JPS6120882B2 - - 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, the operator moves the tip of the robot body with the injection nozzle to perform a pseudo-painting operation on the 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 is known which, after storing the work contents, automatically performs the painting work again according to the work contents read out from the stored work contents (this is generally referred to as a playback operation). There is.

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, a robot main body in which a plurality of movable bodies are connected, a detector for detecting relative positions of the movable bodies, and an instruction device for instructing a teaching mode, a pseudo playback mode, and a playback mode, respectively; This instruction device reads position signals and interpolation signals read from a first storage device (described later) when the pseudo playback mode is specified, and read out from a second storage device (described later) when the playback mode is specified. an interpolation calculation circuit that performs interpolation calculations based on a value that specifies a number; and a calculation result signal from the interpolation calculation circuit as a target value, and a position signal from a detector as a current value to position each movable body of the robot body. A servo circuit, an automatic designation circuit that extracts at a predetermined timing a position signal from a manually operated robot body detector when the teaching mode is instructed by the instruction device, and a setting device for setting a value specifying the number of interpolations between two positions determined by the position signal, and a teaching device when the teaching mode is instructed by the instruction device;
a first storage device that stores values that define the extracted position signal and the set interpolation number; and a first storage device that stores values that define the extracted position signal and the set interpolation number; a manual designation circuit that designates the re-extraction of the value that defines the position signal and interpolation number; and when the pseudo playback mode is designated by the indicating device, the When the pseudo playback mode is instructed by the indicating device and the adding circuit that integrates the value specifying the interpolation number read from the storage device No. 1, and the instruction is made by the manual specifying circuit. A teaching playback type robot comprising a second storage device that stores the position signal re-extracted from the first storage device and the output from the adder circuit as a value that defines the position signal and the number of interpolations. It is achieved by doing so.

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 within an angle A in a plane perpendicular to the arm 3, and at an angle B in a plane perpendicular to the vertical plane.
The arm 3 and the column 4 are connected at a joint 7, and the column 4 and the base 5 are connected at a joint 8.
a and 8b, and the arm 3 is connected to the support 4.
The support 4 is rotatable within an angle C in a plane perpendicular to the base 5, and the support 4 is rotatable within an angle D in a plane perpendicular to the base 5.
It is rotatable within 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 column 4 and the base 5 are equipped with a hydraulic drive device 12.
and 13 are provided. The joints 6a and 6b are provided with potentiometers 14 and 15 as detectors for detecting the rotational position of the wrist 2 with respect to the arm 3 within the range of angles A and B. A potentiometer 16 is provided as a detector for detecting the rotational position within the range of the angle C of the arm 3 with respect to the base 5, and the joints 8a and 8b are provided with a potentiometer 16 that detects the rotational position within the range of the angle C of the arm 3 with respect to the base 5. Potentiometers 17 and 18 are provided as detectors for detecting the rotational position within the range of . In addition, a handle 19 is attached to the wrist 2 and is detachable.
The handle 19 is attached to the wrist 2 during a teaching operation, and is removed from the wrist 2 during a playback operation.
The teaching operation herein includes, for example, a normal teaching mode in which a pseudo painting operation is performed and stored, and a pseudo playback operation mode in which data stored in this teaching mode is compressed. Potentiometer 14-1
Each position signal of 8 is supplied to input circuits 21 to 25 provided in the control panel 20, and the input circuit 2
1 to 25, each position signal of the potentiometers 14 to 18 is amplified to a predetermined value. Input circuit 21~
Each position signal of the potentiometers 14 to 18 inputted to 25 is supplied to a selection circuit 26. The selection circuit 26 sequentially selects the position signals supplied during the teaching operation using the control signal from the control circuit 27, and supplies the selected position signals 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. The signal transfer control circuit 29 transfers the control signal from the control circuit 27 to the A/D converter 28.
While supplying the position signal supplied from the storage device 30, the division signal as a value defining the interpolation number, and the injection start/stop signal as described later to the first storage area of the storage device 30, the position signal read from the storage device 30, the division signal The signal and the injection start/stop signal are sent to the registers 31a~
31e, 32 and 33. Storage device 30
is a position signal supplied from the A/D converter 28 via the signal transfer control circuit 29 with an address signal from the control circuit 27 during the teaching operation;
The division signal supplied from the setting device 35 provided on the corrector 34 and the paint injection start/stop signal from the switch 36 provided on the handle 19 are stored in order. During a pseudo playback operation to obtain compressed data, a switch 37 for specifying a teaching position P _i with respect to the object W to be painted is provided in the corrector 34, and an activation signal from the switch 37 is supplied to the control circuit 27. , the control circuit 27 supplies control signals to the storage device 30 and the like in accordance with the activation signal from the switch 37. Further, the number of times the switch 37 is operated is configured to be counted by a counting circuit 38, and the counted value of the counting circuit 38 is displayed on a numerical display 39 of the corrector 34 and an operation panel 40 of the control panel 20. These numeric displays 39 and 41
respectively display the count value of the counting circuit 38 in decimal notation.
Further, the counting circuit 38 receives a pulse from the control circuit 27 which is generated each time a position signal, a division signal, and an injection start/stop signal for the teaching position P _i are written to or read from the storage device 30 during teaching and actual playback operations. Carry the count contents one by one. That is, the counting circuit 38
The number of times of writing and reading of a data block consisting of a number of position signals corresponding to the number of potentiometers 14 to 18, one division signal, and an injection start/stop signal is calculated during the teaching operation and during the actual playback operation. Count. Operation panel 4
0 is provided with a hydraulic power source operation switch 42, a teaching/playback mode changeover switch 43, a start switch 44, a stop switch 45, a setting device 46 consisting of a variable resistor, a playback operation instruction switch 47 for data compression, and a pulse selection switch 48. It is being Furthermore, teaching/
The playback mode changeover switch 43 and the playback operation instruction switch for data compression constitute an instruction device. Turn on switch 42,
Off defines the operation of the hydraulic source 49, and the switch 42
When the switch 42 is set to the ON state, the control circuit 27 starts operating the pump of the hydraulic power source 49, while when the switch 42 is set to the OFF state, the control circuit 27 starts operating the pump of the hydraulic power source 49.
stops the operation of the pump of the hydraulic power source 49. The on/off signal of the switch 43 is supplied to the control circuit 27, and the control circuit 27 sets the teaching operation to the playback operation mode according to the on/off signal of the switch 43, and when set to the teaching operation mode, the teaching operation is started. When the playback operation mode is set, it issues the control signals necessary for the playback operation. A setting signal from the setting device 46 is supplied to a pulse oscillator 50 via a control circuit 27. The oscillator 50 generates a series of pulses having a certain frequency base in synchronization with the control of the control circuit 27, and the period is determined by the setting signal supplied from the setting device 46.
Set to a predetermined value. For example, the pulse period from the oscillator 50 can be arbitrarily set between 5 msec and 20 msec using the setter 46. The switch 47 is operated to obtain compressed data after the teaching operation, and when the control circuit 27 receives an instruction signal from the switch 47, it is set to a playback mode for data compression, that is, a pseudo playback mode.
A to-be-painted object W as a work object is moved in the X direction by a conveyor 51 which is a transport device. A pulse generator 52 is attached to the conveyor 51 in order to detect the amount of movement of the object W, and the pulse generator 52 sequentially generates pulses in synchronization with the movement of the object W by the conveyor 51, and controls the generated pulses. Supplied to circuit 27. A detector 53 is installed near the conveyor 51 to detect the passage of an object W. When the object W passes in front of it, the detector 53 emits an object passage signal and supplies the generated signal to the control circuit 27. do. When performing teaching and playback operations with the movement of the object W, the detector 53
After the generation of the object passing signal from the pulse generator 5
The pulses from 2 are supplied to a counting circuit 56 via a switching circuit 55. The switching circuit 55 outputs either the pulse from the pulse generator 52 or the pulse from the pulse oscillator 50 and supplies it to the counting circuit 56 in response to a selection signal from the pulse selection switch 48 of the control panel 40 . A comparison circuit 57 that compares the count value of the counting circuit 56 and the division signal stored in the register 32 supplies a match signal to the control circuit 27 when the count value and the division signal match. The control circuit 27 supplies control signals to the selection circuit 26, the storage device 30, etc. based on the match signal from the comparison circuit 57. These counting circuit 56 and comparison circuit 57 constitute an automatic designation circuit that automatically designates and extracts the position signals from the potentiometers 14 to 18 at a predetermined timing. The pulses generated from the switching circuit 55 are supplied to a counting circuit 56 and interpolation calculation circuits 58a to 58e.
The counting circuit 56 counts the supplied pulses and sends the counted value to the calculation circuits 58a to 58e and the comparison circuit 57.
The calculation circuits 58a to 58e are controlled by the control circuit 27 by signals supplied from the registers 31a to 31e, 59a to 59e, 32, the switching circuit 55, and the counting circuit 56 to perform interpolation calculations.
During teaching, the divided signals are stored in the register 32, and during playback, the divided signals are stored in the registers 31a to 32.
Position signals are stored in e and 59a to 59e, and divided signals are stored in register 32. In the case of playback operation, each of the arithmetic circuits 58a to 58e receives each of the position signal values Xai to Xei at the i-th teaching position P _i from each of the registers 59a to 59e, and ( i+1)th teaching position P(i+1)
The value of the position signal at Xa (i+1) ~ Xe (i+1)
The teaching positions P _i and P
(i+1) to obtain the value by linear interpolation. That is, for example, the arithmetic circuit 58a
is the value Xai of the position signal from the register 59a,
Position signal value Xa (i+1) from register 31a
and the value N(i+
1) and the count value Cp from the counting circuit 56, the angle A of the interpolated position between the positions P _i and P(i+1) is calculated every time a pulse from the switching circuit 55 occurs.
In order to find the value Xar regarding the range of
Performs the operation p. The other arithmetic circuits 58b to 58e also perform similar arithmetic operations, and each of the arithmetic circuits 58a to 58e outputs a calculation result signal to each of the D/A converters 60a to 60e. D/A converter 60a to 60e
Each of the analog storage circuits 61a converts the supplied calculation result signal as a digital signal into an analog signal, and holds this analog signal until the next calculation result signal occurs.
~61e. Furthermore, the analog storage circuit 61
Instead of a to 61e, a register is provided between each of the arithmetic circuits 58a to 58e and each of the D/A converters 60a to 60e, and the arithmetic result signal is stored as a digital signal, and the next arithmetic result is stored. It may also be possible to hold up to the signal. Analog memory circuits 61a-6
The calculation result signals supplied to 1e are respectively supplied as target values to comparators 62a to 62e of the servo circuit. During the playback operation, each of the comparators 62a-62e receives a position signal as a current value from the potentiometers 14-18 supplied via the input circuits 21-25, and a storage circuit 61a-6.
1e as a target value, and the difference signal as a comparison result is sent to the servo amplifier 63.
Supplied to each of a to 63e. Amplifiers 63a-6
3e suitably amplify the supplied difference signal and send the amplified signal to the servo valves 64a to 64a.
64e, and each of the valves 64a to 64e controls the supply and discharge of hydraulic pressure from the hydraulic source 49 to the hydraulic drive devices 9 to 13 based on the supplied difference signal. In this way, for example, regarding the position control of the wrist 2 within the angle A, the potentiometer 14, the input circuit 21, the comparison circuit 62a, the amplifier 63a, the valve 64a, and the drive device 9 constitute a servo circuit, and the comparison The position of the wrist 2 as a movable body is set to the target values that are sequentially input to the device 62a. Note that servo circuits are similarly configured for other position control of the movable body. When applied for painting,
A paint spray nozzle 65 is attached to the wrist 2, and as described above, the handle 19 is provided with a switch 36 for instructing to start and stop spraying paint from the nozzle 65.
The paint injection start/stop signal generated by the switch 36 is stored in the storage device 30 via the control circuit 27. On the other hand, the injection start/stop signal stored in the storage device 30 is stored in the register 33 during playback.
The signal is read out and used as a control signal for the paint injection drive device 66. Further, when a playback operation for data compression, that is, a pseudo playback mode is instructed, an adder circuit 67 is provided which integrates the divided signals stored in the register 32 from one operation of the switch 37 to the next operation. , the divided signals integrated in the adder circuit 67 are stored in the storage device 30 as compressed data.

The operation of the robot configured in this way will be explained next. First, in the teaching operation mode,
The switch 42 is set to the off state, and the hydraulic source 49
pump operation will be stopped. When the operation of the pump of the hydraulic source 49 is stopped, the generation of hydraulic pressure from the hydraulic source 49 is stopped, and each movable body can freely rotate. Then, by operating the switch 43, an ON signal is supplied to the control circuit 27 to operate the control circuit 27 in the teaching mode, and by operating the switch 48, the pulses from the pulse generator 52 are supplied to the counting circuit 56. As such, the switching circuit 5
Switch 5. In addition, a value defining the divided signal is set in the setter 35. The setting device 35 is composed of a digital switch having a decimal display, and can arbitrarily set a value from 1 to 99, for example. After that, when the switch 44 is operated, the control circuit 27
In order to display the number "0" on the display units 39 and 41, a reset pulse is supplied to the counting circuit 38, and a reset pulse is similarly supplied to the counting circuit 56 to clear its contents. The value set in is stored in the register 32 as a divided signal. Next, the conveyor 51 is operated to move the object W in the X direction, while the handle 19 is manually operated to move the nozzle 65 along with the movement of the object W. After the object W has passed the detector 53,
A pseudo painting operation, which is a teaching operation, is performed on the object W. When the object W passes the detector 53, the control circuit 27 supplies the pulse from the pulse generator 52 to the switching circuit 55, and the switching circuit 55 outputs the supplied pulse to the counting circuit 56. The counting circuit 56 sequentially counts the supplied pulses and outputs the counted value to the comparison circuit 57. Here, if 2 is stored in the register 32 as the divided signal, for example, the comparator circuit 57
When the count value becomes 2, a coincidence signal is output to the control circuit 27. When the control circuit 27 receives the coincidence signal, it controls the potentiometer 14 to the position P ₀ where the nozzle 65 is set at the time when the coincidence signal is output.
Extract the position signal output by 18,
The information is written in the first storage area of the storage device 30, respectively.

That is, when the control circuit 27 receives the match signal from the comparison circuit 57, it first outputs a reset signal to the counting circuit 56 to clear the count value of the counting circuit 56, and also outputs a control signal to the selection circuit 26 to reset the potential. The position signals from the yometers 14 to 18 are sequentially supplied to the A/D converter 28, and a control signal is supplied to the signal transfer control circuit 29.
The position signal as a digital signal from the signal transfer control circuit 29 is transferred to the storage device 30, and an address signal is sent to the storage device 30, and the position signal sent from the signal transfer control circuit 29 is sequentially transferred to one storage area. For example, the position signal from the potentiometer 14 is stored at a specified memory 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. be memorized respectively. Note that if the switch 36 is not operated before the matching signal is obtained from the comparison circuit 57, the control circuit 27 controls the storage device 30.
An injection stop signal is written in the sixth address of the first storage area. Furthermore, the control circuit 27 stores the value set in the setter 35 in the seventh address of the storage device 30 as a divided signal. As described above, the counting circuit 38 that counts the number of data blocks stored in the teaching operation substantially counts the number of occurrences of the matching signal from the comparison circuit 57, and after the teaching operation for the position _P0 , the counting circuit 38 counts the number of data blocks stored in the teaching operation. Displays 39 and 41 that display the count value of 38 display "1". Furthermore, the handle 19 is moved with the movement of the object W, and at the same time, the counting circuit 56 again counts the pulses from the pulse generator 52, and the nozzle 65 is in the position.
When the match signal is output from the comparison circuit 57 when the position is moved to P ₁ , the position signals from the potentiometers 14 to 18 at the position P ₁ are sequentially stored in the first memory of the storage device 30, as described above. While being stored in the area,
The value set in the setter 35 is stored in the first storage area of the storage device 30 as a divided signal that defines the number of interpolations. Here, when the switch 36 is actuated slightly before the position P ₁ to start spraying the paint onto the object W, the spray start signal is stored in the storage device 30 when a coincidence signal is generated from the comparison circuit 57. Ru. Similarly to the above, the count value of the counting circuit 38 is incremented by one after the teaching operation for the position _P1 , and the display value of the indicators 39 and 41 becomes "2". The same applies hereafter, and the position P ₂ ,
..., P _i , P (i+1), ..., P _o with nozzle 6
5 is moved, and a matching signal is output from the comparison circuit 57 at that position, so that the position signals obtained from the potentiometers 14 to 18 at each position, the division signal set by the setting device 35, and the injection start Alternatively, a stop signal is stored in the first storage area of the storage device 30. After the teaching operation for the last position P _o is completed, when the stop switch 45 is activated, the control circuit 27 writes an operation end signal to the address next to the address where the last signal was stored in the storage device 30, and Write the number of teaching positions (n+1) to the address. After such a teaching operation, a playback operation for data compression, that is, a pseudo playback operation is generally performed in order to obtain compressed data, but for the sake of simplicity, first the first storage area of the storage device 30 is The manner in which the playback operation is performed using each stored signal will be explained. When performing a playback operation while moving the object W, the switch 42 is first activated and set to the on state.
Upon receiving the ON signal from the switch 42, the control circuit 27 outputs a control signal to operate the pump of the hydraulic power source 49. When the pump of the hydraulic source 49 is operated, hydraulic pressure is generated from the hydraulic source 49, and each valve 6
4a to 64e. And switch 4
3 is activated, the control circuit 27 is set to the playback operation mode, and then the start switch 44 is activated.
When is operated, the control circuit 27 starts controlling the playback operation. First, switch 44
Upon receiving the actuation signal from the control circuit 27,
Sending a reset signal to the counting circuits 38 and 56,
The count values of the counting circuits 38 and 56 are cleared. Next, when the conveyor 51 is operated and the object W is conveyed, and the object passage signal is output from the detector 53, the control circuit 27 outputs the position signal, division signal, and injection start/stop signal stored at the teaching position _P0 . The storage device 30 sends a control signal that defines the reading of the data to the storage device 30.
At the same time, the respective signals read out are
A control signal is supplied to the signal transfer control circuit 29 and each register, and a pulse from the pulse generator 52 is supplied to the switching circuit 55 so as to be stored in the corresponding registers 31a to 31e, 32, and 33. At the same time, the control circuit 27 outputs control signals to the registers 31a to 31e and 59a to 59e in order to store the previously stored position signals of the registers 31a to 31e in the registers 59a to 59e. Note that the values of the position signals of the registers 31a to 31e previously stored are stored in the control circuit 27.
When receives the start signal from switch 44,
Immediately registers 31a-31e, 59a-59e
If the content is configured to _clear the _{contents of} Assume that it is stored. Therefore, the values X _{ao to X eo of the position signals are stored in the registers 59a to 59e, and the values X ao} to X _eo are stored in the registers 31a to 59e.
~31e contains the value of the position signal obtained at position P ₀
Xa ₀ to Xe ₀ are stored in the register 32, and the value N ₀ of the divided signal obtained at position P ₀ is stored in the register 33.
The injection start/stop signals obtained at P ₀ are stored respectively. While the above values are stored in each register, the pulses from the pulse generator 52 are output from the switching circuit 55 to the counting circuit 56 and calculation circuits 58a to 58e.
, the calculation circuits 58a to 58e perform interpolation calculations in synchronization with the pulses from the generator 52. Here, when one pulse is output from the switching circuit 55, since "1" is supplied from the counting circuit 56 to the calculation circuits 58a to 58e as the count value C _p , the calculation circuit 58a calculates, for example, Xan+Xao-Xan. /No×1 is performed, and the other calculation circuits 58b to 58e also perform similar calculations. The calculation results are sent to D/A converter 6.
Output from 0a to 60e.

The D/A converters 60a to 60e convert the values of the calculation results into analog signals and convert them into analog storage circuits 61, respectively.
Output to a to 61e. Analog storage circuit 61a
The analog signals supplied to each of the comparators 62a to 61e are supplied as target values to the comparators 62a to 62e.
Each of the comparators 62a to 62e receives the position signals from the analog storage circuits 61a to 61e and the input circuit 2.
The position signals as the current values from 1 to 25 are compared and outputted to difference signal servo amplifiers 63a to 63e. Each of the valves 64a to 64e is controlled by the difference signal supplied from the servo amplifiers 63a to 63e, and the nozzle 65 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
So that it is approximately set at the position P _o 01 (approximately 1/2 position of the line segment _o if No is 2) displaced from the position P ₀ by approximately 1/N ₀ of the line segment _o , Hydraulic source 4
9 hydraulic pressure is supplied to and discharged from each drive device 9-13. Next, when the switching circuit 55 generates one pulse from the pulse generator 52 again so that the count value of the counting circuit 56 becomes 2, for example, the arithmetic circuit 58
a performs the calculation of Xan+Xao-Xan/No×2 in synchronization with the second pulse from the switching circuit 55 with C _p =2, and the other calculation circuits 58b to 58e also perform similar calculations. By the way, when the value _N0 of the divided signal set and stored by the setting device 35 during teaching of the position _P0 is, for example, 2, the binary value corresponding to 2 is stored in the register 32. Therefore, each of the arithmetic circuits 58a to 58e is
While outputting position signal values X _ap to X _ep as calculation results, a comparison circuit 57 that compares the contents of the register 32 and the count value of the counting circuit 56 detects a match and sends a match detection signal to the control circuit 27. Output. Values of position signals from calculation circuits 58a to 58e X _ap ~
X _ep is converted into an analog signal, stored in the analog storage circuits 61a to 61e, and supplied to each servo circuit as a target value, and the nozzle 65 is
is set to Next, upon receiving the match signal from the comparison circuit 57, the control circuit 27 controls the counting circuit 38.
In order to increment the count value by 1, one pulse is output to the counting circuit 38, while a reset pulse is output to the counting circuit 56 to make the count value of the counting circuit 56 zero. As a result, the displays 39 and 41 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 66. Output. Since the start of injection is not specified at the teaching position P ₀ , no injection start signal is stored in the register 33 at this point, so no paint is ejected from the nozzle 65 . After that, the control circuit 27 sends a read control signal to the storage device 30 in order to read out the position signal, division signal, and injection start/stop signal stored at the teaching position _P1 , and also sends each read signal to the register. 31a-3
A control signal is supplied to the signal transfer control circuit 29 and each register to be stored in 1e, 32, and 33.
The control circuit 27 also includes registers 31a to 31e.
The position signals stored in each of the registers 59
Similarly, control signals are sent to registers 31a-31e and 59a-59e for transfer to registers 31a-31e and 59a-59e. As a result, the position signals at the teaching position _P0 are stored in the registers 59a to 59e, and the position signals at the teaching position _P1 are stored in the registers 31a to 31e, respectively. After that, one pulse is generated from the switching circuit 55, and the arithmetic circuit 5
8a to 58e and the counting circuit 56,
The arithmetic circuits 58a to 58e perform the same arithmetic operations as described above upon receiving one pulse, and each calculates the arithmetic results.
Output to D/A converters 60a to 60e. That is, based on the count value Cp of the counting circuit 56, the calculation Xao+Xa1-Xao/N1Cp is performed. Here, instead of the above, when the value N ₁ of the divided signal is set to 20, the position P ₀
and P ₁ with a straight line, from position P ₀ to position P ₁ approximately 1/20 of line segment 01
Arithmetic circuits 58a to 5 are arranged so that 5 is positioned.
From 8e, a position signal is output in response to each change in the count value of the counting circuit 56.

The position signals from each of the arithmetic circuits 58a to 58e are sent to D/A converters 60a to 60e and a memory circuit 61a.
~61e to each servo circuit,
Each of the servo circuits targets position signals from memory circuits 61a-61e, while input circuits 21-61e target position signals from storage circuits 61a-61e.
The nozzle 65 uses the position signal from 25 as the current value.
move. When the count value of the counting circuit 56 reaches 20, the comparison circuit 57 outputs a coincidence signal to the control circuit 27, and the control circuit 27 controls the counting circuit 3 in order to display the number "2" on the displays 39 and 41 as described above.
One pulse is supplied to the counter 8, while a clear signal is output to the counting circuit 56, and the next control signal is output. In the teaching position P ₁ , since the injection start signal is stored in the first 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 57 . , the control circuit 27 detects the storage of the injection start signal and outputs an operation start signal to the drive device 66. When the drive device 66 receives the operation start signal, it supplies the paint to the nozzle 65, and therefore, the paint is sprayed from the nozzle 65 at the position _P1 , and the object W is coated. The same applies below,
As the object W moves, the nozzle 65 moves to a position P ₂ ,...
. . , _{P i} , P (i+1), . After positioning to position P _o ,
After inspecting the contents of the register 33, if an injection stop signal is stored, the control circuit 27 sends an operation stop signal to the drive device 66, and the control circuit 27 sends an operation stop signal to the drive device 66.
Upon receiving the operation stop signal, the paint supplying operation is stopped, and thereby the spraying of paint from the nozzle 65 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 , When the control circuit 27 detects the readout of the operation end signal, it terminates the playback control operation and detects the occurrence of the next start signal or the occurrence of the object passing signal from the detector 53.
Set to standby state. After detecting the reading of the operation end signal, the control device 27 checks the memory contents stored at address 0 of the storage device 30, that is, the number n+1 of teaching positions and the count contents of the counting circuit 38, and determines whether the operation is normal. Verify that the playback operation was performed.

The playback operation using the teaching data stored in the first storage area of the storage device 30 has been described above.Next, the pseudo playback operation which is the playback operation for data compression will be explained. In the playback operation for data compression, the conveyor 51 is operated at a sufficiently slow conveyance speed so that the operator can indicate the required teaching position. That is, the conveyance speed of the conveyor 51 is set so that the interval at which pulses are generated from the pulse generator 52 is sufficiently slow. Then, the switch 47 is operated and the control circuit 27 is set to the playback operation mode for data compression, that is, the pseudo playback operation mode. Thereafter, the robot is caused to perform a playback operation based on the teaching data stored in the first storage area of the storage device 30 in the same manner as described above. This causes the nozzle 65 to move to positions P _o , P ₀ ,
P ₁ , . . . P _i , P(i+1), . . . are sequentially positioned at low speed. Then, unless the switch 37 is operated, the adder circuit 67 sequentially transfers the divided signal stored in the register 32 to the divided signal stored in the register of the adder circuit 67 each time each signal at position P _i is read. to add. In the playback operation for data compression, when the position signal of the initial position _P0 , the division signal, and the injection start/stop signal are read out from the first storage area of the storage device 30,
These signals are transmitted to registers 31a to 31e, 32
and 33, and are immediately stored in the second storage area of the storage device 30 in the same order as they were written, while transferring the divided signals stored in the register 32 to the addition circuit 67. will not be carried out. Then, for example, the nozzle 65 is at position P.
_x , the operator presses the switch 37.
When the control circuit 27 operates the position signals stored in the registers 31a to 31e at this point,
The addition result of the adder circuit 67 ( _when the _{position P} , in the second storage area of the storage device 30, at an address following the address where each signal related to the position _P0 is stored, and the addition result of the addition circuit 67 is made zero. That is,
Switch 3 when position P _x is between position P ₀ and position P ₁
7, the position signal, division signal, and injection start/stop signal obtained at position _P1 in the teaching operation are respectively re-extracted and stored in the second storage area of the storage device 30. Furthermore, for example, when the operator operates the switch 37 when the nozzle 65 is positioned at the position P _y , the control circuit 27 operates as described above.
The position signals stored in the registers 31a to 31e at this point, the addition result of the adder circuit 67 (position
At position P _y before P ₃ , the value is the sum of the division signal at position P ₂ and the division signal at position P ₃ ) and the same signal as the injection start/stop signal stored in the register 33, respectively. In the second storage area of the storage device 30, each signal related to the position _P1 is stored at an address following the stored address, and the addition result of the addition circuit 67 is set to zero. That is, by operating the switch 37 at the position P _y , the second storage area of the storage device 30 stores the position P ₃ in the teaching operation.
The position signal and injection start/stop signal obtained at _P2 and P3 are respectively stored, and the sum of the divided signals set at P2 and _P3 is also stored. In addition, the counting circuit 38
As mentioned above, since the number of operations of the switch 37 is also counted, the count value is 3 at this point (however, the position
In the storage operation related to P ₀ , the count value of the counting circuit 38 is incremented by one step. The same applies below,
Each signal is stored in the second storage area of the storage device 30 each time the switch 37 is operated. Then, position P
When the switch 37 is operated slightly before the position _{P o} , the position signal obtained at the position P _o , the injection start/stop signal, and the addition result of the addition circuit 67 are respectively stored in the second storage area of the storage device 30. , storage device 30
By reading the operation end signal from the first storage area, the operation end signal is written next to the last signal in the second storage area, and the number of teaching positions compressed to address 0 of the second storage area is written. That is, the count value m+1 (m≦n) of the counting circuit 38 is written. On the other hand, if the switch 37 is not operated before the nozzle 65 is positioned at the position _Po , the control circuit 27 assumes that the switch 37 has been operated by reading the operation end signal from the storage device 30, and performs the same operation as described above. control is performed, and the respective signals are stored in the second storage area of the storage device 30. As described above, the pseudo playback operation which is the playback operation for data compression is completed, and the compressed teaching data is stored in the second storage area of the storage device 30, and from then on, the teaching data is stored in this second storage area. teaching data, i.e. position signal;
While reading out the division signal and injection start/stop signal,
Actual playback operation can be performed by operating the conveyor 51 at a normal speed. Note that even when the playback operation is performed using the teaching data stored in the second storage area, the control circuit 27 and the like perform the same operations as when performing the playback operation using the teaching data stored in the first storage area. Take control.
Once the necessary compressed teaching data is stored in the second storage area, the storage device 30
The first storage area can be used for other teaching operations.

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. Furthermore, the corrector 34 is provided with a step operation instruction switch 71 and a continuous operation instruction switch 72.
The control circuit 27 may be configured such that the nozzle 65 is moved stepwise by one teaching position each time the switch 72 is operated, while the nozzle 65 is moved continuously during the operation of the switch 72. . In addition, a reverse playback instruction switch 73 is provided, and by operating the switch 73, the playback operation is
For example, the process may be performed in the reverse order, such as at 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 required amount of vertical and horizontal movement of the nozzle 65 can be set using a position setter 74 provided in the corrector 34, and this setting The nozzle 65 may be configured to be moved by the amount of movement made. In addition, the same setting device 75 as the setting device 35 is connected to the control panel 40.
A setting device 7 is also provided on the panel 40 side.
The number of divisions may be set by 5.
Furthermore, the switch 48 is operated so that the pulse of the oscillator 50 is output from the switching circuit 55,
The teaching operation and the playback operation may be performed asynchronously with the movement of the conveyor 51. In this case, the pulses of oscillator 50 are output and used in the same way as the pulses of generator 52. 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 data for the robot body can be compressed and stored, the storage capacity of the storage device can be configured without increasing much. Since positioning is performed by determining the interpolated position, the operation can be performed smoothly. In addition, since the number of divisions can be set arbitrarily, 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, 37
...Specification switch, 58a to 58e...Arithmetic circuit.

Claims (1)

[Claims] 1. In a teaching playback type robot, a robot main body in which a plurality of movable bodies are connected, a detector for detecting relative positions of the movable bodies, and a teaching mode, a pseudo playback mode, and a playback mode. An instruction device for instructing the back mode, and a first storage device (described later) when the pseudo playback mode is instructed by the instruction device, and a second storage device (described later) when the playback mode is instructed by the instruction device. An interpolation calculation circuit that performs interpolation calculations based on the position signal read out from the detector and a value specifying the interpolation number, and an interpolation calculation circuit that uses the calculation result signal from the interpolation calculation circuit as a target value and uses the position signal from the detector as a current value. A servo circuit that positions each movable body of the robot body, and an automatic specification system that extracts position signals from the manually operated robot body detector at a predetermined timing when the teaching mode is instructed by the instruction device. a circuit, a setting device for setting a value specifying the number of interpolations between two positions determined by the position signal extracted by the automatic designation circuit; a first storage device that stores values that define the position signal and the set interpolation number; a manual designation circuit that designates re-extraction of values that define the position signal and the interpolation number; and when a pseudo playback mode is designated by the designation device, the first When the pseudo playback mode is instructed by the adding circuit that integrates the value specifying the interpolation number read from the storage device and the indicating device, and when the instruction is made by the manual specifying circuit. and a second storage device that stores the position signal re-extracted from the first storage device and the output from the adder circuit as a value that defines a position signal and an interpolation number. 2. The automatic designation circuit consists of a counting circuit that counts the supplied pulses and a comparison circuit that compares the counted value of the counting circuit with the value that defines the interpolation number set by the setting device. When detecting a match between the count value and the value that defines the set interpolation number,
The teaching playback type robot according to claim 1, wherein the position signal from the detector is extracted and stored in the first storage device. 3. The manual designation circuit comprises a switch, and the operation of the switch designates re-extraction of the value defining the position signal and interpolation number from the first storage device. The teaching/playback type robot described in . 4. The setting device is configured to variably set the value that defines the number of interpolations.
Teaching and teaching described in any of paragraphs 3 to 3.
Playback type robot.