JPH0735033B2 - Industrial robot and data conversion method for industrial robot - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot and a data conversion method for the industrial robot.

[0002]

2. Description of the Related Art The arm of a robot body is moved along with the movement of a work body to perform a pseudo work on the work body. At this time, the rotation position of the arm of the robot body and other work data are CP data ( The data is stored in the storage device as continuous path data), that is, continuous teaching is performed, and then the work data stored in the storage device is read out, and the actual work is performed on the work piece based on the read work data. That is, an industrial robot adapted to perform playback requires a relatively large amount of work data to be stored and a storage device having a large storage capacity.

On the other hand, when performing a pseudo work on an object to be worked, the rotation position of the arm of the robot body at a key location is stored as PTP data (point-to-point data) in a storage device, that is, point-to-point To point) teaching, after that, interpolation calculation is performed using the rotational position signal read from the storage device, and playback operation is performed based on the position signal obtained by interpolation calculation. It takes a lot of time, and in addition, when the work moves or rotates,
It is slightly difficult to perform teaching in synchronization with this movement or rotation.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and an object of the present invention is to secure a simple and quick work in a teaching operation,
An object of the present invention is to provide an industrial robot and a data conversion method for the industrial robot that reduce the occupation ratio of work data used in playback operation in a storage device.

[0005]

According to the present invention, one of the aforementioned objects is to provide a robot main body having a movable body, a detection means for detecting the position of the movable body and outputting position data of the position. Storage means for storing the position data, control means for storing the position data from the detection means as CP data in the storage means in synchronization with the movement of the moving work body, and the storage means based on the data conversion setting signal. Of the CP data stored in the storage means, the data conversion means stores the position data at the selected position as PTP data in the storage means, and is stored in the storage means when the playback mode is set. Read PTP data,
Achieved by an industrial robot configured to position a moveable body. According to the industrial robot of the present invention, during the teaching operation, the position data relating to the movable body position of the robot body, which is output from the detecting means, is stored in the storing means as CP data relating to the continuous position by the control means, and this continuous data is stored. The CP data regarding the specific position is selected by the data converting means and stored in the storage means as PTP data regarding the intermittent position. And
During actual work, the movable body is positioned based on the PTP data regarding the intermittent position. Therefore, when performing pseudo work on the work piece, continuous teaching is possible, so that the troublesome key input operation for determining each position point is not required and the work piece is actually worked. Since the teaching operation can be performed at any time, the teaching operation can be performed easily and quickly, and it is not necessary for the operator to be careful and careful in order to accurately specify the appropriate teaching points at multiple important points. It is possible to significantly reduce the burden on the operator without needing to do, and since the work image during the teaching operation and the work operation actually performed are substantially the same, the desired work can be easily realized. Further, since only PTP data regarding intermittent positions is used during actual work, a large amount of CP data regarding continuous positions can be erased from the storage means,
The area occupied by the position data in the storage device can be greatly reduced, and a lot of other work data can be stored in this blank area to construct an industrial robot having excellent versatility. in addition,
The correction process of the work data once stored can be easily performed because the target data amount is small. As a result, the occupation ratio of the work data used in the playback operation in the storage device can be reduced while securing a simple and quick work in the teaching operation.

According to the present invention, the other of the above-mentioned objects is to store the position data synchronized with the movement of the moving work body as CP data, and then reproduce the CP data to select a plurality of positions, This is then accomplished by a method of data conversion for an industrial robot that stores the plurality of positions as PTP data. According to the industrial robot data conversion method of the present invention, during teaching operation, the position data synchronized with the movement of the moving workpiece in the robot is stored as CP data relating to the continuous position, and the position data relating to the continuous position is stored. The CP data is played and selected and stored as PTP data for intermittent positions. Therefore,
During the actual work, the robot is positioned based on the PTP data regarding the intermittent position. When performing simulated work on the work piece, continuous teaching is possible, so there is no need for a troublesome key input operation to determine each position point, and teaching is performed to actually work on the work piece. Since the operation can be performed, the teaching operation can be performed easily and quickly, and the operator does not need to be conscious and careful to accurately specify the appropriate teaching point at multiple points, so skill is required. Therefore, the burden on the operator can be significantly reduced, and since the work image during teaching operation and the work operation actually performed are substantially the same, the desired work can be easily realized. Furthermore, at the time of actual work, P related to intermittent position
Since only TP data is used, a large amount of CP data relating to consecutive positions can be erased from the storage means, and the area occupied by the position data in the storage device can be greatly reduced. The work data can be stored to configure an industrial robot with excellent versatility. In addition, the correction process of the work data once stored can be easily performed because the target data amount is small. As a result, the occupation ratio of the work data used in the playback operation in the storage device can be reduced while securing a simple and quick work in the teaching operation.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described with reference to the drawings.

In the figure, a painting robot main body 1 comprises a wrist 2 as a movable body, an arm 3 and a column 4, and a base 5, and the wrist 2 and the arm 3 are connected by joints 6a and 6b. The wrist 2 is rotatable with respect to the arm 3 within a range of an angle A in a vertical plane, and is also rotatable within an range of an angle B in a plane orthogonal to the vertical plane. Are connected by a joint 7, and the support 4 and the base 5 are connected.
Are connected by joints 8a and 8b, the arm 3 is rotatable within a range of an angle C in a vertical plane with respect to the support column 4, and the support column 4 is an angle in a vertical plane with respect to the base 5. It is rotatable within the range of D and also within the range of angle E in the plane orthogonal to the vertical plane.

In order to rotate the wrist 2 with respect to the arm 3 within the range of angles A and B, the arm 3 and the wrist 2 are provided with hydraulic drive devices 9 and 10, respectively. A hydraulic drive device 11 is provided between the arm 3 and the column 4 in order to rotate the column 4 within the range of the angle C. In order to move, the column 4 and the base 5 are provided with hydraulic drive devices 12 and 13. The joints 6a and 6b are provided with potentiometers 14 as detecting means for detecting rotational positions (position data) of the wrist 2 with respect to the arm 3 within the angles A and B.
And 15 are provided, and the joint 7 has a rotation position (position data) within the range of the angle C of the arm 3 with respect to the support column 4.
A potentiometer 16 is provided as a detector for detecting the rotational position (position data) within the range of the angles D and E of the support column 4 with respect to the base 5 on the joints 8a and 8b.
Potentiometers 17 and 18 as detection means for detecting
Is provided.

A switch 19c for instructing paint injection is provided on the wrist 2.
A handle 19 having a handle is detachably provided. The handle 19 is attached to the wrist 2 during the teaching operation, and is detached from the wrist 2 during the quasi-playback operation and the playback operation, if desired. .

A coating gun 19b having a coating nozzle 19a is attached to the wrist 2.

The object to be coated W as a work is a conveyor
It is hung from a member 20 via a member 21, and is moved along with the movement of the conveyor 20 in the X direction. A pulse generator 22 is connected to the conveyor 20, and the pulse generator 22 outputs an electric pulse corresponding to the movement of the conveyor 20 and moves the conveyor 20 by counting the pulses from the pulse generator 22. The amount, that is, the amount of movement of the object W can be detected.

A detector 23 is provided in the vicinity of the movement of the object W, and when the detector 23 is operated by the member 21 when the object W passes, the detector 23 outputs an object passing electric signal.

A switch 19c, potentiometers 14-18,
Each electric signal output from the generator 22 and the detector 23 is supplied to the control device 25 provided in the control panel 24.

The control panel 24 is provided with a memory instruction switch 26a, a control mode designation switch 26b, a stop switch 26c, etc., and these switches 26a to 26c are connected to the control device 25.

The controller 25 receives a signal from the memory 27 for storing the working data as a digital binary signal, the pulse generator 22, the detector 23 and the switches 19c, 26a, 26b, 26c and based on this signal. The main configuration is a control unit 28 that outputs a control signal.

Further, the control device 25 includes a potentiometer 14
Analog that converts the signal from ~ 18 to digital signal −
A digital converter 29, an operation circuit 30 for performing interpolation operation on a position signal in the work data read from the storage device 27 via the control unit 28 by a digital binary operation, and a position signal read to the operation circuit 30 are sequentially temporary. Remember
Further, it has a holding circuit 31 which counts the number of position signals read out to the arithmetic circuit from the time when the switch 26a is pressed to the next time and holds the counted value.

Further, the control device 25 is a comparator which outputs an error signal by comparing a signal obtained by converting the calculation result of the calculation circuit 30 into an analog signal with each signal from the potentiometers 14-18.
32, an amplifier 33 that amplifies the error signal from the comparator 32, and a servo valve 34 that controls the supply and discharge of hydraulic pressure by the signal from the amplifier 33.

For simplification of the following description, taking a shaft provided with a potentiometer 16 as shown in FIG. 4 as an example,
Each component is explained, but other potentiometers 14, 1
The controller 25 is similarly configured for each axis provided with 5, 17 and 18, and these are operated in the same manner as described below.

A hydraulic pressure generation source 35 is connected to the servo valve 34, and the hydraulic pressure of the hydraulic pressure generation source 35 is controlled by the servo valve 34 to be supplied to and discharged from the hydraulic drive unit 11.

The operation of the industrial robot thus configured will be described.

First, the controller 28 is set to the teaching control mode by operating the switch 26b provided on the control panel 24.

When the conveyor 20 is driven to move the object W in the X direction and the detector 21 is operated by the member 21, the control unit
28 starts teaching.

In the teaching operation, the operator holds the handle 19 of the robot body 1 and moves the nozzle 19a to a predetermined position with respect to the moving object W to perform a pseudo painting work.

During the pseudo painting operation, the control unit 28 samples the position signal output to the converter 29 for each pulse from the generator 22 and sends the sampled position signal to the storage device 27 as work data. The storage device 27 sequentially stores the sampled position signals in the first storage area.

That is, as shown in FIG. 5, the position signal is stored in the first storage area of the storage device 27 as work data d ₁ , d ₂ , d ₃ , ..., D _n .

In this embodiment, the switch 19c provided on the handle 19 is depressed at the position where the paint should be sprayed,
The signal from the switch 19c is working together with the position signal data _{d 1, d 2, d 3} , ..., it is stored in the first storage area as d _n.

When all the pseudo-painting work on the object W is completed and the stop switch 26c of the control panel 24 is depressed, the control unit 28 causes the storage unit 27 to store the last data in the first storage area. Store the stop signal at the address.

Next, a switch 26b provided on the control panel 24
By the operation of, the control unit 28 is set to the semi-playback mode.

As will be described in detail later, when the switch 26a is pressed while the control unit 28 is set to the quasi-playback control mode, the control unit 28 causes the holding circuit 31 to temporarily store the position. The storage device 27 stores the signal and the number of times the position signal has been read out, that is, a count value. That is, when the control unit 28 receives the object passage signal from the detector 23, the control unit 28 sequentially stores the work data d ₁ ,
d _2, d _3, ..., read every pulse of the d _n from the generator 22, and outputs the position signal of the read work data (signal excluding the coating material injection signal) to the arithmetic circuit 30.

When the control section 28 is set to the quasi-playback mode, the control section 28 outputs an interpolation calculation suspension signal to the calculation circuit 30.

Upon receiving the interpolation calculation suspension signal from the control unit 28, the arithmetic circuit 30 immediately converts the supplied position signal into an analog signal and supplies it to the comparator 32, and at the same time, holds the position signal which is a digital signal in the holding circuit 31. Supply to.

When the position signal converted into the analog signal is supplied to the comparator 32, the comparator 32 compares the supplied position signal with the actual position signal from the potentiometer 16 and the difference is amplified by the amplifier 33. Output to.

The amplifier 33 amplifies the supplied difference signal and outputs it to the servo valve 34, and the servo valve 34 supplies and discharges the hydraulic pressure from the hydraulic pressure supply source 35 to the hydraulic drive device 11 based on the supplied difference signal. .

The arm 3 is rotated by the operation of the driving device 11, and is set at a position corresponding to the position signal output from the arithmetic circuit 30.

On the other hand, the position signal supplied to the holding circuit 31 is immediately stored in the second storage area of the storage device 27.

That is, when the work data is the first work data d ₁ , the control unit 28 performs the same control as when the switch 26a is pressed, and immediately stores the work data d ₁ in the second storage of the storage device 27. Remember it in the area.

At this time, "1" is added to the work data d ₁ as a count value.

When the next pulse is generated from the generator 22,
The control unit 28 reads the work data d ₂ from the first storage area of the storage device 27, work outputs a position signal to the arithmetic circuit 30 in the data d _2, the arithmetic circuit 30 is similar to the above, the supply position signals Is converted into an analog signal and output to the comparator 32, and the position signal as a digital signal is supplied to the holding circuit 31.

The comparator 32 outputs the difference between the supplied position signal and the actual position signal obtained from the potentiometer 16.

Thereafter, similarly to the above, the arm 3 is connected to the arithmetic circuit 30.
Is set to a rotation position corresponding to the position signal output from.

On the other hand, the holding circuit 31 temporarily stores the newly supplied position signal instead of the previously stored position signal, and holds the number of times the position signal is supplied, that is, the count value "1". To do.

If this position signal is required, the switch 26a is pressed. If it is not necessary, the next position signal is read out. If the work data d ₂ is unnecessary, a third pulse is generated from the generator 22 and the control unit 28, similarly to the above, reads the position signal of the work data d ₃ to the arithmetic circuit 30, and the arithmetic circuit 30 supplies the supplied position signal as it is to the holding circuit 31 and also converts it into an analog signal and supplies it to the comparator 32. To do.

As a result, the arm 3 is set at the position corresponding to the position signal output from the arithmetic circuit 30.

On the other hand, similarly to the above, the holding circuit 31 stores the newly supplied position signal and holds the number of times the position signal is supplied, that is, the count value "2".

At this time, when it is judged that this position signal is necessary and the switch 26a is pressed, the control unit 28 causes the holding circuit 31 to operate.
The work data d ₃ and the count value “2” held in
The work data d ₁ in the second storage area of the storage device 27 is stored at the next address.

[0047] In the same way, each time the switch 26a is depressed, for example, with the working data d _4, d ₇ ... are sequentially stored in the second storage area of the storage unit 27, "1",
"3", ... Are stored at the same time.

Lastly, the holding when the stop signal from the storage device 27 is read, the control unit 28, when the switch 26 is not pressed against the work data d _n, the count value and work data d _n The data is read from the circuit 31, stored in the second storage area of the storage device 27, and the operation is stopped.

When the switch 26c is pressed for the work data d _n before the stop signal is read and the work data d _n and the count value are stored in the second storage area of the storage device 27. First, the control unit 28 stops its operation by reading the stop signal.

As described above, the work data d ₁ , d ₃ , d ₄ , as shown in FIG. 6 are stored in the second storage area of the storage device 27.
d ₇ ..., d _n is stored.

Next, the actual playback operation is performed by the work data and the count value stored in the second storage area of the storage device 27.

That is, the switch 26b of the control panel 24 is operated, the control unit 28 is set to the playback operation mode,
When the object W is moved in the X direction by the conveyor 20, the member 21 activates the detector 23, and the detector 23 issues an object passage signal, the control unit 28 receives the first pulse from the generator 22. , The work data d ₁ and the count value “1” stored together with the work data d ₁ are read out and supplied to the arithmetic circuit 30.

The arithmetic circuit 30 immediately converts the position signal of the work data d ₁ into an analog signal and outputs it to the comparator 32, as in the quasi-playback operation.

As a result, the arm 3 is set at the position corresponding to the position signal output from the arithmetic circuit 30.

If the count value is "1" read together with the work data, the arithmetic circuit 30 does not perform the interpolation calculation.

Next, when the second pulse is supplied from the generator 22 to the control unit 28, the control unit 28 adds the work data d ₃ stored in the second storage area of the storage device 27 and the work data d ₃ to the work data d _3. The counted value “2” is read out, the position signal of the work data d ₃ and the counted value “2” are supplied to the arithmetic circuit 30, and the arithmetic circuit 30
Is controlled by the control unit 28 to calculate an interpolated position that divides the position signal of the work data d _{1 and} the position signal of the work data d ₃ into halves, and converts the calculation result into an analog signal. And outputs it to the comparator 32.

When the interpolation calculation result is output to the comparator 32,
The arm 3 is set at a position based on the interpolation calculation result.

When the third pulse is output from the generator 22, the arithmetic circuit 30 converts the position signal of the data d ₃ into an analog signal and outputs the analog signal to the comparator 32, and the arm 10 outputs the position signal of the data d ₃ . Is set to the position corresponding to.

The same applies hereafter, and the fourth pulse is generated by the generator.
When output from 22, the control unit 28 reads the work data d ₄ and the count value “1” from the storage device 27 and outputs the work data d ₄ to the arithmetic circuit 30.

Since the count value read out together with the data d ₄ is “1”, the arithmetic circuit 30 immediately converts the position signal of the data d ₄ into an analog signal and outputs it to the comparator 32 without performing interpolation calculation. , The arm 3 is set to a position corresponding to the position signal of the data d ₄ .

When the fifth pulse is output from the generator 22, the control unit 28 supplies the work data d ₇ and the count value "3" from the second storage area of the storage device 27 to the read arithmetic circuit 30. Since the count value read together with the data d ₇ is “3”, the arithmetic circuit 30 calculates an interpolation position by dividing the position signal of the work data d _{4 and} the position signal of the work data d ₇ into three equal parts. The first interpolation position closest to the position signal of the data d ₄ is converted into an analog signal and output to the comparator 32.

As a result, the arm 3 is set at this first interpolation position.

When the sixth pulse is output from the generator 22, the arithmetic circuit 22 is controlled by the control unit 28 so that the second closest signal to the position signal of the data d ₇ is obtained at the interpolation position divided into three parts. The interpolation position of is converted into an analog signal and output to the comparator 32.

Therefore, the arm 3 is set to the second interpolation position by the generation of the sixth pulse from the generator 22.

After that, the seventh pulse is generated from the generator 22, so that the arm is set to the position corresponding to the position signal of the work data d ₇ .

The above operation is performed until the stop signal is read from the second storage area of the storage device 27.

A signal other than the position signal in the data d ₁ , d ₃ ... D _n , for example, a signal for instructing the spraying of the paint from the nozzle 19 a is a control unit every time the work data is read.
The control signal is output from the control unit 28, which is decoded by the control unit 28 and is sprayed from the nozzle 19a.

Although the above operation has been described only with respect to the arm 3, the same operation is performed with respect to another movable body such as the wrist 2, so that the robot body 1 as a whole is stored in the storage device 27. The data W is operated so as to perform a predetermined work on the object W.

If it is confirmed that the actual playback operation is carried out as desired, all the data stored in the first storage area of the storage device 27 is erased and other work data is stored. May be.

[0070]

As described above, according to the industrial robot and the method for converting data of the industrial robot of the present invention, since continuous teaching is possible when performing pseudo work on a work piece, each position point is determined. The teaching operation can be performed so as to actually perform the work on the work piece without requiring a troublesome key input operation, so that the teaching operation can be performed easily and quickly, and the operator can appropriately perform the operation. Since it is not necessary to be careful and careful to accurately specify different teaching points at multiple important points, no skill is required, and the burden on the operator can be greatly reduced. Since the work operation actually performed is almost the same, the desired work can be easily realized.
Furthermore, during actual work, PTP regarding intermittent position
Since only the data is used, a large amount of CP data relating to consecutive positions can be erased from the storage means, the area occupied by the position data in the storage device can be greatly reduced, and this blank area can be used for many other purposes. It is possible to store work data and configure an industrial robot having excellent versatility. In addition, the correction process of the work data once stored can be easily performed because the target data amount is small. As a result, the occupation ratio of the work data used in the playback operation in the storage device can be reduced while securing a simple and quick work in the teaching operation.

In addition, since the data occupation area of the storage device can be greatly reduced, many other work data can be stored,
It can be an industrial robot having excellent versatility. Moreover, the work data once stored can be easily modified.

[Brief description of drawings]

FIG. 1 is a perspective view of a preferred embodiment of an industrial robot according to the present invention.

FIG. 2 is a side view of the robot body shown in FIG.

FIG. 3 is a plan view of the robot body shown in FIG.

FIG. 4 is a control system diagram of the specific example shown in FIG.

5 is an explanatory diagram of work data stored in a first storage area of the storage device shown in FIG.

FIG. 6 is an explanatory diagram of work data stored in a second storage area of the storage device.

[Explanation of symbols]

 1 Robot body 3 Arm 16 Potentiometer 27 Memory device 31 Holding circuit 32 Comparator

Claims (2)

[Claims] 1. A robot body having a movable body, detection means for detecting the position of the movable body and outputting position data of the position, storage means for storing the position data, and moving work. Selected from the control means for storing the position data from the detection means as CP data in the storage means in synchronization with the movement of the body, and the CP data stored in the storage means based on the data conversion setting signal. A data conversion unit for storing position data at a position as PTP data in the storage unit, and when the playback mode is set, the PTP data stored in the storage unit is read out, and the movable body is stored. An industrial robot configured to position. 2. Position data synchronized with the movement of a moving work body is stored as CP data, then the CP data is reproduced to select a plurality of positions, and then the plurality of positions are stored as PTP data. Data conversion method for industrial robots.