JPS6120881B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to robots, and in particular to so-called teaching playback type robots.

For example, first, an operator moves the tip of a robot body with an injection nozzle to perform a pseudo-painting operation on an object to be painted, and at the same time, the contents of the operation are stored in a storage device (this is generally called a teaching operation), and all A teaching/playback type painting robot that, after storing the work content, reads out the memorized work content and automatically performs the painting work again according to the read work content (this is generally referred to as a playback operation). is known.

By the way, in such a robot, if the contents of the work are to be stored one by one in the storage device during teaching, the storage capacity of the storage device must be extremely large, which results in an increase in price.

The present invention has been made in view of the above points,
The purpose is to provide a robot that can be configured without significantly increasing the storage capacity of the storage device.

According to the invention, the purpose is to
In a playback type robot, during a teaching operation, a first controller sequentially stores operating information for the robot body taught at each teaching position.
a storage device, and after storing the operation information in the first storage device, the first operation information taught at the first teaching position and the first operation information taught at a second teaching position following the first teaching position. The read second operation information is read from the first storage device, the read first operation information and the second operation information are compared, and the first operation information and the second operation information are compared. a detection device that detects the presence or absence of a predetermined change between the first and second operation information; and a detection device that detects the predetermined change between the first operation information and the second operation information. , storing the read second operation information as operation information for playback operation, and detecting a predetermined change between the first operation information and the second operation information by the detection device. This is achieved by a teaching playback type robot comprising a second storage device which prohibits storage of the read second operation information if it is not detected.

Next, the present invention will be explained based on a preferred specific example shown in the drawings.

In the figure, a robot body 1 is composed of a wrist 2 as a movable body, an arm 3, a support 4, and a base 5. The wrist 2 and the arm 3 are connected to a joint 6.
a and 6b, and the wrist 2 is rotatable with respect to the arm 3 within an angle A in a plane perpendicular to the arm 3, and is also rotatable within an angle B in a plane perpendicular to the vertical plane. Yes, arm 3 and pillar 4
are connected to each other at a joint 7, the support 4 and the base 5 are connected to each other at joints 8a and 8b, and the arm 3 is rotatable within the range of an angle C in a plane perpendicular to the support 4. The support column 4 is rotatable within a range of an angle D in a plane perpendicular to the base 5, and is also freely rotatable within a range of an angle E in a plane perpendicular to the vertical plane. In order to rotate the wrist 2 with respect to the arm 3 within the range of angles A and B, the arm 3 and the wrist 2 are provided with hydraulic drive devices 9 and 10, and the arm 3 is rotated with respect to the support 4 at an angle C. A hydraulic drive device 11 is provided between the arm 3 and the column 4 in order to rotate the column 4 within the range of angles D and E relative to the base 5. , the support column 4 and the base 5 are provided with hydraulic drive devices 12 and 13. Joints 6a and 6
In b, the angles A and B of the wrist 2 with respect to the arm 3 are shown.
Potentiometers 14 and 15 are provided as detectors for detecting the rotational position within the range of C, and the joint 7 is provided with potentiometers 14 and 15 to detect the rotational position within the range of the angle C of the arm 3 with respect to the support column 4. A potentiometer 16 is provided at the joints 8a and 8b, and a potentiometer 16 is provided at the joints 8a and 8b. Meters 17 and 18 are provided. Further, a handle 19 is detachably provided on the wrist 2, and the handle 19 is attached to the wrist 2 during a teaching operation, and is removed from the wrist 2 during a playback operation. It should be noted that the teaching operation mentioned here is the normal first teaching operation that performs pseudo painting, etc.
It is divided into a second teaching operation for compressing the data obtained in the first teaching operation. Each position signal of the potentiometers 14 to 18 as operating information for the robot body 1 is supplied to input circuits 21 to 25 provided in the control panel 20. Each of the 18 position signals is amplified in a predetermined manner. The position signals of the potentiometers 14 to 18 input to the input circuits 21 to 25 are supplied to a selection circuit 26. The selection circuit 26 is the control circuit 2
With respect to the control signal from 7, during the first teaching operation, position signals obtained by sequentially selecting the position signals to be supplied are supplied to the A/D converter 28. The A/D converter 28 converts the position signal as an analog signal into a digital signal, and outputs the converted digital signal to the signal transfer control circuit 29. During the first teaching operation, the signal transfer control circuit 29
Even with the control signal of the control circuit 27, the A/D converter 2
8, a division signal and an injection start/stop signal as described later are supplied to the storage device 30, and during the second teaching and playback operation following the first teaching, the control circuit 2
7, the position signal, division signal, and injection start/stop signal as operation information read from the storage device 30 are stored in the registers 31a to 31e, 3.
2 and 33. During the first teaching operation, the storage device 30 is provided with a position signal supplied from the A/D converter 28 via the signal transfer control circuit 29, an address signal from the control circuit 27, and a position signal supplied to the corrector 34. The split signal supplied from the setter 35 and the switch 3 provided on the handle 19
On from 6. A paint injection start/stop signal as an off signal is stored in order at each teaching position Pi. The object W to be painted as a work object is moved in the X direction by a conveyor 37 which is a transport device. A pulse generator 38 is attached to the conveyor 37 in order to detect the amount of movement of the object W, and the pulse generator 38 sequentially generates pulses in synchronization with the movement of the object W by the conveyor 37, and controls the generated pulses. Supplied to circuit 27. Detectors 39a and 39b are installed near the conveyor 37 to detect the passage of the object W. When the object W passes in front of the detectors 39a and 39b, the detectors 39a and 39b emit an object passage signal and control the generated signal. Supplied to circuit 27. When performing teaching and playback operations with the movement of the object W, pulses from the pulse generator 38 are supplied to the counting circuit 41 via the switching circuit 40 after the object passage signal is generated from the detector 39a. The switching circuit 40 selects the control pulse 42 according to the selection signal from the pulse selection switch 43.
Pulses from either the pulse generator 38 or the pulse oscillator 44 are output and supplied to the counting circuit 41 . A comparison circuit 45 that compares the count value of the counting circuit 41 and the divided signal stored in the register 32
supplies a match signal to the control circuit 27 when the count value and the divided signal match. The control circuit 27 is defined by the coincidence signal from the comparison circuit 45 and selects the selection circuit 26.
and supplies control signals to the storage device 30 and the like. Further, during playback operation, the number of operations of the comparator circuit 45 is counted by a counting circuit 46, and the count value of the counting circuit 46 is calculated by the corrector 3.
4 and a numeric display 48 provided on the operation panel 42 of the control panel 20, and these numeric displays 47 and 48 each display the count value of the counting circuit 46 in decimal notation. do. The operation panel 42 is provided with a hydraulic power source operating switch 49, a teaching/playback mode changeover switch 50, a start switch 51, a stop switch 52, and a setting device 53 consisting of a variable resistor.
Turning the switch 49 on and off defines the operation of the hydraulic power source 54. When the switch 49 is set to the on state, the control circuit 27 starts operating the pump of the hydraulic power source 54, while setting the switch 49 to the off state. Then, the control circuit 27 stops the operation of the pump of the hydraulic source 54. The on/off signal of the switch 50 is supplied to the control circuit 27.
7 is set to the teaching operation or playback operation mode by the on or off signal of the switch 50, and when set to the teaching operation mode,
A setting signal from the setting device 53, which generates a control signal necessary for the teaching operation and also generates a control signal necessary for the playback operation when set to the playback operation mode, is supplied to the pulse oscillator 44 via the control circuit 27. ing. The oscillator 44 generates a series of pulses having a certain period in synchronization with the control of the control circuit 27, and the period is set to a predetermined value by a setting signal supplied from the setting device 53.
For example, the pulse period from the oscillator 44 can be arbitrarily set between 5 msec and 20 msec by the setting device 53.

Pulses from the switching circuit 40 are supplied to a counting circuit 41 and comparison/correction calculation circuits 53a to 53e, and the counting circuit 41 counts the pulses supplied from the switching circuit 40 and sends the counted value to the comparison/calculation circuit. 53a to 53e and the comparison circuit 45. In operation, the registers 31a to 31e store position signals, the register 32 stores a division signal, and the register 33 stores an injection start/stop signal. The registers 54a to 54e, which are provided in the same number as the registers 31a to 31e, store the position signals stored in the registers 31a to 31e when new position signals are stored in the registers 31a to 31e. Comparison/arithmetic circuits 53a to 53
During the second teaching operation, each of e is the value of the position signal at the position Pi stored in each of the registers 54a to 54e, and the value of the position signal at the position P(i+1) stored in each of the registers 31a to 31e. The difference is determined by comparing the value of the position signal, and if the difference is greater than a predetermined value or the polarity (+ or -) of the difference is different from the polarity of the difference in the previous comparison operation, control is performed. A storage instruction signal is output to the circuit 27. Here, the values preset in each of the comparison/arithmetic circuits 53a to 53e are determined in the playback operation.
It is determined that the paint spray nozzle 55 attached to the wrist 2 is positioned within an allowable range. Further, each of the comparison/arithmetic circuits 53a to 53e receives each of the position signal values Xai to Xei at the i-th teaching position Pi from each of the registers 54a to 54e during the playback operation, and registers 31a to 53e.
31e at the (i+1)th teaching position P(i+1), the position signal value Xa(i+
1) to Xe(i+1) and the value N(i+1) of the (i+1)th divided signal from the register 32
1) Based on the count value Cp from the counting circuit 41, the teaching position P _i and P(i+1) are linearly interpolated to obtain the value. That is,
For example, the comparison/arithmetic circuit 53a has a register 54a.
The position signal value Xai from the register 31a, the position signal value Xa (i+1) from the register 31a, and the position signal value Xa (i+1) from the register 32
The value N(i+1) of the divided signal from the counting circuit 4
With the count value Cp from 1, the positions P _i and P(i+1) are determined for each occurrence of a pulse from the switching circuit 40.
The value Xar regarding the range of angle A of the interpolated position between
In order to find
1) Perform the operation Cp. Other comparison/arithmetic circuits 53b to 5
3e also performs similar calculations, and the comparison/calculation circuit 53a
~53e output a calculation result signal to each of the D/A converters 59a~59e. register 56
When a new injection start/stop signal is stored in the register 33 in the second teaching operation,
The injection start/stop signal stored in the register 33 is stored. During the second teaching operation, the contents of the register 33 and the contents of the register 56 are compared by the comparison circuit 57, and if the respective contents are different, the comparison circuit 57 transmits the storage instruction signal to the control circuit 27.
Send to. The addition circuit 58 is the comparison/arithmetic circuit 5
3a to 53e and the comparison circuit 57, if the storage instruction signal is not output from the comparison/arithmetic circuits 53a to 53e or the comparison circuit 57, the divided signal stored in the register 32 and the register of the adder circuit 58 are If the storage instruction signal is output in the comparison operation, the divided signal stored in the register 32 is further added to the divided signal stored in the register of the adder circuit 58. , this addition result is stored in the storage device 30, and then the contents of the register of the addition circuit 58 are cleared. D/A converter 59a-59
In the playback operation, each of e converts the calculation result signal as a digital signal supplied from the comparison/calculation circuits 53a to 53e into an analog signal, and also holds this analog signal until the generation of the next calculation result signal. , to respective analog storage circuits 60a to 60e. Note that the arithmetic circuit 5 is used instead of the analog storage circuits 60a to 60e.
3a to 53e, and D/A converters 59a to 59
A register may be provided between each of the arithmetic result signals and the arithmetic result signals to be stored as digital signals and held until the next arithmetic result signal. The calculation result signals supplied to the analog storage circuits 60a to 60e are respectively used as target values to the comparators 61a to 61a of the servo circuits.
61e. Comparators 61a-61
Each of e is connected to the input circuit 2 during playback operation.
Potentiometer 1 supplied via 1 to 25
The position signals as current values from storage circuits 4 to 18 are compared with the position signals as target values from storage circuits 60a to 60e, and difference signals as the comparison results are supplied to each of servo amplifiers 62a to 62e. Each of the amplifiers 62a to 62e appropriately amplifies the supplied difference signal, and supplies the amplified difference signal to each of the servo valves 63a to 63e.
- 63e each control the supply and discharge of hydraulic pressure from the hydraulic power source 54 to the hydraulic drive devices 9-13 based on the supplied difference signal. In this way, for example, wrist 2
Regarding the position control within the angle A of The position of the wrist 2 as a movable body is set at the target value. Note that servo circuits are similarly configured for other position control of the movable body. As mentioned above, when used for painting, the paint spray nozzle 55 is attached to the wrist 2, and the nozzle 55
A switch 36 is provided on the handle 19 for instructing the start and stop of paint jetting from the paint jet.During the first teaching operation, the paint jetting start/stop signal generated by the switch 36 is stored via the control circuit 27. It is stored in the device 30. On the other hand, the injection start/stop signal stored in the storage device 30 is read out to the register 33 during playback and is used as a control signal for the paint injection drive device 64.

The operation of the robot thus configured will now be described. First, during the first teaching operation, the switch 49 is set to the OFF state, and the operation of the pump of the hydraulic power source 54 is stopped. When the operation of the pump of the hydraulic source 54 is stopped, the generation of hydraulic pressure from the hydraulic source 54 is stopped, and each movable body can freely rotate. Then, an on signal is supplied to the control circuit 27 by operating the switch 50 to operate the control circuit 27 in the teaching mode, and a pulse from the pulse generator 38 is supplied to the counting circuit 41 by operating the switch 43. Switching circuit 40
Switch. In addition, during teaching, the sample interval of the position signal is defined, and during playback, a value that defines the number of divisions in interpolation calculation is set in the setter 35. The setting device 35 is composed of, for example, a digital switch having a decimal display, and can arbitrarily set a value from 1 to 99, for example.
After that, when the switch 51 is operated, the control circuit 27
In order to display the number "0" on the display units 47 and 48, a reset pulse is supplied to the counting circuit 46, and a reset pulse is similarly supplied to the counting circuit 41 to clear its contents. The value set in is stored in the register 32 as a divided signal. Next, the conveyor 37 is operated to move the object W in the X direction, while the handle 19
is operated by hand to move the nozzle 55 along with the movement of the object W, and after the object W passes the detector 39a, a pseudo painting operation is performed on the object W as a first teaching operation. When the object W passes the detector 39a, the control circuit 27 causes the pulse generator 3 to
8 is supplied to the switching circuit 40, and the switching circuit 40 supplies the supplied pulses to the counting circuit 41.
Output to. The counting circuit 41 sequentially counts the supplied pulses and outputs the counted value to the comparison circuit 45. Here, if 2 is stored in the register 32 as the division signal, for example, the comparison circuit 45 outputs a match signal to the control circuit 27 when the count value of the counting circuit 41 becomes 2. When the control circuit 27 receives the coincidence signal, the control circuit 27 controls the nozzle 55 at the time when the coincidence signal is output.
The position signals outputted by the potentiometers 14 to 18 at the set position Po are respectively stored in the first storage area of the storage device 30. That is, when the control circuit 27 receives a match signal from the comparison circuit 45, it first outputs a reset signal to the counting circuit 41 to clear the count value of the counting circuit 41, and outputs a control signal to the selection circuit 26 to reset the potential. A/D the position signals from meters 14 to 18 in order
At the same time as supplying the position signal to the converter 28, a control signal is supplied to the signal transfer control circuit 29, and the position signal as a digital signal from the A/D converter 28 is stored in the storage device 3.
0, and further sends an address signal to the storage device 30 to transfer the position signal sent from the signal transfer control circuit 29 to a storage address of a specified first storage area, for example, the first address. The position signal from the potentiometer 14 is stored at the second address, the position signal from the potentiometer 15 is stored at the second address, and the position signal from the potentiometer 18 is stored at the fifth address in the same manner. Note that if the switch 36 is not operated before the matching signal is obtained from the comparison circuit 45, the control circuit 27 writes the injection start/stop signal to the sixth address of the first storage area of the storage device 30. Further, the control circuit 27 stores the divided signal set by the setter 35 in the seventh address of the first storage area of the storage device 30. Setting device 35
is, for example, 1 as the value N of the divided signal as described above.
Any value between 99 and 99 can be set, and the set value is converted into a binary number and stored as a division signal in the first storage area of the storage device 30 under the control of the control device 27. Furthermore, as the object W moves, the handle 1
9 is moved, and at the same time, the counting circuit 41 counts the pulses from the pulse generator 38 again, and when the nozzle 55 is moved to the position _P1 , when a coincidence signal is output from the comparison circuit 45, the same as above is performed. , the position signals from the potentiometers 14 to 18 at position _P1 are sequentially stored in the first storage area of the storage device 30, and the values set in the setting device 35 are stored as divided signals in the storage device 30. It is stored in the first storage area. Here, when the switch 36 is actuated slightly before the position P ₁ to start spraying the paint onto the object W, the first storage area of the storage device 30 is filled with the coincidence signal from the comparison circuit 45 . The injection start signal is stored.

The same applies below, and the positions P ₂ ,...P _i , P(i
+1),...P _o nozzle 55 is moved, and a matching signal is output from the comparator circuit 45 at that position, so that the potentiometers 14 to 1 at each position are
The position signal obtained from 8, the division signal set by the setting device 35, and the injection start or stop signal are stored in a first storage area of the storage device 30. After the teaching operation for the last position P _o is completed, when the stop switch 52 is actuated or the detector 39
When the object passing signal from b is obtained, the control circuit 2
7 is the first storage area of the storage device 30,
An operation end signal is written to the address next to the address where the last signal was stored, and the counting circuit 46 is cleared to make its contents zero. And the control circuit 27
Next, reads the position signal, division signal, and injection start/stop signal stored at position P ₀ from the first storage area of the storage device 30, and stores these signals in the register 31a.
~ 31e, 32 and 33, respectively, and
At the same time, these position signals, division signals, and injection start/stop signals are stored in the second storage area of the storage device 30 in the order in which they were stored. By storing the position signal, division signal, and injection start/stop signal in the second storage area of the storage device 30, the counting circuit 46 receives one pulse from the control circuit 27, and therefore the count value of the counting circuit 46 is The display devices 47 and 48 display 1. Further, the control circuit 27 reads out the position signal, division signal, and injection start/stop signal stored at position P ₁ from the first storage area of the storage device 30, and stores these signals in the registers 31a to 31e, 32, and 3.
At the same time, the divided signal at the position P1 stored in the register ₃₂ is added to the divided signal stored in the register of the adder circuit 58, and together with the divided signal at the position P1 stored in the registers 31a to 31e. The position signal at _P0 is sent to registers 54a to 54e.
Then, the injection start/stop signals at the position P ₀ stored in the register 33 are transferred to and stored in the register 56, respectively. After storage, comparison/arithmetic circuits 53a to 53e
and the comparison circuit 57 starts a comparison operation, and each of the comparison/arithmetic circuits 53a to 53e registers 54a to 53e.
~Position signal stored in 54e and register 31a
The comparison circuit 57 determines the difference between the position signal stored in the register 56 and the position signal stored in the register 56, and checks whether the absolute value of the difference is greater than a predetermined value. It is detected whether or not the injection start/stop signal stored in the register 33 is different. Note that in the first comparison operation, no determination is made as to whether the polarity of the difference is different, and processing is performed on the assumption that there is always a difference in the polarity of the difference or that there is no difference in the polarity of the difference. Comparison/arithmetic circuit 53
Each of a to 53e sends a storage instruction signal to the control circuit 2 when the absolute value of the difference is greater than a predetermined value or when it is determined that the polarity of the difference is different.
On the other hand, if the absolute value of the difference is smaller than a predetermined value and it is determined that there is no difference in the polarity of the difference, the storage instruction signal is not sent. Similarly, when the stored injection start/stop signals are different, that is, when the injection start signal is stored in one register and the injection stop signal is stored in the other register, the comparison circuit 57 outputs the storage instruction signal. On the other hand, if the same signal is stored, the storage instruction signal is not sent to the control circuit 27. After the comparison operation, the comparison/arithmetic circuits 53a to 53e store the polarity of the difference obtained by the comparison operation in an internal register for use in the next comparison operation. When the control circuit 27 receives a storage instruction signal from one of the comparison/arithmetic circuits 53a to 53e or a storage instruction signal from the comparison circuit 57, the control circuit 27 converts the divided signal of the register 32 into the divided signal stored in the register of the addition circuit 58. The position signals, division signals, and injection start/stop signals stored in the registers 31a to 31e, the registers of the adder circuit 58, and the register 33 are added to the signals, and the position signals, division signals, and injection start/stop signals stored in the registers _31a to 31e, the registers of the adder circuit 58, and the After storing, the contents of the registers of the adder circuit ₅₈ are cleared, while the registers 31a to 3
1e to registers 54a to 54e, respectively.
, the injection start/stop signal register 5 of the register 33
read out the position signal, division signal, and injection start/stop signal newly stored at position P ₆ and stored again at position P 2 from the first storage area of the storage device 30;
These are stored in registers 31a to 31e, 32 and 33, respectively. On the other hand, comparison operation, comparison/arithmetic circuit 53
When the storage instruction signal is not received from any of a to 53e and the comparison circuit 57, the control circuit 27
clears the position signals of the registers 31a to 31e and the injection start/stop signal of the register 33 without storing the position signal, division signal, and injection start/stop signal in the second storage area of the storage device 30, The divided signal of the register 32 is transferred to the adder circuit 58, added to the divided signal at position _P1 stored in the register of the adder circuit 58, and the newly obtained addition result is stored in the register of the adder circuit 58. Then, the position signal, division signal, and injection start/stop signal stored at position P ₃ are read again from the first storage area of the storage device 30, and each is stored in the register 31.
a to 31e, 32 and 33. Note that the control circuit 27 outputs one pulse to the counting circuit 46 each time it receives the storage instruction signal, and increments the calculated value of the counting circuit 46. That is, the count value of the counting circuit 46 increases by one each time a data block consisting of a position signal at one position, a division signal, and an injection start/stop signal is stored in the second storage area of the storage device 30. , the number of data blocks stored in the second storage area of the storage device 30 can be known from the display 47 or 48. Similarly, after reading each signal at position _P3 , the control circuit 27 controls the register 5 unless a storage instruction signal is received.
While the position signals of 4a to 54e and the injection start/stop signal of the register 56 are held as they are, the newly read divided signal of the register 32 in the adding circuit 58 is added to the divided signal stored in the register of the adding circuit 58. , stores the newly read position signal etc. in the registers 31a to 31e and 33, and upon receiving the storage instruction signal, the control circuit 27
adds the divided signal of the register 32 to the divided signal stored in the register of the adder circuit 58, and stores the position signals of the registers 31a to 31e, the divided signal of the register of the adder circuit 58, and the injection start/stop signal of the register 33 in the storage device. After the storage, the contents of the registers of the adder circuit 58 are cleared, while the registers 31a to 31e
The position signals of are stored in the registers 54a to 54e, and the injection start/stop signal of the register 33 is stored in the register 56. When the operation end signal is further read from the storage device 30 after reading each signal for the position P _o , the control circuit 27 checks whether a storage instruction signal is obtained in the comparison operation after reading each signal for the position P _o . (This test can be performed, for example, at position P _o
(This can be done by reading out the division signal for the first storage area from the first storage area of the storage device 30 again, and comparing this division signal with the division signal stored in the register of the adder circuit 58), and then the storage instruction signal is obtained. If the signal for the position P _o is stored in the second storage area of the storage device 30, the operation end signal is stored at the address next to the address where the signal for the position P o is stored, and at the same time Store the count value m+1 (m≦n) of the counting circuit 46 at the address,
If the storage instruction signal is not obtained, the position P
Each signal for _o is read from the first storage area of the storage device 30 and written again to the second storage area of the storage device 30, and then the operation end signal is stored in the second storage area in the same manner as above, and A value m+1 obtained by adding 1 to the count value of the counting circuit 46 is stored at address 0. Thereafter, the position signal, division signal, and injection start/stop signal stored in the second area of the storage device 30 are used during the playback operation. Therefore, the first storage area of the storage device 30 in which the signals at the positions P ₀ , P ₁ . . . P _o are stored can be used for the second teaching operation.
That is, the operation information of the robot body 1 can be compressed and stored in the second storage area of the storage device 30.
After such a second teaching operation, when performing a playback operation while moving the object w, first the switch 49 is operated and set to the on state. Upon receiving the ON signal from the switch 49, the control circuit 27 outputs a control signal to operate the pump of the hydraulic power source 54. When the pump of the oil pressure source 54 is operated, oil pressure is generated from the oil pressure source 54 and supplied to each of the valves 63a to 63e. and,
When the switch 50 is operated and the control circuit 27 is set to the playback operation mode, and the start switch 51 is then operated, the control circuit 27 starts controlling the playback operation. First, upon receiving the activation signal from the switch 51, the control circuit 27 sends a reset signal to the counting circuits 41, 46 to clear the counts of the counting circuits 41, 46. Next, when the conveyor 37 is operated and the object w is conveyed, and an object passing signal is output from the detector 39a, the control circuit 27 outputs the position signal, division signal, and injection start/stop signal stored at the teaching position _P0 . A control signal that specifies the reading of the data is sent to the storage device 30, and each of the read signals is sent to the corresponding register 31a to 31.
A control signal is supplied to the signal transfer control circuit 29 and the respective registers, and a pulse from the pulse generator 38 is supplied to the switching circuit 40 so as to be stored in the registers e, 32 and 33. At the same time, the control circuit 27
are the registers 31a to 3 that were previously stored.
In order to store the position signal of 1e in registers 54a to 54e, registers 31a to 31e and 54a to 5
A control signal is output to 4e. Note that, when the control circuit 27 receives the start signal from the switch 51, the previously stored position signal values of the registers 31a to 31e are immediately stored in the registers 31a to 31e.
e, 54a to 54e, etc., is zero in binary; however, for the sake of simplicity, the value of the position signal obtained at the teaching position P _{o is} It is assumed that Xen is stored in advance. Therefore, register 5
4a to 54e have position signal values Xan to Xen,
The position signals Xa 0 to Xe 0 obtained at the position P ₀ are stored in the registers 31a to 31e, and the position signals Xa ₀ to _{Xe 0} obtained at the position P 0 are stored in the register 32.
The value N ₀ of the divided signal obtained at P ₀ is stored in the register 33, and the injection start/stop signal obtained at position P ₀ is stored, respectively. While the above values are stored in each register, when the pulses of the pulse generator 38 are outputted from the switching circuit 40 and supplied to the counting circuit 41 and the comparison/arithmetic circuits 53a to 53e, the comparison/arithmetic circuit is operated every time a pulse is generated. 53a to 53e perform interpolation calculations in synchronization with pulses from the generator 38. here,
When one pulse is output from the switching circuit 40, "1" is supplied from the counting circuit 41 as the count value Cp to the comparison/arithmetic circuits 53a to 53e. Therefore, for example, the comparison/arithmetic circuit 53a calculates Nox1 calculation is performed, and other comparison/calculation circuits 53b to 53
A similar calculation is also performed for e. The calculation results are output to D/A converters 59a to 59e, respectively.

The D/A converters 59a to 59e convert the values of the calculation results into analog signals and send them to analog storage circuits 60, respectively.
Output to a to 60e. Analog memory circuit 60a
The analog signals supplied to each of the comparators 61a to 60e are supplied as target values to the comparators 61a to 61e.
Each of the comparators 61a to 61e receives the position signals from the analog storage circuits 60a to 60e and the input circuit 2.
The current position signals from 1 to 25 are compared with each other, and a difference signal is output to servo amplifiers 62a to 62e. Each of the valves 63a to 63e is controlled by the difference signal supplied from the servo amplifiers 62a to 62e, and the nozzle 55 is moved to the calculated position, that is, the position.
On the line connecting P ₀ and P _o with a straight line, the position P _o
It is approximately set at a position P _o0 1 (approximately _1/2 position of line segment ₀ o if No. ₂ ) which is shifted from the position P o by approximately 1/N ₀ of line segment _{0 o} . so that the hydraulic power source 5
4 hydraulic pressures are supplied to and discharged from each drive device 9-13.

Next, when the pulse generator 38 generates one pulse again in the switching circuit 40 so that the count value of the counting circuit 41 becomes 2, for example, the comparison/
The calculation circuit 53a performs the calculation of Xan+Xa ₀ −Xan/No.×2 in synchronization with the second pulse from the switching circuit 40, and performs calculation of
performs a similar operation. By the way, during teaching, the value No. of the divided signal set by the setting device 35.
is, for example, 2, the binary value corresponding to 2 is stored in the register 32, so each of the comparison/calculation circuits 53a to 53e calculates the position signal values Xa ₀ to Xe as the calculation results. While outputting ₀ ,
A comparison circuit 45 that compares the contents of the register 32 and the count value of the counting circuit 41 detects a match and outputs a match detection signal to the control circuit 27. Values of position signals from comparison/arithmetic circuits 53a to 53e Xa ₀ to Xe ₀
is converted into an analog signal, stored in the analog storage circuits 60a to 60e, and supplied to each servo circuit as a target value, and the nozzle 55 is set at position _P0 .

Next, upon receiving the match signal from the comparison circuit 45, the control circuit 27 increases the count value of the counting circuit 46 by 1.
To proceed, one pulse is output to the counting circuit 46, while a reset pulse is output to the counting circuit 41 to make the count value of the counting circuit 41 zero. As a result, the displays 47 and 48 display the number "1". Furthermore, the control circuit 27 checks whether or not the injection start signal is stored in the register 33, and if the injection start signal is stored in the register 33, it sends an operation start signal to the paint injection drive device 64. Output. At the teaching position P ₀ , the start of injection is not designated, so the register 33 does not store an injection start signal at this point, and no paint is ejected from the nozzle 55 . Thereafter, the control circuit 27 sends a readout control signal to the storage device 30 in order to read out the position signal, the division signal, and the injection start/stop signal stored in the second storage area of the storage device 30. In order to store each signal in the registers 31a to 31e, 32 and 33, control signals are supplied to the signal transfer control circuit 29 and each register. In addition, in the following, the second
It is assumed that during the teaching operation, each signal at position _P1 is stored again in the second storage area of the storage device. The control circuit 27 then controls the register 3
Similarly, in order to transfer the position signals stored in 1a to 31e to registers 54a to 54e,
Control signals are sent to registers 31a to 31e and 54a to
54e. As a result, the register 54a
~54e stores the position signal at the teaching position _P0 , and registers 31a~31e store the position signal at the teaching position _P1 , respectively. after that,
One pulse is generated from the switching circuit 40,
When supplied to the comparison/arithmetic circuits 53a to 53e and the counting circuit 41, the comparison/arithmetic circuits 53a to 53e
performs the same calculation as described above by receiving one pulse, and sends the calculation results to the D/A converters 59a to 59.
Output to e. That is, the count value Cp of the counting circuit 41
Based on this, the calculation Xa ₀ +Xa ₁ -Xa ₀ /N ₁ Cp is performed. Here, instead of the above, when the value N ₁ of the divided signal is set to 20, the positions P ₀ and P ₁
A line segment from position P ₀ on the straight line connecting
The comparison/arithmetic circuits 53a to 5 are arranged so that the nozzle 55 is positioned toward the position _P1 by approximately _{1/20 of}
3e outputs a position signal corresponding to each change in the count value of the counting circuit 41. The position signals from each of the comparison/arithmetic circuits 53a to 53e are sent to the D/A
Converters 59a to 59e, memory circuits 60a to 60e
, and each of the servo circuits uses the position signals from the memory circuits 60a to 60e as target values, and uses the position signals from the input circuits 21 to 25 as current values to control the nozzle 55. move it. When the count value of the counting circuit 41 reaches 20, the comparison circuit 45 outputs a coincidence signal to the control circuit 27,
The control circuit 27 supplies one pulse to the counting circuit 46 in order to display the number "2" on the displays 47 and 48 as described above, while supplying a clear signal to the counting circuit 46.
1 and also outputs the next control signal.
At the teaching position P ₁ , since the injection start signal is stored in the second storage area of the storage device 30 , the injection start signal is stored in the register 33 , and after receiving the matching signal from the comparison circuit 45 , the injection start signal is stored in the register 33 . ,
The control circuit 27 detects storage of the injection start signal and outputs an operation start signal to the drive device 64. When the drive device 64 receives the activation start signal, it supplies the nozzle 55 with paint and thus at the position P ₁ .
Paint is sprayed from the nozzle 55, and the object w is coated. The same applies below, and nozzle 5
5 is the position P ₂ , ..., P _i , P (i+1), ... P _o
are sequentially positioned, and at the same time paint is sprayed to apply the necessary coating to the object w. After positioning to position P _o , inspect the contents of register 33,
When the injection stop signal is stored, the control circuit 27 sends an operation stop signal to the drive device 64, and the drive device 64 receives the operation stop signal, and then
The paint supply operation is stopped, and as a result, the nozzle 55
The spraying of paint from is stopped. After that, the control circuit 27 starts reading the next position signal etc. from the storage device 30, but since the operation end signal is written in the address next to the storage address of the position signal etc. related to the teaching position P _o , Control circuit 27
When detects reading of this operation end signal,
The playback control operation is completed, and a standby state is set to detect the occurrence of the next start signal or the occurrence of the object passing signal from the detector 39a. still,
After reading and inspecting the operation completion signal, the control device 27 reads the storage contents stored at address 0 of the second storage area of the storage device 30, that is, the number m+1 of data-compressed teaching positions and the count circuit 46. The contents of the count are checked to confirm that the playback operation was executed normally.

Incidentally, in the specific example described above, the teaching operation was configured to be performed sequentially and continuously, but the present invention is not necessarily limited to this. For example, the portable corrector 34 is provided with a temporary stop switch 70,
During the playback operation, the control operation of the control circuit 27 may be stopped by operating the switch 70 before reading out a new position signal, and the position after the stopped position can be newly taught. It may be possible to do so. By providing the stop switch 70 in this way and making it possible to stop the playback control at any position, the teaching position can be corrected at any position. Furthermore, the corrector 34 is provided with a step operation instruction switch 71 and a continuous operation instruction switch 72,
During the playback operation, each time the switch 71 is operated after the switch 70 is operated, the nozzle 55 is moved stepwise to each teaching position.
The control circuit 27 may be configured so that the movement is performed continuously.

In addition, a reverse playback instruction switch 73 may be provided, and by operating the switch 73, the playback operation may be performed in the opposite direction, for example, to positions P _o , P _o -1, P ₂ , P ₁ . Furthermore, regardless of the position signal stored in the storage device 30, the configuration is such that the necessary amount of vertical and horizontal movement of the nozzle 55 can be set using a position setter 74 provided in the corrector 34, and this setting The nozzle 55 may be configured to be moved by the amount of movement made. Further, a setting device 75 that is the same as the setting device 35 may be provided on the control panel 42 so that the number of divisions can be set by the setting device 75 on the control panel 20 side as well. On the other hand, by operating the switch 43, the switching circuit 4
The pulse of the oscillator 44 may be output from 0, and the teaching and playback operations may be performed asynchronously with the movement of the conveyor 37. In this case, the pulses of the oscillator 44 are transmitted to the pulse generator 3.
It is output and used in the same way as the pulse No. 8. In addition, a comparison circuit for detecting a difference between the divided signals may also be provided, and the teaching operation may be controlled by a storage instruction signal from this comparison circuit. It should be noted that the robot of the present invention is not limited to being used for painting, but may also be used for welding, for example, by having a welding torch in the robot body.

As described above, according to the present invention, since the operation information for the robot body is compressed and stored during the second teaching operation, it can be configured without significantly increasing the storage capacity of the storage device. Since the interpolated position is determined using the position signal obtained in the previous step and positioning is performed based on the interpolated position, the operation can be performed smoothly, and fine control can be performed when necessary.

Furthermore, since necessary positional corrections can be easily made using the corrector, work efficiency can be improved, and productivity can be greatly improved.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of a preferred specific example of the present invention,
Figure 2 is a plan view of the robot body shown in Figure 1, Figure 3 is a side view of the robot body shown in Figure 1, and Figure 4 is a side view of the robot body shown in Figure 1.
The figure is a system diagram of electrical and hydraulic relations in the specific example shown in FIG. 1, and FIG. 5 is an explanatory diagram of the mode of the teaching position. DESCRIPTION OF SYMBOLS 1... Robot main body, 14-18... Potentiometer, 27... Control circuit, 30... Storage device, 53
a to 53e... Comparison/arithmetic circuit, 57... Comparison circuit.

Claims (1)

[Scope of Claims] 1. In a teaching playback type robot, a first storage device that sequentially stores operation information for the robot body taught at each teaching position during a teaching operation; After storing the actuation information, the first actuation information taught at the first teaching position and the second actuation information taught at the second teaching position following the first teaching position are stored at the first teaching position.
The read out first operation information and the second operation information are read from the storage device, and the first operation information is read out from the storage device.
a detection device for detecting the presence or absence of a predetermined change between the first operation information and the second operation information; When a predetermined change is detected, the read out second operation information is stored as operation information for playback operation, and the first operation information and second operation information are combined by the detection device. A teaching playback type robot comprising a second storage device that prohibits storage of the read second operation information when a predetermined change between the robot and the robot is not detected. 2. The operation information includes a position signal indicating the position of the robot body, and the detection device reads out the first position signal as the first operation information and the second operation information read from the first storage device. 2. The teaching playback type robot according to claim 1, further comprising a comparison circuit for comparing the first position signal and the second position signal. 3. The operation information includes a work start and stop signal indicating the start and stop of work in the robot body, and the detection device detects the first work start and stop as the first operation information read from the first storage device. The teaching playback type robot according to claim 1 or 2, further comprising a comparison circuit that compares the signal with a second work start/stop signal as second operation information.