Field of Application] This invention relates to a robot control device, and particularly to an improvement in a method for confirming the movement state of a robot moving between teaching points.

[Conventional technology]

6 and 7 show conventional robot control devices, in which 1 is the robot body, 2 is the robot control device, 3 is the teaching device, 4 is the display device, 5 is the keyboard, and 6 is the startup device. It's a switch.

Fig. 8 is a flowchart of a conventional robot control device operating the robot, and Fig. 9 is a flowchart of the robot operation.The operation of the conventional robot control device will be explained below with reference to Figs. explain.

First, the robot body 1 is moved to a desired teaching position using the teaching device 3, and the position is memorized by pressing the position storage button of the teaching device 3. Next, the speed of the robot main body 1 at the taught position and commands for each process are inputted using the keyboard 5 for each taught position, and it is confirmed on the display device 4 whether or not they have been input accurately. . When the robot work program is completed in this way, the work completion key on the keyboard 5 is pressed.

Next, in order to operate the robot work program, first select the robot work program using the program selection switch on the keyboard 5, and press the start switch 6 of the robot work program to operate the robot body 1. When the start switch 6 is pressed, the control device 2 calculates a trajectory between the taught positions and moves the robot body 1 along this trajectory.

Note that the operator visually checks the robot body 1 to determine whether or not the robot body 1 is actually moving or to what position between two points it is currently moving.

[Problems that the idea aims to solve]

Conventional robot control devices are configured as described above, and during automatic operation of a robot work program, the operator must himself or herself determine whether or not the robot is moving between teaching points. If the robot is moving at a very slow speed, the operator will think it is stopped, and approaching the robot will be very dangerous for the operator. There were some problems, such as it being difficult to tell.

This invention was made to solve this problem, and allows workers to easily and accurately determine whether or not the robot is actually moving and the amount of movement, without having to visually check the robot. The object of the present invention is to provide a robot control device that can improve the efficiency and safety of robot operations.

[Means for solving problems]

The robot control device according to this invention calculates the movement rate of the robot based on the total movement distance of the robot movement trajectory between each teaching point and the actual movement distance of the robot up to the current point, and stores this movement rate in the movement rate memory. The information is stored by the means and displayed by the movement rate display means.

[Effect]

In this invention, the current moving distance of the robot between each teaching point is displayed as a percentage on the display means, so the operator can easily and accurately check the moving state of the robot without visually checking the robot. It is safe because the operator does not have to get close to the robot.

〔Example〕

FIG. 1 is an overall configuration diagram of an embodiment of a robot control device according to this invention. In this example, the first
As is clear from the figure, there are taught position storage means 11 that stores each taught position for moving the robot, and work program storage means 12 that stores instructions for controlling the robot at each taught position.
and a trajectory calculation processing means 13 for calculating a trajectory between each teaching point of the work program and moving the robot along this trajectory, and a total movement distance storage means 14.
, the total moving distance of the robot moving trajectory between each teaching point is stored, and the robot moving distance storage means 15 stores the current moving distance of the robot moving between each teaching point, and both the above-mentioned storage means 14, Based on the signal from 15, the calculation means 16 calculates the percentage of the robot's current movement distance to the total movement distance as a movement rate, stores this in the movement rate storage means 17, and displays it on the movement rate display means 18. is configured to do so.

FIG. 2 is a circuit diagram showing the electrical connections of the embodiment shown in FIG. 1, and in the figure, the same reference numerals as in FIGS. 6 and 7 indicate the same or corresponding parts. 21 is the CPU, 22
23 is a ROM for storing control programs, etc.; 23 is a teaching position inputted from the teaching device 3 via the input circuit 24; a work program inputted from the keyboard 5 via the input circuit 24; and the CPU 2.
25 is an output circuit;

Fig. 3 is a flowchart of the robot operation program, Fig. 4 is a flowchart of the movement rate calculation program, and Fig. 5 is an explanatory diagram of the movement rate calculation method. explain.

First, the robot body 1 is moved to a desired position for teaching using the teaching device 3, and the position storage button in the teaching device 3 is pressed to store the position in the RAM 23. Then, input the speed of the robot body 1 at the taught position and commands for each process using the keyboard 5 for each taught position, store this in the RAM 23, and display it on the display device 4 to check whether the input was accurate. Check. When the robot program is completed in this way, the work completion key on the keyboard 5 is pressed.

Next, the robot work program is operated by selecting the robot work program using the program selection switch on the keyboard 5, and pressing the start switch 6 of the robot work program to operate the robot body 1.

When the start switch 6 is pressed, it is first determined in step 31 of FIG. 3 whether or not the operation at the taught position has been completed, and if the result is false,
In step 32, a trajectory between the two taught positions is calculated, and the robot body 1 moves along this trajectory. Next, in step 33, the movement rate of the robot body 1 is calculated. This calculation is based on the fourth
This is carried out by the method shown in FIG.

That is, first, in step 4 of FIG.
Read the moving distance between points from RAM23. Specifically, the moving distance L ₁ between point A and point B in FIG.
is read from RAM23. Next, step 42
, the current moving distance of robot body 1 is
Read from RAM23. Specifically, the moving distance _L2 from point A to point P in FIG. 5 is read from the RAM 23. Then, in step 43, the moving distance
The percentage of L ₂ to the moving distance L ₁ is calculated as the moving rate, and the result is stored in the RAM in step 44.
23. At the same time, the movement rate is displayed on the display device 4 in step 34 of FIG. 3, and the movement of the robot body 1 is continued in step 35.

Note that the trajectory calculation and the movement rate calculation are usually calculated every several tens of milliseconds, and therefore, the movement rate is displayed with high accuracy.

However, the robot body 1 during automatic operation
Since the moving state of the robot body 1 is displayed on the display device 4, the worker can easily and accurately grasp the moving state of the robot body 1 without visually checking the robot.

In the above embodiment, explanation was given regarding automatic operation, but when moving again between points taught by the teaching device 3 at the time of teaching, by displaying the movement rate, the operator can move between the previously taught points. This can be left to the control device 2 without relying on memory.
It can also be effectively used to check the movement of the robot using only the control device 2 while the robot is stopped before automatic operation. Furthermore, when the operating device that operates the robot and the programming device that creates the robot work program are separated,
It is also convenient to use when performing a test run using only the programming device.

Furthermore, the movement rate may be displayed not only as a numerical value but also as a graphic display such as a bar graph, and similar effects can be expected.

[Effect of idea]

As explained above, this device uses a display to display the robot's current travel distance between each teaching point as a percentage, so the operator can check the robot's movement status without visually checking the robot. It can be easily and accurately grasped, and has the effect of improving efficiency and safety in robot operation.

[Brief explanation of the drawing]

Fig. 1 is an overall configuration diagram showing a robot control device according to an embodiment of this invention, Fig. 2 is an electric circuit diagram thereof, Fig. 3 is a flowchart showing a robot operation program, and Fig. 4 is a movement rate calculation program. FIG. 5 is an explanatory diagram showing the method of calculating the movement rate, FIG. 6 is a system configuration diagram showing a conventional robot control device, FIG. 7 is an enlarged view of the main parts of the control device, and FIG. FIG. 9 is a flowchart for operating a robot in a conventional device. FIG. 9 is a flowchart for operating a similar robot. In the figure, 11 is a taught position storage means, 12 is a work program storage means, 13 is a trajectory calculation processing means, 14 is a total movement distance storage means, 15 is a robot movement distance storage means, 16 is a calculation means, and 17 is a movement rate storage means. 18 is a movement rate display means. In each figure, the same reference numerals indicate the same or equivalent parts.

Claims (1)

[Scope of utility model registration request] A teaching position storage means for storing teaching positions for operating the robot, a work program storage means for storing commands for controlling the robot at each teaching position, and a teaching position storage means for storing teaching positions for operating the robot, a work program storage means for storing commands for controlling the robot at each teaching position, and a teaching position storage means for calculating the locus between each teaching point of the work program to operate the robot. A trajectory calculation processing means for moving the robot along this trajectory, a total movement distance storage means for storing the total movement distance of the robot movement trajectory between each teaching point, and a total movement distance storage means for storing the current movement distance of the robot moving between each teaching point. a robot movement distance storage means for calculating the robot movement distance; a calculation means for calculating the percentage of the robot movement distance at the present time relative to the total movement distance based on the signals from the total movement distance storage means and the robot movement distance storage means; a movement rate storage means for storing the result as a movement rate;
A robot control device comprising a movement rate display means for displaying the movement rate.