JPH05309583A - Control device for industrial robot - Google Patents

Abstract

(57) [Abstract] [Purpose] In an industrial robot, smooth operation under all conditions can be achieved by operating with the optimum acceleration / deceleration time for the combination of the robot's tip end load, movement posture and movement speed. A control device is provided. [Arrangement] Provided is an operating condition storage device 7 for pre-storing the optimum acceleration / deceleration time at that time in the patterns of all combinations of the robot tip load, operating posture and operating speed. An acceleration / deceleration time inference processing device 6 for inferring an optimum acceleration / deceleration time by rule-based inference using stored data is provided.
By performing optimal acceleration / deceleration, it is possible to control smooth operation under all conditions.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an industrial robot equipped with an inference processing device for inferring an optimum acceleration / deceleration time when the robot is started and stopped.

[0002]

2. Description of the Related Art FIG. 3 is a block diagram showing the configuration of a conventional controller for an industrial robot. In FIG. 3, 1 is an input / output device, 2 is a teaching device for teaching an operation pattern, 3 is a main calculation and control device, 4 is a servo control device, 5
Is the main memory.

In the conventional robot shown in FIG. 3, the acceleration / deceleration time at the time of starting / stopping the robot is fixed even if the operating conditions such as the additional load on the tip of the robot, the operating posture and the operating speed change.

[0004]

However, when the robot operates in a fixed fixed acceleration / deceleration time as in the conventional example, when the operating conditions such as the additional load on the tip of the robot and the operating speed of the robot change. In addition, it was not always possible to realize a smooth operation under all operating conditions. For example, vibrations may occur at the tip of the robot during start-up and stop, which may interfere with the work, and may prevent smooth movement to the next operating point. By doing so, the problem was dealt with, resulting in an increase in overall work time.

According to the present invention, the robot itself automatically responds to changes in the load applied to the tip of the robot and changes in the operating speed without performing accelerating and decelerating, which is close to the optimum in a pedestrian manner, and performs optimal accelerating and decelerating. The purpose is to ensure smooth operation under all conditions.

[0006]

In order to achieve the above object, in the present invention, there are all combinations of the acceleration and deceleration time at the time of starting and stopping the robot with respect to the load applied to the tip of the robot and the motion posture and motion speed. It is a system in which an operating condition storage device that is stored in advance and an inference processing device that infers the optimum acceleration / deceleration time by rule-based inference using the stored data of the operating condition storage device are added to the conventional robot control device. is there.

[0007]

According to the above means, the optimum acceleration / deceleration time is inferred and determined by the rule-based inference by using the stored data of the operating condition storage device stored in advance, and the acceleration / deceleration control is performed under all conditions. The robot will be able to move smoothly.

[0008]

1 is a block diagram of an embodiment of the present invention. In FIG. 1, 1 is an input / output device, 2 is a teaching device for teaching an operation pattern, 3 is a main calculation and control device, 4 is a servo control device, 5 is a main memory device, 6 is acceleration / deceleration time inference processing. The device, 7 is an operating condition storage device. First, the acceleration / deceleration time at the time of starting / stopping the robot with respect to the load applied to the tip of the robot, the movement posture, and the movement speed is classified for all patterns based on the rule-based pattern and stored in the movement condition storage device 7. As an input method, as shown in FIG. 2, a rule base of a natural language format of 1F to THEN can be input, and each pattern can be stored in the operating condition storage device. Next, the inference procedure of the acceleration / deceleration time inference processing device 6 is set in the acceleration / deceleration time inference processing device 6 based on the rule-based inference method based on the data obtained from the experiment and the experience. And as the actual work procedure, first, the input / output device 1,
The operation pattern of the robot is taught using the teaching device 2 and stored in the main storage device 5. Next, based on the information of the motion posture and motion speed determined by the tip load of the robot and the teaching motion pattern, the database of the motion condition storage device 7 is referred to, and the acceleration / deceleration time inference processing device 6 performs rule-based inference. The optimum acceleration / deceleration time is inferred and determined to control the acceleration / deceleration.

Further, as a result of many years of work experience, if the operator wants to change the data in the operating condition storage device 7, the operator can change the data through the input / output device 1.

As a result, the industrial robot controller of the present invention has a learning function.

[0011]

As is apparent from the above description, according to the present invention, control is always performed in the optimum acceleration / deceleration time even if the tip additional load, the movement posture, and the movement speed of the robot are changed, and all conditions are satisfied. It is possible to realize an industrial robot that smoothly operates below.

Further, since the control device for the industrial robot of the present invention has a learning function, it is possible to input the setting conditions of a skilled worker into the database of the operating condition storage device,
Data can be updated and improved.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of a control device for an industrial robot of the present invention.

FIG. 2 is a diagram showing a method of inputting data to a control device for an industrial robot of the present invention.

FIG. 3 is a block diagram of a conventional controller for an industrial robot.

[Explanation of symbols]

 1 Input / Output Device 2 Teaching Device 3 Main Operation Control Device 4 Servo Control Device 5 Main Memory Device 6 Acceleration / Deceleration Time Inference Processing Device 7 Operating Condition Memory Device

Claims (2)

[Claims] 1. An input / output device composed of a keyboard panel and a CRT screen, a teaching device for teaching an operation pattern of a robot, and rotation, speed, current, etc. of a servo motor for driving a robot arm. A servo control device, a main storage device for storing control programs and teaching data, a robot trajectory calculation and the input / output device, the teaching device, the servo control device, and peripheral devices such as the main storage device. In an industrial robot controller equipped with a centralized control and controller for centralized control, the acceleration / deceleration time at start / stop of the robot is stored in advance for all patterns, with respect to the load applied to the tip of the robot and the operating posture and operating speed. Operating condition storage device and the rule base using the stored data of the operating condition storage device. A control device for an industrial robot, comprising: an acceleration / deceleration time inference processing device which infers an optimum acceleration / deceleration time by means of a speed inference. 2. The control device for an industrial robot according to claim 1, further comprising an operating condition storage device capable of changing stored data of the operating condition storage device by an input / output device.