JPS5831411A - Controlling system for industrial robot and its accessory device - Google Patents

Abstract

PURPOSE:To reduce the cost of equipment by collectively controlling industrial robots and each accessory device through one controlling device based upon playback system. CONSTITUTION:All equipment consisting of industrial robots 1, 2 and accessory devices such as a carrying device 4, a positioning device 5 and a clamping device 6 are collectively controlled by a group controlling type controlling device 10. A work W carried by the carrying device 4 is positioned by the positioning device 5, clamped by the clamping device 6 and then worked desirably by the industrial robots 1, 2. these robots 1, 2 are controlled on the basis of a record playback system.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a group control method based on comprehensive control of the robot and various auxiliary devices around the robot in order to cause the industrial robot to perform actual work.

Conventionally, the following methods have been adopted as control methods for industrial robots that perform welding work, etc., and their auxiliary equipment, such as conveyance devices.

In other words, industrial robots that carry out actual work include a servo system control circuit and are equipped with a robot-specific control device that is mainly a computer. The control is performed.

Here, the record playback method means that the worker moves the robot to perform the actual work in advance, and the order of the work is 1.
This is a method in which location and other information is artificially stored and read out as needed to repeatedly perform the task. On the other hand, the auxiliary devices, such as the positioning device of the transport device 1 and the clamp device, are controlled by a control system based on general sequence control. It is equipped separately and independently from the robot control device. In order to perform combined work between the robot and the auxiliary equipment, each control device is linked with mutually necessary control signals through its own input/output circuit (interlock panel), and the control form is Considering this, the two form an independent control system.

FIG. 1 shows an example of the basic configuration of a conventional pot and its auxiliary equipment, in which 1 and 2 are industrial robots, 3 is a robot control device, and 4 is a transfer device.

5 is a positioning device, 6 is a clamp device, 7 is a sequence control device for ancillary devices, and W is a workpiece.

However, in such conventional control methods, the control of the robot and its auxiliary equipment is performed by separate and independent control devices, so there are two types of control methods:
A control device for Hinoki is absolutely necessary, and in order to perform combined work with the robot and auxiliary equipment, mutual interlock signals must be prepared for each control device and linked, so each control device must be connected. Depending on the layout, wiring work may be extremely complicated, leading to an increase in equipment costs.

The present invention has been made in view of the above-mentioned conventional problems, and has changed the control method of each incidental device such as the above-mentioned conveyance device 1 positioning device clamping device from the conventional control method using a sequence circuit to two positions (operation limit and By changing the on/off control using the record play grasshopper method based on return (limited return) control and aligning the basic control and operation processing method with that of the robot, the control of the robot and its auxiliary equipment can be controlled by a single group. Next, an embodiment of the present invention, which aims to solve the above-mentioned problems by implementing the method using a device, will be described in detail with reference to the drawings. ' First, in the present invention, as shown in FIG. 1, in place of the conventional robot control device 3 and sequence control device 7,
Robot 1.2 and transport device 4° positioning device 5. It is completely the same as the conventional one, except that it is equipped with a group control type control device 1O that controls all the ancillary devices such as the clamp device 6, and therefore, the operation is to control the workpieces transported by the transport device 4. W is positioned by the positioning device 5 and clamped by the clamp device 6, and then,
The industrial robot 1.2 performs the desired work.

Here, the basic control method for the robots 1 and 20 is performed based on the record playback method as in the past, and the respective work positions and tasks are determined for each step by teaching work (teaching) by manual operation of the teach control box. The content is taught one after another, while in playback operation (repeat) K: the programmed teaching content is taught at step number 1@
The actual work is done according to the number. To explain this based on Fig. 2, during teaching work, as shown in Fig. 2, the opening and closing of the servo pulp 11 of each servo system is controlled by push buttons (teach control box) corresponding to each axis of the robot. to operate the hydraulic cylinders 12 of each axis. At this time, the position information of each hydraulic cylinder 12 and therefore each axis is determined by the potentiometer 13 and ~Φ converter 1.
4, the data is digitized and input into the control device 10 moment by moment, and when each axis reaches a predetermined position and stops, by pressing the record button, the position of the stop position is recorded. Information is written to the core memory 15 of the control device 10.

In addition, during play pack operation, position information for each step of the program read from the core memory 15,
The comparator 16 compares the current position signal detected by the potentiometer 13, and sends the difference signal to the servo pulp 11, which drives each axis in proportion to the magnitude of the difference signal. The flow rate to the cylinder 12 is adjusted. When the programmed position information and the current position signal match, the comparator 16 outputs a match signal to the main control circuit 17, and the process proceeds to the next step.

On the other hand, the conveying device 41 positioning device 5. In order to control the sequential operation of each accessory device of the frang device 6, we adopted a record play pack method based on two position information (operation limit, return limit) of each device, and the control method is similar to that of a robot. to unify. As a result, the sequence of operations of each accessory device is determined in the same way as the robot's teaching work. That is, as the teaching content of each teaching step, the operating point position information of all the ancillary devices and the input/output information with the robot are taught as needed, and this is sequentially stored in the core memory 15. In the playback operation, each accessory device is controlled in the order of the taught steps, and an operation equivalent to conventional sequence control is performed.

Here, each auxiliary device requires only two position information, ie, whether the operating limit is the return limit or not, as described later, so compared to the teaching procedure described above, the servo pulp 11 is located at the 7 renoid valves 18, and the position Potentiometer 3 which is a detector
is simply replaced by the limit switch 19. Further, the actuator 2o may be either a hydraulic cylinder or an air cylinder.

In addition, when operating the play pack, as shown in FIG. 3, position information for each step of the program in each accessory device is stored in the core memory nose as two position information, and this stored position information and the limit switch 19 are stored in the core memory nose. It compares the operating status of the solenoid pulp 18 and turns on/off the actuator. Basically, #
'i is the same as that in FIG.

By performing the teaching work of the robot and the teaching work of each auxiliary device in parallel as described above, the robot (K)
All movement and position information necessary for performing actual work is stored, and during play pack operation, the robot and auxiliary devices are all controlled by the group control device 10.
The robot and each auxiliary device operate according to the step numbers.

FIG. 4 shows the specific contents of the teaching program. This is an example of an operation program that follows the sequential operations shown in FIG. ” and “retreat limit.” The operation of the positioning device 5 is raising and lowering to position the workpiece W with respect to the workpiece fixing reference part, and its positional information includes "ascend limit" and "descend limit".

The operation of the clamp device 6 is clamping and unclamping, and its position information is "clamping limit" and "unclamping limit". Then, the position information of the two positions of the actuators of each of the auxiliary devices is stored in accordance with the operation order along with the position information of the robot 1.2 described above.

First, at the ``00'' step teaching point, the original position side position information (backward limit, lowering limit, unclamping limit) of each auxiliary device is memorized, and at the next 101'' step teaching point, the transport device 4 is stored.
At this time, the positioning device 5 is at the lowering limit, the lifting device 6 is at the unclamping limit), w''
02# At the step teaching point, the positioning information (ascent limit) of the positioning device 5 is memorized. At this time, the conveying device 4 is at the forward limit,
The clamping device 6 is at the unclamp limit), and at the o3# step teaching point, the movement after the positioning device 5 has completed the ascent limit positioning is the retraction information of the transport device 4 (after retraction) and the clamping information of the clamping device 6 (clamp darkness). As well as memorizing (at this time, the positioning device 5 is at the upper limit), the robot) 1
．． 2. Teach the actual work start signal. Furthermore, at the "04" step teaching point, the unclamping information (unclamping limit) of the clamping device 6 is stored together with the input waiting information of the work completion signal of the robot 1.2 (at this time, the conveying device #4 is at the backward limit).

The positioning device 5 is the upper limit), and at the @05# step teaching point, the workpiece W is set from the working position to the transport device 4, and the lowering information of the positioning device 5 (lower limit)
(At this time, the transfer device 4 is at the backward limit and the clamp device 6 is at the unclamp limit) This is the final operation teaching point.Based on the above teaching program contents, play pack operation of each auxiliary device is performed. , transport device 41 positioning device 5.
Each device of the clamp device 6 moves the robot 1, in accordance with the order of step numbers and in accordance with the taught position information.
Since it operates in conjunction with the movement of 2, it is possible to perform the same control as with a conventional sequence circuit. Incidentally, FIG. 6 shows a flowchart of one-step operation processing of each incidental device during play pack operation.

As is clear from the above description, according to the present invention, the robot and the plurality of auxiliary devices required therefor are controlled by the record play pack method, and the robot and each of the auxiliary devices are collectively controlled by one control device. This eliminates the need for a conventional control device for auxiliary equipment, mainly consisting of sequence circuits, and also requires an interlock panel for mutual interlock signals to allow the robot and each auxiliary equipment to perform combined work. Complicated work such as wiring work can be omitted.

In addition, according to the present invention, since the operation of each auxiliary device is controlled by teaching information, there is an effect that when adding or changing the operation of each auxiliary device, it can be easily handled by simply adding or changing the teaching information. circle

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing the arrangement of an industrial robot and its accompanying equipment, such as a transport device 9, a positioning device, and a clamp device. Fig. 2 is an explanatory diagram showing the control system when the robot is operating a play pack. Fig. 3 4 is an explanatory diagram showing the control system of each auxiliary device during play pack operation, and FIG. 4 is a diagram showing an example of a teaching program for each auxiliary device. FIG. 6 is a flowchart of operation processing of each auxiliary device in units of one step during play pack operation. 1.2...Industrial robot, 4...Transfer device, 5.
...Positioning device, 6...Clamp device, 10...
・Group control device, Figure 2 Figure 3 Figure 4 ≧ 5 Figure 5 Figure 6 Excitation < Yes Yes ON? II o viewing uncle, t

Claims (1)

[Claims] (1) Equipped with an industrial robot that performs predetermined work and multiple auxiliary devices that perform the ancillary work necessary for the industrial robot to perform the actual work, and playback of the industrial robot and each auxiliary device. A control method for an industrial robot and its ancillary devices, characterized in that a single control device based on the method performs overall control.