JPS6022363B2 - Program safety confirmation method for industrial robots - Google Patents

Description

[Detailed description of the invention]

The present invention relates to a program safety confirmation method for industrial robots. Conventional teach-in-playback industrial robots are taught a series of operations (services) once, stored in the computer's auxiliary memory, and then controlled and used to repeatedly execute the contents. Ta. Nowadays, robots are often required to perform a wide variety of services. In this method of teaching robot services as they are and storing them in auxiliary memory, as the number of robot services increases, both the teaching man-hours and memory capacity increase as the number of robot services increases. To solve this problem, we divided the robot service into several elements, taught each element individually, stored it as a subprogram in the robot program file in the computer's auxiliary memory, and then online A method is being explored to edit these subprograms according to the type of service when a robot service is executed, and thereby execute a wide variety of services. According to this method, subprograms that are common to multiple services only need to be taught once, thus making it possible to save both the teaching man-hours and the auxiliary memory capacity of the computer.
However, this method has the disadvantage that in order to confirm the safety of the edited program, a confirmation operation must be performed for all services, and a large amount of time is required for the confirmation operation. Another disadvantage is that if unintended editing is performed during execution of an online robot service, dangerous operations may occur due to jumps in position data between subprograms. The present invention eliminates the drawbacks of the conventional technology,
It is possible to reduce the man-hours spent on checking the robot program, and it is also easy to use. The purpose of this invention is to provide a program safety confirmation method for industrial robots that can easily confirm the safety of edited programs when executing line robot services. A feature of the present invention is that in an element-divided robot control system, a verification run is performed for each subprogram to check whether the taught program is correct. The robot program is With this configuration, we have created a program safety confirmation method for industrial robots that can reduce the number of steps required for robot program confirmation operation and also easily confirm the safety of edited programs. be. The present invention will be explained below based on the drawings. Figure 1 shows the overall configuration of an example in which the method of the present invention is applied to an industrial robot for tool exchange. In Figure 1, a robot body 1 is connected to a computer 2 and an auxiliary memory 3. , remove the tools 21 and 22 attached to the machine tools 11 and 12, and place them on the tool shelf 20'.
After this storage, other tools 23 to 29 can be taken out from the tool shelf 20 and attached to the machine tools 11 and 12. This series of actions of the robot is as follows: Element 1 - Removal of tools 21, 22 from machine tools 11, 12 [2] Element row tool shelf reference point 16
Move to [1] Element m - tool 21 to tool shelf 20,
22 storage

[9] Element W-Removal of tools from tool shelf 20

[9] Element V - Movement to machine reference point 15 [1] Element W
- Attachment of tools to machines 11, 12 [2] 6
Classify into two elements. The numbers in [ ] above indicate the number of subprograms each element has. Element 0 and element V are common operations, and if 24 subprograms are taught in total, the number of subprograms is 1.
It is possible to perform 44 types of tool exchange operations. FIG. 2 shows the structure of the subprogram. The subprogram 34 consists of a subprogram number 31, a confirmation run flag 32, and a program 33.
, unique starting position data 35 and final position data 36 determined in advance according to the element to which it belongs are taught. When the teaching of one subprogram 33 is completed, the subprogram 34 is transferred to the computer 2 as shown in FIG.
The answer is recorded and stored in the robot program file 41 in the auxiliary memory 3. A unique subprogram number 31 is assigned to each of the subprograms 34, and the confirmation run completed flag 32 at the time of registration is always set to "ofr."During confirmation run, the entire edited program or each subprogram can be executed. After confirming that the program is correct at the end of the confirmation operation, the confirmation operation completion flag 32 of the corresponding subprogram is set to "on".When executing the online robot service, program number 3 is selected from the robot program file 41 according to the service content.
1, the program portion 33 of the subprogram 34 is taken out and the program 42 is edited. If the program safety confirmation method according to the present invention is not used, and if the editing designation is contrived and, for example, element V shown in FIG. First, as the robot moves directly toward the machine reference point 15, there is a risk that the robot's motion will cause a saddle worm to occur and damage surrounding objects. The feature of the system of the present invention is that a confirmation operation completed flag 32 indicates whether or not each edited program 33 has completed a confirmation operation.
Furthermore, as shown in FIG. 4, the final position data 36 of each subprogram edited as shown in FIG. The safety of the editing program 42 is confirmed by confirming that the start position data 51 and the final position data 52 are the origin positions of the robot. As a result, the safety of programs edited during online robot service execution can be verified by simply performing a verification run for each subprogram, without having to perform a verification run for all combinations of programs. The embodiment described above is a case where the method of the present invention is applied to a tool exchange robot, but the method of the present invention is not limited to a tool exchange robot, but can be applied to a wide range of industrial robot control such as loading/unloading and transporting workpieces. The present invention has the configuration detailed above, and according to the method of the present invention,
The robot control method using element division not only has the effect of reducing the number of man-hours for confirmation operation, but also prevents jumps in robot motion between subprograms, which can occur with the element division method, and therefore reduces robot motion. It has the effect of ensuring safety.

[Brief explanation of the drawing]

Fig. 1 is an overall view of an embodiment in which the present invention is applied to a tool exchange robot, Fig. 2 is an explanatory diagram of the configuration of the same subprogram, Fig. 3 is an explanatory diagram when creating an editing program from a program file, FIG. 4 is an explanatory diagram showing an editing program and its safety confirmation method. 31...Subprogram number, 32...Verification operation completed flag, 33...Program section, 34
...Subprogram, 35...Start position data, 36...Final position data, 41...
...Program file, 42...Editing program, 51...Program start position data, 5
2...Program final position data, 1~Town...
...Elements of robot service. 1st Europe 2nd Teeth Fig. 3 Traditional map

Claims (1)

[Claims] 1 A teach-in-playback system for controlling industrial robots using a computer, which divides a series of robot movements into elements, teaches the movements for each element, and stores them as subprograms in the computer's auxiliary memory. In an element-divided robot control system, the robot is stored in
For each subprogram, a test is performed to check whether the taught program is correct, and when online robot service is executed, (a) each edited subprogram has been tested, and (b) consecutive subprograms are tested. (c) no jumps in position data between programs;
A program safety confirmation method for an industrial robot, characterized in that the safety of a robot program is confirmed by confirming that the starting and final position information of the entire program is the origin position of the robot.