JPH0934525A - Robot controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically correct the moving locus of a robot to shorten the robot teaching time and to enable a beginner to acquire the robot teaching method in a short period by automatically calculating a new track of the robot moving path based on the path number and the correction value of the moving path to be corrected. SOLUTION: A path number designation means is prepared to input the number of a moving path to be corrected, together with a correction value input means which inputs the correction value of the moving path. A path movement key 4f which instructs the path movement correction can attain its work when both number and correction value are set for the moving path to be corrected. At the same time, a path rotation key 4g which instructs the rotary correction of the path can attain its work when the number, the rotational direction and the rotational angle are designated for the path to be corrected. Then the path number or the path movement value, the rotational angle, etc., are inputted by means of the numerical value setting keys 4h. When a store key 41 is depressed the teaching data including the correction are stored.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching / playback type robot controller.

[0002]

2. Description of the Related Art There is a teaching / playback type painting robot as a kind of a robot for painting a work. This teaching / playback type painting robot has a painting nozzle at its tip and has several joints. By driving these joints, the painting nozzle is moved to coat the work uniformly. The robot arm and the control device that controls the drive of each joint of the robot arm are roughly configured.

In such a teaching / playback type coating robot, since the painting work (playback operation) is automatically performed, the teaching operation is performed prior to the playback operation. In this teaching operation, for example, in the playback operation, when the coating nozzles are sequentially moved in a mesh shape on the work to coat the work, the coordinates of the vertices of the rectangular coating range (total 4
Point) is taught. Then, the control device generates a mesh-shaped coating trajectory indicating the movement route of the coating nozzle from the coordinates of these four points. FIG. 7 is a view showing an example of this coating trajectory, and each vertex of the coating range a, that is, the first teaching point a1 and the second teaching point a1.
Based on the teaching point a2, the third teaching point a3, and the fourth teaching point a4, a coating trajectory L including paths 1 to 7 that are linear movement trajectories is shown.

[0004]

By the way, there is a case where it is necessary to correct one or a plurality of passes in the coating trajectory generated in this way. For example, in the case of changing the path of the path 2, in the conventional robot controller,
The number 2 of the path to be corrected is specified, the original starting point a21 of the path 2 is specified as the three-dimensional moving amount (Δx1, Δy1, Δz1) to the starting point b21 of the moving destination, and the original ending point a22. For, it is necessary to specify the three-dimensional movement amount (Δx2, Δy2, Δz2) up to the destination end point b22. As described above, in order to correct one path, it is necessary to change two points, and when correcting a plurality of paths, it is necessary to perform a correction operation for a point that is twice the number of corrected paths. It was And such correction work is
It was a time-consuming and very troublesome task for a skilled operator, and a very time-consuming and difficult task for a novice operator.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a controller for a robot capable of automatically correcting the above-mentioned movement trajectory.

[0006]

In order to achieve the above-mentioned object, the robot control device of the present invention sequentially stores data relating to the moving range of the robot arm on the work at the time of teaching, and the moving range A movement trajectory formed by connecting a plurality of movement paths that linearly reciprocate on the work at regular intervals in the inside is generated based on the data, and the movement trajectory is configured to perform a predetermined process on the work during the reproducing operation. A controller for a teaching / playback type robot having a control means for automatically moving a robot arm along a path, a path number designating means for inputting a path number of a movement path to be corrected among the movement paths. And a correction amount input means for inputting a correction amount of the moving path to be corrected, and the control means is configured to change the correction amount based on the correction amount. It is characterized by calculating a revised path of movement path corresponding to the scan number.

[0007]

According to the present invention, during teaching, data relating to the moving range of the robot arm on the work is sequentially stored, and a plurality of moving paths that linearly reciprocate on the work at regular intervals within the moving range are provided. In a robot that generates connected movement trajectories based on the data, a new trajectory of the movement path is automatically calculated based on the path number of the movement path to be corrected and the correction amount of the movement path. To be done.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 2 is a diagram showing the mechanical configuration of the coating robot in this embodiment. In this figure, reference numeral 1 is a robot arm, which is composed of a plurality of arm parts and a plurality of joint parts connecting these arm parts, and a painting nozzle (not shown) is provided at the tip part thereof.
The wrist part 2 provided with is provided. The operation of the robot arm 1 is controlled by the controller 3. The controller 3 drives the robot arm 1 according to the operation information input from the handheld operation panel 4, and controls the painting operation on the work (painting target) 5.

Further, FIG. 3 is a view showing the structure of the hand operation panel 4. The operation modes of the painting robot include a teaching mode in which a teaching operation is performed and a reproduction mode in which automatic painting (playback operation) is performed based on the data taught in the teaching mode. The teaching key 4a is set to the teaching mode.
On the other hand, the reproduction key 4b is a key for designating the reproduction mode. Further, 4c is a movement key for instructing the movement direction of the robot, 4d is a confirmation key for setting the current position as a teaching position for the moved robot or confirming correction of the path, and 4e is a movement key for the path. This is a path correction key for instructing correction. The correction of this path is performed by designating the path number to be corrected, the start point and the end point of the correction path, and setting the movement amount of these start point and end point.

Next, 4f is a path movement key for instructing path movement correction, and this path movement correction is performed by setting the path number of the path to be moved and the path movement amount. Reference numeral 4g is a path rotation key for instructing the path rotation correction. This path rotation correction is performed by designating the path number, the rotation direction, and the rotation angle of the path to be corrected. Reference numeral 4h is a numerical value setting key, and a pass number, a moving amount of the path, a rotation angle, etc. are input by the numerical value setting key 4h. Reference numeral 4i is a save key, and when the save key 4i is pressed, teaching data including correction is stored. Reference numeral 4m is a display unit, and the input information of the various keys described above is displayed on the display unit 4m.

FIG. 4 is a block diagram showing the electrical construction of the controller 3. In this figure, the CPU 6
Is the control program stored in the ROM 7, the drive position of the motor 9 input from the motor 9 (the motor that drives the above-mentioned joint) via the motor driver 8, and the coating of the work 5 stored in the RAM 10. Drive data of the robot arm 1 is calculated based on the data relating to the above, and the drive data is supplied to the motor driver 8 to drive the motor 9 to operate the joint portion. Also,
The operation information input by the operator to the hand operation panel 4 is input to the CPU 6, while the operation status of the coating robot is displayed on a display unit (not shown) provided on the hand operation panel 4.

Next, the outline of the operation of the coating robot thus configured will be described with reference to the processing system diagram shown in FIG. As described above, the operation mode of this painting robot has a teaching mode and a reproduction mode, and when the teaching mode is designated by the teaching key 4a, the CPU 6
Executes the teaching mode process (step S1), and executes the reproduction mode process (step S2) when the reproduction mode is designated by the operation of the reproduction key 4b.

When the teaching mode is designated, the CPU 6 teaches the painted surface (step S3).
Is first executed, and subsequently, the path correction processing of the painting trajectory L generated by the teaching (step S4), that is, the instruction of the path number of the path to be corrected (step S5) and the designation of the movement amount (step S6) are involved. Perform processing. And
Finally, the teaching data storage process (step S4) finally determined by the above-described processes is performed.

Next, the processing contents in the above-mentioned teaching mode will be described in more detail with reference to the flow chart shown in FIG. In this flowchart, the details of the operation of the CPU 6 in each process will be described with reference to the flowchart shown in FIG. 1, and the corresponding processes will be denoted by the same reference numerals.

First, when the CPU 6 detects that the teaching key 4a of the hand operation panel 4 is operated, it resets the teaching block number B and the teaching point number n to "1" (step Sa1), and at step Sa2 another It is determined whether the key is operated. Then, the content of the operated key is detected, and it is determined whether any one of the robot movement key 4c, the path correction key 4e, the enter key 4d, and the save key 4i has been operated (step Sa3).

Here, the CPU 6 controls the robot movement key 4
It is determined that c has been operated. The process of step Sa4, that is, the robot arm is moved in the direction designated by the robot moving key 4c, and the operation of the key is waited for again in step Sa2. When the robot movement key 4c is operated, the robot arm is moved in the direction designated by the robot movement key 4c. That is, by repeating the processing of steps Sa2 to Sa4, the tip of the robot arm is moved to the position intended by the operator, that is, the first teaching point a1.

On the other hand, when the CPU 6 detects in step Sa3 that the enter key 4d has been operated, it executes the processing of step Sa5. That is, the current position of the tip of the robot arm is stored in the RAM 10 as the coordinates (x1, y1, z1) of the first teaching point a1 (the number of teaching points n = 1) of the block number B (B = 1) (step Sb1). ). And
The number of teaching points n is incremented (step Sb2), and whether or not the number of teaching points n is 5 or more in step Sb3, that is, the coordinates of four points from the first teaching point a1 to the fourth teaching point a4 in the coating range a It is determined whether or not all are stored.

When the number of teaching points n is 5 or more, that is, when the teaching of the coordinates of four points is completed, the CPU 6 increments the teaching block number B (step Sb).
4) Also, the number of teaching points n is reset to "1" (step Sb5). That is, in this case, the CPU 6 performs the storage process of the coordinates as new teaching data corresponding to the block number 2 in the same manner as described above.

If it is determined in step Sb3 that the teaching point number n is smaller than 5 (4 or less), CP
U6 returns the process to step Sa2 and waits for the key to be operated again. When the robot move key 4c is operated and the enter key 4d is operated, the current position of the tip end portion of the robot arm is detected as described above. The position is the coordinates (x2, y2, z2) of the second teaching point a2 (the number of teaching points n = 2) of block number 1,
Coordinates (x3, y3, 3rd teaching point a3 (number of teaching points n = 3))
z3) and the coordinates (x4, y4, z4) of the fourth teaching point a4 (the number of teaching points n = 4) are sequentially stored in the RAM 10.

Next, in step Sa3, when it is detected that the path correction key 4e is operated and the teaching point at this time is n = 4, the CPU 6 advances the processing to step Sa6. That is, the CPU 6 generates a mesh-filled trajectory as shown in FIG. 7 based on the coordinates (x1, y1, z1) to (x4, y4, z4) of the above-mentioned teaching points, and the start point and end point of each path. Is stored in the RAM 10 as a trajectory table T.

In the RAM 10, the number of times the wrist 2 passes over the work 5 and the distance between the coating range a and the wrist 2 are initialized and stored in advance. And the coordinates (x
1, y1, z1) to (x4, y4, z4) based on each path 1
The coordinates of the start point and the coordinates of the end point of ~ 7 are calculated. Further, in the trajectory table T, the coordinates of the starting point (xk1, yk1, zk1) and the coordinates of the ending point (xk2, yk2) are associated with the path number k (in this case, the path number k takes a value of 1 to 7). , Zk
2) is stored (step Sb6).

When the trajectory table T is stored in this way,
The CPU 6 waits for the input of the pass number (moving pass number m) to be corrected and waits (step Sb).
7). When "2" is input as the moving path number m by operating the numerical value setting key 4h, the CP
U6 stores this in RAM 10 (step Sb8), and then performs the process of step Sa7.

In this state, the CPU 6 moves (Δx21, Δy21, Δz21) with respect to the starting point of the path 2 (moving path number m = 2) to be corrected and the moving amounts (Δx22, Δy22) with respect to the starting point. , Δz22) is awaited and a standby state is set (step Sb9).

Here, each movement amount (Δx21, Δy21, Δz
21) and (Δx22, Δy22, Δz22) are input, they are stored in the RAM 10 (step Sb10). next,
The CPU 6 coordinates the start point of path 2 (x21, y21, z21)
The movement amount (Δx21, Δy21, Δz21) is added to the coordinates (x21 + Δx21, y21 + Δ) of the new start point b21 (see FIG. 7).
y21, z21 + Δz21) is calculated (step Sb11), and this is stored in the RAM 10 as the starting point coordinates of the path 2.

Further, the CPU 6 moves to the coordinates (x22, y22, z22) of the end point of the path 2 by the moving amount (Δx22, Δy22, Δz).
22) is added to the coordinates (x) of the new end point b22 (see FIG. 7).
22 + Δx22, y22 + Δy22, z22 + Δz22) is calculated (step Sb12), and R is set as the end point coordinate of the path 2.
Store in AM10.

On the other hand, when the CPU 6 detects that the save key 4i has been operated in step Sa3, that is, in this case, the correction of all paths has been completed,
The data set by the series of processes described above is saved / restored in a predetermined area in the RAM 10 as teaching data, and the teaching process ends.

[0027]

As described above, the present invention has the following effects. (1) Since the movement locus is automatically corrected only by inputting the pass number of the movement path to be corrected and the correction amount,
It is possible to reduce the time required for teaching. (2) Since it is not necessary to perform complicated data setting related to the correction of the moving trajectory, the beginner can acquire the teaching method for the robot in a short time. (3) Since there are few data settings required for correction of the movement path, variations in teaching depending on the skill of the teacher are small.

[Brief description of drawings]

FIG. 1 is a first flowchart showing an example of a processing operation of the present invention.

FIG. 2 is a perspective view showing an example of the configuration of the present invention.

FIG. 3 is a diagram showing an example of a configuration of a hand operation panel according to the present invention.

FIG. 4 is a block diagram showing an example of a control system of the present invention.

FIG. 5 is a processing system diagram showing an overall outline of the processing operation of the present invention.

FIG. 6 is a second flowchart showing the outline of the processing operation of the present invention.

FIG. 7 is a diagram illustrating a path correction method according to the present invention and a conventional path correction method.

[Explanation of symbols]

 1 Robot Arm 2 Wrist 3 Controller 4 Hand Control Panel 5 Work 6 CPU (Central Processing Unit) 7 ROM (Read Only Memory) 8 Motor Driver 9 Motor 10 RAM (Read / Write Memory)

Claims (1)

[Claims] 1. A robot on a workpiece during teaching.
Data relating to the movement range of the arm is sequentially stored, and a movement trajectory formed by connecting a plurality of movement paths linearly reciprocating on the work at regular intervals within the movement range is generated based on the data, and a reproducing operation is performed. At times, in a controller for a teaching / playback type robot having a control means for automatically moving a robot arm along the movement trajectory so as to perform a predetermined process on the work, a correction among the movement paths is performed. A path number designating unit for inputting a pass number of a moving path to be corrected; and a correction amount inputting unit for inputting a correction amount of the moving path to be corrected, wherein the control unit is based on the correction amount. A controller for a robot, wherein a corrected trajectory of a moving path corresponding to the pass number is calculated.