JPS603009A - robot control device - 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 The present invention is a so-called PTP (point! toe point) which memorizes arbitrary points and automatically moves the tip of the working arm 11 of the robot body from the memorized points to the points. l = ') using the teaching Bray-Hatta method with control! , 21 relates to a cobot control device.

In recent years, highly versatile work robots have begun to become popular in order to automate and save labor when carrying out silk s''1 work that involves producing a wide variety of products in small quantities.

In this type of work 1 robot, there is a blockrama section that inputs the operating conditions necessary for operating the L11 robot body, position information of each point, etc., and sends out operation command signals, and stores the operating conditions, position information, etc. A Dee Chink Brake Hack system using T)TP control is adopted, which uses a control device that integrates a storage unit and a central control f113 that operates according to a block diagram predetermined by the operator in response to the operation command signal. ing. In this method, after teaching the position information of an arbitrary point, and before operating the robot body, the L77 robot body is operated one step at a time, and the position information is given. If necessary, this location information is stored in Ill, iE L/.

In this case, the operator must go back and forth between the control device and the main body several times to correct the position information of the child's point and store it in memory. Is that so? Therefore, uh...
When the number of E-tonk points increases, the teaching time including confirmation of the II''j equipment requires several 11'r li!+, resulting in extremely poor workability.

In order to eliminate this drawback, 1-1I Kaisho 57-1491
81 The II hot control device disclosed in Gastric Publication ζ has been used. As shown in FIG.
It has a camera part (24), an operation part (25), and a separate teaching hook (+t';), and this teaching box (16) has a robot controller 1.
It is also configured to call up the li'7 position information stored in the nll device (5]) and to modify the position of each point. Therefore, when making corrections to each point, the operator must approach the I-1 hot body (not shown) using the teaching box (16). We believe that it is possible to shorten the time it takes to hit one hit. ρ; On this day, in the bot control device, when correcting the position of each point, F'l was pressed on the operation unit (25).
! Set the installed mote select switch to the teaching mote position (because it is set to 111,
If the operator or robot control device does not move, the robot will not move even if the site is in a harsh environment such as high temperature. A;Fj. must not be installed at the construction site, and must not be controlled by robots.
There are many drawbacks, such as malfunction of the interior, and it also affects the life of the device.

The present invention is aimed at eliminating the above drawbacks, and an embodiment will be described below with reference to FIGS. 1A and 1ζ. In FIGS. 1 and 2, (1) is P 'I'' P control, 7-
It is a robot control device (hereinafter referred to as a control system) using the chink play hack method, and it is
41' is configured to drive the robot body (2) with information such as position information. This system i:llI M position (1
) High ifNI fJI' board (3) 'i Yi shi,
Kono system i311 board (3) has motors (X) (Y) (Z
) (f) ) Robot tree body (2) driven by
The operating conditions ('1, (F's point 1~''i) A memory section (4) for storing position information, etc., and a predetermined block 1-1 for input and output to this memory section (4). , to 1; (i controls the central system if111 part (5) and the central system ial1 part (5)
), it moves due to the command signal from the
a'X (3) This is a separate Brotarama device (
7) It is removably connected via a communication cable, and 11 the operating conditions of the bot body (2), device information, etc. 1-1 to operate the bot body (2) After the conditions for e-requirement are described, the upper ζ. 14j′+l

Remove the f-Rokrama device (7) from the control panel (3).

The operation commands from the operation panel (8) even after the
The robot follows the given 11 grams]・Body c
(2)) has been prepared to make it work. 1) The operation panel No. 11 (8) includes various switches that send operation command No. 15 to the central control unit (5), that is, an automatic manual changeover switch (9).
, step continuous switch (10), horn, ()” cycle switch (1j), skip temporary stop switch (1
2), origin switch (13), monitor changeover switch (+
4) and a button 1 selection switch (22). In the above switch +jY, when the automatic manual changeover switch (1 () is set to automatic), the left switch t!Yl li automatically continues -t: -1', cycle 7-1... Stop City - [When Knee 1 is set to Manual as per the selection, Step Master - 1, Home Mote, and Skip Mote are automatically selected.], Sea Urchin (M This operation panel 01) consists of L I': +1 numeric display 8]1
The person who displays the data of f;
As shown in the figure, when the monitor changeover switch (14) is activated, 1) SINITA IJJI! Is the switch on?

2) Add +1 to the display meter from ON. 3) Is it the display number or E3?

4) If it is 8, reset the display number to φ.

5) If it is off, go to the next step.

6) Is the display cloth number φ?

7) V) Nara Bu ni 1 Kurano, number S1, Ribubu D Kurano JX
number set.

8) If not, move on to the next step.

9) Is the display number 1?

10)] then point number se soto.

11) If not, go to the next step.

12) Is the display number 2?

13) If it's 2, then it's X.

14) If you haven't done 2, move on to the next one.

15) The display number is: 3h).

+1’i) If 3, then Y data set.

+7) If it is not 3, go to the next step.

) 8) Display number 8 or 4?

19) If 4, it is Z data set.

20) If it is not 4, go to the next step.

2+) Display number or 5?

22) If 5, then O data set.

23) If you are looking for 5, go to N-Kasute-Nbu.

24) Is the display number [3?

2! 'i) To 1.2 sequence number, interpolate the data set once.

21'i) If the result is 1r, go to the next step.

27) 5″ meeting 1? Old Puha.

2) Wow+! That's W Tomoichitaset.

21() Different? ^If so, then lI'I! Permanent dataset.

30) L: 1) Displays 8 digits using a numeric display.

31) Return to I).

)1'I nself to t-chart; Various operating conditions such as unstator and abnormality display are displayed sequentially (+6).

Also, the operation panel (8)! ;t1. EI) The abnormality indicator lamp (23) is placed adjacent to the display section (15).
3) 1) Is there an abnormality in the central control unit (5), such as an abnormality in the backup voltage, an abnormality in the L memory OM-RAM, an abnormality in the hook pulse, or an abnormality in the internal Φ transmission?

2) If there is an abnormality, is it r (y, always corresponding [) or abnormal?
;′.

Set data-4. 14) Go to step.

3) If there is no abnormality, check whether the supply pressure is 4 or ai+.

4) Supply voltage skin? If there is 6°, there is an abnormality (5 [j] Corresponding to the place 11, the abnormal data point is covered. 14) Suni 1~・Go to the software.

5) If there is no supply voltage abnormality, 1-1 bot books (,1,
Is there an overrun of (n)?

6> If there is an overrun, set the appropriate abnormality data for that axis along with the normal data. 14〉To the amazing Tsubu.

7) If there is no overrun, is there an abnormality in the Mo91111 section?

8) If there is a motor drive part 8 in (i), set the corresponding data to !7 and the corresponding data to that axis. 14) Go to step.

9) Motor drive unit (!, 'Ij, T, !f of (i);
If not, then there is a mistake in the file L1 gram.

10) Bu U Gram, if there is a mistake, 1 Ere C Go Noah 1
"4. Set the abnormal data. 14) Go to Su'tsubu.

++) If there is no programming error, is there a faulty origin?

12) If there is an origin defect, set and sort the abnormal data accordingly. 14) To Sudep.

13) If there is no origin defect, go back to 1).

111) Robot tree 14. (2) Move 1.9 cities to the left.

15) Turn on the constant display 0 lamp (23).

The above-mentioned flowchart 1,
4.14 is configured so that when the button is pressed to advance the display on the display section (15), the given crystal data is displayed.・Also, the above-mentioned operation ai+ (f()) is connected to a separate teaching box (1+;) via a communication cable, and this teaching box (16) is connected to each motor (X). , (Y), (Z), ((
3), and the coordinate system (X), (V), (7), (
The key switch (17) has a key switch (17) that rotates a certain amount in the positive direction in the θ) direction or in the ζJi direction.
The handshake is designed to move the main body (2) to any desired position by working with the quick melon key switch (+8) (111). Tick box (l [i) l (1'i・each mot j
Go to each link to select - (+r+) to f-f, Fluorama device (7) From here, here at self-memory section (4
) is stored in (1° 1) When modifying the position information, set the Ditching gear (19) to the moon and send it to the central control unit (5) that indicates this IW work, and the 11' position information ψ) J ',
+E 'c' monkey. 1. Sea urchin +78 completed. Furthermore, this z7-chink box (1+4) is ]-
It has a key (2 ()) and stores information on the RiE I; 7 position of the robot body (2) in the memory section (4).
) is memorized in υ,ru]y! A production command R''j:J is issued at t:.

③ In the IZI bot control device described above, when operating the robot body 2) from the robot Kuhnma device (7), the necessary operations 11 and the position information of any point are sent to the central control unit (5). ) to the storage unit (4) via 1. i7sa (Jru.

After that, the position information of any point is corrected according to the actual phase - "11) according to the object ζ. After the position information is supplied to the predetermined position and the IXl hot book is +4: (2)
It moves 1 cycle 1% in succession. L1
Hot tree 14. (2) is in operation, any of the 11 locations C1. , l, j. However, the central control unit (5)
In accordance with feature L1 in the figure, the central control unit (
5) detects abnormal locations. Furthermore, the central control unit (5)
sets abnormality data according to the abnormality 1-1 and stops the robot body (2). All of this is here, on the control panel (
8) +, Y: J) error indicator lamp (2)
3) lights up and maintains this state.

When the robot body (2) stops, the LEI') abnormality indicator lamp (23) lights up: 14 degrees, so the operator or monitor 1; JJ 19! When the switch (14) is pressed the required number of times, the display number (17 and 1) will be displayed on the display section (15).
1. Abnormal data corresponding to the abnormal location is displayed. Therefore, the operator can check '?' from the display section (15). ,”?++,°1
- Know the 11 locations and details of the abnormality, and be able to repair the abnormal location.

As explained above-1-, the present invention sends operation commands to a control panel having a central control section and a storage section and a medium heat control section 1) 8
In addition to arranging the production panel separately, the key switch for selecting the motor 1 and the key switch for driving the motor were also repaired on the operation panel. "memorize information"
Increase the number of teaching boxes that perform 4-r entry keys by 1 out of 1, approach the robot body, and correct the position information of any point by 1
Point score: :+7,1. , l-th 1・'' is correct W (V' and quickly does not happen t; L or high, high d,,! high) ~ j1
Affected by the tragic environment of
; L, H-made helmets; it is possible to overturn the current use.
This has the advantage that it does not cause =°゛IφI+l'+- of the device, and that Jj and Q of the device can also be expanded.

Moreover, the present invention selects the next step and moves the robot body at high speed φJ1. 4J' When doing so, [the operator must not operate the operation panel 1. Benefits of AI, which prevents dangers, +1. j Cover. In addition, the present invention C1 [Even if the Brokrama device is removed from the control device, the control panel or the I'10 hot unit will always know.'IM:: ,'::
Tsutsudokoro, iseji ° contents etc. are also definitely jl:! IJX = J means: ``Cru'' has advantages.

[Brief explanation of drawings]

Figures 1 and 1 are overall explanatory diagrams of the present invention; Figures 1 and 2; L A circuit explanatory diagram showing the main parts of the present invention, @: (The figure is 1 according to the present invention.
・Flowchart 1 to change the display on the display inside the cutting board・
, FIG. 4 explains the operation of the take part of the present invention) ",:1-
Char 1., FIG. 5 is an overall explanatory diagram of a conventional robot control device. (1) Robot control device, (2) +: + hot body,
(3) Control panel, (4) Storage section, (5) Central control section 311, (in) +- data drive unit
+ Part, (7) Bu [l Kurama device; So, 0 () I) Vr
l'+p II'a. (9) Automatic hand chino 1tJJ exchange noino 1, (10) nojy
Continuous switch, (I+)4. -M cycle 11 switch, (12) Haso)・Pause switch 1 (13) Origin switch, (14) Monitor Il1 month moxibustion switch f・(1
5) Display section, (lli) Teingponoku Z, (1
7) Key switch, (18) speed 15 (key switch, (
19) Teaching key-1 (20) Entry key, (2
2) Monthly Ritz, Toshiktozuiff, (23) 1. El
l Qi display yyb, (24) bl-'? '/'
97#l(, (25) Operation unit, (white) t -j
+: Schiff 1 Suiso f, agent Stone 1) Tomio'1
'(and others)

Claims (1)

[Claims] 1) A storage unit (4
) and write (, Q flB (4) human output (i +
+++ Central control unit (5) and motor drive Ji71 unit (6) driven by operation command signal from central control unit (5).
) and control with! 1it (:1), control 11111 board (:)) and move the hot body (2) 2S Uru ζ This is necessary φJJ work 1'1, manually input the position information of each point, etc. [Kokrama device (7), central control section (5)
In addition to giving one command, the ff is installed separately from the control panel (3).
l! It is connected to the operation panel () () () and operation panel (8) installed via a communication cable, and has a teaching key (19) for selecting the de-ching mode.
A robot controller consisting of a teaching hook (1G) that inputs the position condition iE command of the point to the central control unit (5) through the operation panel (8) and thereby corrects the position information in the memory unit (4). Equipment smell C1 operation! l & (8) The central control unit (5) is connected to the central control unit (5), and the second switch (14) is installed (), and the monitor changeover switch (14) causes the display number to advance to 11.13 (+5) + This 11ilin missing robots i・book (book (2)(～゛i location information
1% to 1% production board (8). l': [] 兇Jōmō volampu (
3) is placed on the control panel, the central control part (5) in () is stuck, the supply rule of the central control llζ<++(s), the source abnormality, and the robot main body (2) has no problem. Or the origin failure is always set at a predetermined interval 11j l' = r,
An abnormality f:? L at i place
L, () set the abnormal case, and remove the robot body (2).
T? Iri' +l L, 11 "1ki 1-, E
r+ y4 constant display lamp (23), 117. N:I
'l/, then the monitor changeover switch (14) displays i? Step i (l 5) and display f4B (]
5) An IJ bot; an I11 control device, characterized in that it is configured to display the p: 电 - evening.