JPS5962910A - How to control Playback Robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Use This invention relates to a playback robot control method applied to a playback robot.

Configuration of a conventional example and its problems A conventional example is shown in FIG. The robot has 1st arm 1 and 2nd arm 2
It consists of Po is a motor installation part that drives the first arm 1, P□ is a motor installation part that drives the second arm 2, P2 is an operating part at the tip of the robot, and the operating part P, Niu J cylinder (vertical direction), A chuck, welding torch, etc. can be attached. Now, let us express the coordinates of the three points (■) in robot absolute coordinates as x, y). Note that in this example, the (X, Y) coordinates are two-dimensional child plane coordinates. Further, the robot is also schematically shown as a two-axis example. α and β-1 angles are shown, respectively. i2 The angle of arm 2's original Zarch-like self-help,
In other words, it shows the encoder output. Furthermore, the donut-shaped portion surrounded by chain lines is within the robot's work range.

Since this robot is a playback robot, it is necessary to teach the movement point for the work in advance before making the robot perform the play motion. In this teaching method, the robot tip P2
There is a tracing teaching method (teaching method) that moves the robot to the target moving point and teaches it, a method that reads the tabs α and β using the encoder output, converts them to X-Y coordinates, and stores them in memory, and a naive method that does not move the robot. A method of inputting the target movement point using all numerical keys (inputting a point on the X-Y coordinates using the keys),
In other words, there are two teaching methods: the numerical designation method (numerical control method).

The case of teaching numerical control is shown below. Now, A
, I3, C, I) When tightening the screws at points,
The dimensions of a+b+c+d are written in the mechanical drawing, but of course the dimensions are not written in the robot's absolute coordinates (x, y). However, A and B.

Points C and D must be converted into robot coordinates, which is a difficult task for the operator.

OBJECT OF THE INVENTION An object of the present invention is to make it possible to input the dimensions of a workpiece without using robot absolute coordinates when inputting coordinates using numerical control.

Another object of the present invention is to store once taught data and to enable different robots to perform operations at different locations, even when the dimensions of the workpieces are the same and only the installation locations of the workpieces are different.

Still another object of the present invention is to enable play operations of multiple stations with a single teaching operation.

Structure of the Invention The present invention is a playback robot control method that performs a playback operation by teaching the robot movement point by tracing or numerically specifying the robot's absolute coordinates (first coordinates) and arbitrary coordinates on these coordinates. A process of setting offset coordinates (second coordinates) with the point as the origin, a process of storing the second coordinates in the PjIJ1 memory as a total offset value of the determining factors that uniquely determines the second coordinates, and a process of copying the coordinates. When teaching a moving point, there is a process of converting the moving point taught by the first coordinate into a value on the second coordinate and storing it in the second memory, and when teaching the moving point by the number fll'1 finger tail, 2
3t to be taught by the value on the coordinates and stored in the second memory
m1M and the robot's position v in the playback motion
The process of shifting the 1st command position from the 1st coordinate to the 2nd gli mark according to the offset value hυ, and driving the robot' by the value on the 2nd coordinate, and correcting the offset value by copying or specifying a numerical value. The deviation is defined as the fact that the previously taught movement point remains within the robot working range even after the correction.
i1! This method includes a process of storing the corrected offset value in the first memory after the offset value has been recorded.

DESCRIPTION OF THE EMBODIMENTS An embodiment of the present invention is shown in FIGS. 2 through 10. In Figure 2, X-Po-Y is the robot's absolute coordinates, x
OFx 9 mOA also td, x'-OF'l-
The y' coordinate is an offset coordinate whose origin is an arbitrary coordinate point on the robot absolute coordinates. Now, the robot absolute coordinates are defined as all first coordinates. Furthermore, the x-OF□-y or x-0F1-y' coordinates are defined as second coordinates.

Also, OF, Tenzagura wo (Xo, Yo), OF, Tenzabayashi are set as (X□+Yo'). Also, the OF2 point coordinates are (X0
1' l Y01') and the coordinates of the two OF points as (Xo, Yo). In the example shown in Figure 2, the Y-axis and the y-axis and the X-axis and the X-axis are parallel, so only the OF□ point is specified and the OF
There is no need to specify three points. θ. is the robot absolute coordinate (coordinate offset from the first coordinate (x'-OF'-y)
’) and the inclination angle θ.

It is. Naturally, the slope of the x-OF□~y coordinate and the X-Y coordinate is θ. =0. Also, OF, OF, , OF
The 21st point is the teaching point for determining the offset coordinates within the robot work range (range surrounded by chain #Q). Note that the x-OF□-y coordinate and the radius θ of the x-y coordinate.

is θ. -1- Do. Note that OF2 is on the X axis, OF,'
is a point on the X' axis. That is, it is assumed that the OF□ point and the OF2 point are determined, and the X' axis is determined as the OF work point and the OF2' point. OF, , OF2.
OF, ', OF2' shall be taught by teaching.

Konite, 2nd seat T:: (determinant (Offsera) fli
For [, x-y coordinates, op point, or (Xo.

Similarly, in the y′-y′ coordinate, OF
point.

OF2 point dimensions or (Xo, Yo) and θ. It is.

In this embodiment, the offset value is determined by teaching as oF', OF', or OF2'. In addition, in the case of key human power based on 11 in the numerical system,
(Xo, Yo) or (Xo', Yo') and θ.

Determine the Rio 7 set value by inputting .

In addition, /i1"In other cases, the first moving point 'tOF□ of teaching is set, and the second moving point and thereafter I'i#g
It is stored as the value of a point on the bidentid IJ (x-OF□-y coordinates).

Also, in the case of number hl'i, fIiIJ #teaching, the first
(Xo, Yo) is taught as a moving point, and values on the x-OF-y coordinates are taught from the second moving point onwards.

1, for example, the movement point that was once taught when modifying Mefsesoto! It is possible to convert to a value on the '-0Fl'-y' coordinate. Oh! C, OF, 'point, OF2'
Point teaching (for teaching) or (Xo', Y
o').

θ. (In the case of numerical control), it is possible to correct all offsets. In addition, as mentioned above, the OF□ point or OF□ point taught in teaching,
2 points allow the robot to perform playbank operations.

When teaching in x-op□-y coordinates, even if the taught movement point is within the robot movement range, if the set is corrected, it will not move on the position P. There is no limit to the number of points where the pressure within the working range exists.

In that case, an offset value that can obtain the coordinates shall not be adopted. In FIG. 2, the x-y coordinates are the coordinates when the moving point is taught, and the y'-y' coordinates are the coordinates when the offset is corrected.

Note that OF, j or OF, , OF2. (Xo,
Yo), (Xo, Yo) and θt values are stored in a first memory to be described later. The moving point converted to a value on the x-y coordinate or the moving point converted to a value on the y'-y' coordinate is stored in the 21)2 memory. It is also possible to record this memory value on magnetic tape and use this data to drive another robot.

However, based on the following explanation, the second case of teaching point B
It is assumed that J1≦(IitX−(lF,~y1) coordinates rJ,

Next, FIG. 3 shows an example of the configuration of the control system circuit tIl used in this embodiment. 5 types of mode selection keys (
There are 7 types of keys (subcategorized), namely, teaching mode selection key 3, numerical control mode selection key 4, teaching offset mode selection key 5, numerical control offset mode selection key 6, play mode selection key 7, and teaching mode selection key 3. There is an offset correction key 8, a teaching offset movement key 9, and a start key 10° and a stop key]1. There is a group of coordinate manual keys 12.

These key selection inputs are input to the control circuit 13.

The control circuit 13 has a built-in microcomputer 14'i,
Furthermore, the first memory 15. It has a built-in storage device consisting of a second memory 16. 1st memory 15° 2nd memory IJ l
6, the coordinates will not be displayed on the display means 17, and the magnetic tape output will be taken out.Conversely, the first
Memo') 15, if the contents of i42 memory 16 are stored, 281 of control circuit 13 + tI) 2
Memory 15. ] (You can also enter the contents of
It is Noh. By pressing the mode selection keys 3 to 7, the pressed mode is selected.

By the way, in the play mode, from the contents of the second memo IJ16 in the I-t, xi memory 15, the robot absolute coordinate conversion circuit 19 (first output) converts each taught movement point to the first W'i mark in order. converted. Then, the output is converted by the position command command circuit 20 into a position command command for each axis of the robot and sent to the motors 22, 23f via the servo amplifier 21.
, rotates once and drives the robot.

24.25&;l encoder. When the side coordinates are corrected, it is confirmed from the contents of the first memory 15 and the second memory 16 whether or not the taught movement point exists in the loxoto work range by converting it to the first coordinates, and the result is It is displayed on the display means 26. Ota, if you press the debung off Sesoto movement key 9 all the way, JG l j Mori 15 (
7) Inner fJ (OFl l OF,', op2')
.

Automatically start by pressing start key 1 ()
rJ: day pIJ). In addition, the number of oysters entering the oyster group 12 is the number (1+lj 1filJ upright mode): - When the j selection key 4 is pressed, the key that becomes effective is 24S in the 4 [) J, 24S control circuit 13 in Figure 3
71 people. 27V, died in Ki 4
i Encoder output lead N path, 28 is turned ON in each of the 2111 and a conversion times 1', and switches SIV and J: in teaching mode. In the de-ching mode, the encoder output of the teaching point at which the de-ching is all f]' is changed to 6t, and the output of the parentheses is changed to i-th Flx I';+;c. If this moving point is the first moving point Jb (first step), that point is stored in the first memory 15 as an offset value. Switch S3 is turned on with switch 1. If the taught transition point b is ;r, 2 transition i > JJ point (second
If it is after step), the second J sitting conversion circuit 29 will change pA2.
The coordinates are converted into coordinates and stored in the 8d2 memory 16. Switches S and rJ are turned ON after step 2. Also,
During numerical control, if it is the first step, the coordinate key input circuit 30 is used to input a key at the first coordinate, and the value is stored in the first memory 15. If it is after the m2 step, the second coordinate value is input, and the data is stored in the g2 memory 16. The switch 82 is a key that is turned on in numerical control mode. Note that since the process is carried out using a micro combi coater, these switches S□ to S4 are not necessarily necessary.

This control method will be described in some detail with reference to FIGS. 5 and 6. First, teaching of the q moving point (teaching or t numerical control mode) will be described with reference to FIG. now,
In FIG. 5, the teaching point t:, I (1).

(2) and (3). In other words, (1), (2
), -(3), it is assumed that the moving point is taught to l1lil. , if the first moving point is taught by teaching, the coordinates at that time (XOIYO) become the origin of the X-y coordinates (second coordinates), and the inclination of the second coordinates and the first coordinates is θ. −〇. Next, the starting fence of the moving point in (2) and (3) is x
- It is converted to a point on the y coordinate and stored in the second memory 16. In addition, in numerical control mode, (
Xo, Yo) are taught manually, and the key is taught manually at a point on the 81!2 movement point (rJ: xy coordinates (second coordinates)).

(L) The contents of the memory are not shown in Tables 1 and 2. i1゛1 table t, L 21'! This is data in the J memory 15 and is an offset value. i4',' Table 2 is data in the second memory 16, and is data of moving points.

Table 1 ε1) Table 2 Next, an example of offset correction is shown in FIG. First, after the moving point is taught in FIG. 5, the moving point and its memory contents are shown in FIG. 6 and Tables 3 and 4 when the offset is corrected.

Tables 3 and 4 When the offset is corrected, only the data in the first memory 15 is corrected, and the data LIi in the second memory 16 does not change to the values in Tables 1 to 4. However, since the offset values are different in Tables 1 to 4, the teaching transition Mtb point (1) in FIGS. 5 and 6.

The robot absolute coordinates (mark y14) of (2) and (3) are completely different points on the cutting line.

Next, an example of the control sequence of this control method is shown in FIGS. #ii7 to 10 to 1. FIG. 7 shows moving point teaching by numerical control, FIG. 8 shows moving point teaching by teaching fC, and FIG. 9 shows moving point teaching using teaching fC. Offset correction by numerical control, Figure 10, 11. Showing offset correction by teaching.

In other words, when teaching the moving point (teaching mode - or numerical control mode), the X axis and
til+, )' axis and Y axis are parallel coordinates x-
Determine all y coordinates. In other words, θ. −〇.

Furthermore, it is possible to perform corrections including coordinate rotation (θ0) in teaching offset correction or numerical control offset mode. This is one idea of this invention.

Note that the first position in step (2) in FIG. 5 can be expressed as follows. That is, (X□ +X2, Y□ + y2
) rThis is the robot absolute coordinate in step 2.

Also, the 6th is the robot absolute coordinates of step 2 of 1 (the 1st
coordinates) can be expressed as follows.

That is, (XO"-X 2 cogθ~y 2 cogθ+
Yi) '10x 2Ginθ10y2caIIθ),
can. That is, it is possible to calculate the robot coordinates from the contents of the first memory 15 and the second memory [6] and perform the play bank operation of the robot.

From the above, the X-Y coordinate and the x-y coordinate can be uniquely determined via the offset value.

When performing a play operation (an operation of moving the robot on a once taught movement point), in addition to the method of calculating the first coordinates from the first memory 15 and the second memory 16 as described above, there is another method shown below. be.

Knot the robot's position R command coordinate from the first coordinate to the second coordinate, 8i? This is a method of driving the robot using only values on two coordinates. That is, this method converts the robot coordinates from first coordinates to second coordinates according to the offset value. This is a method of issuing a robot position command as if the robot coordinates were determined as the second position. This method
”, which is a more advanced method.

Effects of the Invention ■ When manually inputting coordinate values using numerical control, it is possible to input the workpiece dimensions on a drawing without using the robot's absolute coordinates f:.

■ If all the teaching data is created, even if the installation position of the workpiece is changed, the teaching work will be completed only by correcting the offset value, and there will be no need to teach the workpiece dimensions more than once. There is no.

■ If the same robot has two or more identical workpieces, if the data for only one workpiece is taught, then C11,
It is only necessary to create various data with only the offset value corrected to A1, and there is no need to teach the data more than once.

4 Pi of the drawing! i'! Figure 2 is an explanatory diagram of the operation of the conventional 1-2. Knee setting explanatory diagram, Figure 3 is the feeding control I, simple example 1-1 of ¥-, Figure 4 Q
Similarly, -11μ of the control/11 circuit in the control system
Explanatory diagram of a+'h 5 Figure V The number of moving points is 71
(IF
7 is an explanatory diagram of an example of teaching a moving point in the same numerical control, and Figure 8C is an explanatory diagram of an example of teaching a moving point by teaching in 1, II. ,
FIG. 9 is an explanatory diagram of an example of offset correction using numerical control, and FIG. 10 is an explanatory diagram of an example of the onosesoto mode using teaching.

3-7...Mode selection key, 8...Teaching offset 11 combined pressure key, 9.Teaching offset movement key, 10-11n! fij key, 11...stop key, 1
2 seat ui person kaki! rP, +3 control circuit, 14...
Microcomputer, 15/1st memory, 16...
2nd memory, 18...magnetic 9t tape, 19 "1bot i color to coordinate conversion circuit, 20 position command fl) full output circuit, 21 servo amplifier, 22, 23 motor, 24
．． 25・Encoder, X-Po-Y=-Robot M'r
Cross J J4+i 4S (8+C1 coordinates), x OF
4 y , x OFj, y Onocentered zagura (output 2 coordinates) 11 厘↓ 1st scene 1 ↓ Figure 2 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9

Claims (1)

[Claims] (Li) A control method for a playbank robot that performs a playbank operation by teaching the robot movement point by tracing or numerically specifying the robot's absolute coordinates (first coordinates) and arbitrary A process of setting offset coordinates (second coordinates) with the coordinate point as the origin, a process of storing a determinant that uniquely determines the second coordinates as an offset value in the first memory, and teaching of moving points by tracing. Sometimes, there is a process of converting the moving point taught by the first coordinate into a value on the second coordinate and storing it in the second memory, and when teaching the moving point by numerical specification, converting the moving point to the value on the second coordinate. a step of teaching and storing it in a second memory; and a step of shifting the robot's position command coordinates from the first coordinates to the M2 coordinates according to the offset value in the play bank operation, and driving the robot according to the value on the second reference point. Then, if the offset value is corrected by copying or specifying a numerical value, the corrected offset value is stored in the first memory after confirming that the previously taught movement point remains within the robot working range after the correction. (2) In the process of teaching multiple moving points by tracing or numerical specification, the robot absolute coordinates (first coordinates) of the first moving point to be taught first are ) is stored as an offset value in the first memory. (3) The playback robot is composed of moving points that can be taught based on two-dimensional coordinates. In the process of teaching the movement point by numerically specifying the robot,
The process of first teaching only the first movement point using robot absolute coordinates (first coordinates) (xo 1 YO), and the offset coordinates (second coordinates) described above (x□ +
y□ ) point is the origin, and the slope (θ) between the first coordinate and the second coordinate is θ. In the process of setting as =\ and the process of correcting the offset value by specifying a numerical value, the above-mentioned X. +yo
to. A method for controlling a playback robot according to claim 1, comprising the steps of: making the offset value completely independently modifiable; and storing the offset value in a first memory. (4) In the robot tracing process consisting of moving points that can be taught using two-dimensional coordinates, the first moving point 012 to be taught first is a point, and the robot's absolute coordinates (first coordinates) are (X□ +Yo), and the offset l'c coordinate (second coordinate) takes the OF work point as the origin of this coordinate, and the slope (θ.) between the first coordinate and the second coordinate.
θ. In the process of setting as =\ and the process of correcting the offset value by copying, 0122, which is different from the 01 point
Teach the robot the absolute coordinates of the point (Xo"01
), the process of making it possible to rotate the coordinates with the tilt of the coordinates offset from the OF1 point and OF3 point, and the OF point. Robot teaching/playback to OF2 points'
A method for controlling a play bank robot according to claim 1, comprising a step of making the If OF function possible, and a step of storing Xo, Yo, and θ0 as offset values in a first memory.