JPS6142010A - Teaching method of automatic working system provided with robot - Google Patents

Abstract

PURPOSE:To operate effectively a storage device and to reduce the load of an operator by performing the teaching operation of a system with composite data inputted just before if it is discriminated that one of two kinds of teaching data is not changed as the result of the comparison with teaching data inputted just before. CONSTITUTION:Position detection information given from a position detecting means such as a pulse encoder 7, which detects the position, for example, of a mold, to a distributing board 11 is transmitted to a communication board 13. Position detection information given from the communication board 13 and comparison information of position detection given from a comparator 21 are inputted to a CPU19. The comparator 21 compares position detection information given from a temporary storage buffer 27 for D axis on a basis of a driving command signal with that given from a step (i) storage buffer 35 for D axis. Only when they do not coincide with each other, a signal is outputted to the CPU19 to transfer data stored in the buffer 27 to a teaching data storage area (RAM)39 by a switching element 37; and thus, the RAM area is used efficiently, and the number of times of correction of present position data of the mold is reduced considerably.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates generally to an automatic processing system equipped with a robot, and more particularly to a method of teaching an automatic processing system equipped with a robot.

[Prior art 1] This type of system generally automatically carries in and out a workpiece from a predetermined location and performs the desired processing. It is equipped with a bending machine that performs desired processing on a given workpiece, and an operation section that operates the robot and processing machine, and includes a control box and a teaching box used for teaching operations.

In the above-mentioned establishment, ``When teaching operations for one-pot and bending machines, it is important to prevent movable parts such as the robot's hand and the mold of the bending machine from colliding with, for example, an abutment gauge and being damaged. In order to do this, a so-called jog feed operation is carried out.In jog feed, the movable part reaches the desired position every time Obereu performs a teaching operation. The information is stored one by one in a built-in storage device vI such as RAM.

By the way, in the teaching operation described above, the transportation movement of the robot and the processing work of the processing machine must match, so the above two types of teaching data in each teaching step are combined, and the combined data is stored in the RAM. need to be memorized.

However, in the above configuration, even if the depth position of the mold in the current teaching step (setting the bending angle of the workpiece) is the same as the depth position in the straight bending teaching step, the previous teaching The same teaching data as the previous teaching step is also read in accordance with the teaching data of the robot whose teaching content is different between the step and the current teaching step, which not only makes it impossible to use the RAM efficiently. There is a problem in that it is not possible to reduce the burden on the operator during teaching operations.

[Objective] Therefore, the present invention is intended to improve the above-mentioned problems of the conventional technology.The purpose of the present invention is to make it possible to efficiently operate the RAM built in the control box, and to reduce the operator's FL during teaching operations. (Providing a teaching method for an automatic side system equipped with a robot that can reduce 1)
It's about J.

E Overview of the Invention] A feature of the present invention for achieving the above object is to combine teaching data used for position control of a robot with teaching data used for position control of a processing section of an automatic processing device. In a teaching method for an automatic machining system equipped with a robot that performs system teaching operations, when combining the two types of teaching data, it is determined whether or not these teaching data have been changed by comparing them with the teaching data input immediately before. At the same time, if it is determined that there is no change in one of these two types of teaching data (and b), an automatic side system equipped with a robot that performs a teaching operation of the system using the composite data of the teaching data inputted immediately before. It is in the teaching method.

[Example] The present invention will be explained in detail below with reference to the drawings.

FIG. 1 is a block diagram according to an embodiment of the present invention, and FIG. 2 is a comparative explanatory diagram of the usage of a teaching data storage area according to an embodiment of the invention and the usage of a teaching data storage area according to an example of the prior art. , FIG. 3 is a comparative explanatory diagram of a teaching data modification mode according to an embodiment of the present invention and a teaching data modification mode according to an example of the prior art, and FIGS. 4 and 5 are a system according to an embodiment of the present invention. FIG.

In FIG. 1, the distribution board 11 and the communication board 13 are connected by a communication signal 1s15, and the communication signal [1
15 transmits position detection information given to the distribution board 11 from a position detection means such as a pulse encoder 7 for detecting the position of the mold of the bending machine 47 (shown in FIGS. 4 and 5) to the communication board 13. Transmit. The communication board 13 and the CP
It is connected to U19 by read/write 'm17. The CPU 19 performs logic operations and comparison operations.

The input information to the CPU 19 includes position detection information provided from the communication board 13 via the read/write line 17 and position detection comparison information provided from the comparator 21 via the lead wire 23. , the outputs given from the CPU 19 are the read/write 1-line 17, the communication board 13, and the communication signal 1! ill 5, distribution J', (temporary 11, and the revo motor 1 drive command signal given to the servo amplifier 3 via the subtracter 9 connected to the tachogenerator TG5, and the temporary signal for the D axis via the line 1-Kan 25. The position detection information given to the storage buffer 27, the drive command signal given to the switching element 31 via the control l1131, the drive command signal sent to the comparator 21 via the controller 1 to the roll 1m29, and the drive command signal sent to the comparison device 21 via the control [1]. There is a drive command signal given to the switching element 37. Comparator 21
is based on the drive command signal given via the control line 29. 1) The position detection information given from the axis temporary storage buffer 727 and the D-axis exit step i storage buffer 3.
From 5! 1 is obtained (f77 (compare with detection information).

Comparison F? 21 outputs a predetermined signal to CPtJ 19 based on the result of the above comparison.

The data stored in the D-axis temporary storage buffer 27 includes, for example, the current position 1 of the mold (hereinafter simply referred to as "depth position") given by the CPU 19 from the communication board 13 via the read/write line 17. The data stored in the step i storage buffer 35 for the D-axis is the switching element 33 that closes after a predetermined time lag.
The data is provided from the buffer 27 via the buffer 27. In this embodiment, the comparator I21 is configured to output a signal to the CPU 19 only when the depth position information given from the buffer 27 and the depth position information given from the buffer 35 do not match. . The CPU 19 closes the switching element 37 and closes the lead 1 only when a signal is output from the comparator N21.
143, the data stored in the buffer 29 is transferred to the taught γ-data storage area (RAM) 39.

The teaching data storage area (RAM) 39 stores the teaching data regarding the dibs position outputted from the temporary storage buffer 27 for the axes, and the robot 45 (in FIGS. 4 and 5) in the teaching step corresponding to the data. It stores the combined data with the teaching data (shown in the figure).

The operation of the above configuration will be explained below.

Before starting to drive the system, the A verator is
A teaching operation for bending 1147 is performed with the robot 45 shown in FIGS. Since the operating area of the robot 45 spans three-dimensional idle rotation, three coordinate axes are set: Only axis 1 tree is set. In the teaching step i+1 for the metal plate, for the robot 45, GOOXx
YyZz Aa Bb Change the specified amount from the position of Cc (
0, l, position information, and processing 1147 is Dl
Assume that the position information of (')O is given to the CPU 19.

, CP, and U3O recognize that the above position information has been given, and store the information in the D-axis temporary storage buffer 27,
Next, the switching element 33 is activated to select 1] Axis step i storage buffer? Transferred to 35. When the new 13th head information is given in step i+2, the CPLJ 19 stores the cough position information in the buffer 27 and outputs a drive command signal to the comparison 111g21 via the control [129]. Here, the depth position information given in step i+2 is D1560, and the depth position information given in step i+1 is Dloo, and since there is a clear difference, the comparator 21 outputs a signal to the CPU 19. As a result, the CPU 19 drives the switching element 37 and transfers the combined data of the position teaching data of the robot 45 and the Dibs position teaching data at step i+2 stored in the buffer 27 to the teaching data storage area 39.

By the way, for example, in the case of transitioning from teaching step 2 to teaching step 3 as shown in FIG. 2, although the position information of the 20-bot 45 has changed, the dibs position of the bending machine 47 is Do in both steps. So there is no change.

Therefore, when moving from step 2 to step 3, no signal is output from the comparator i21, so step 3
Dibs position information in is not transferred to the teaching data storage area 39.

Therefore, according to an embodiment according to the method of the present invention, when the dibs position n Y -ta is the same between two consecutive teaching steps, the teaching data storage area as in the conventional example shown on the left side of FIG. 39 fp There is no need to write multiple data, and as shown on the right side of the figure, the RAM area can be used efficiently. Therefore, J shown in FIG.
It has also become possible to significantly reduce the number of corrections to the dibs rank data compared to the previous method.

In addition, FIG. 4 is a diagram showing the robot 45 and the bending machine 47 in the teaching step i, and FIG.
5 is a diagram showing the positional relationship between bending process 1!147.

The content described above is only related to one embodiment according to the present invention, and does not mean that the present invention is limited only to the above content.

[Effect 1] As explained above, if the present invention is implemented, it is possible to determine whether or not two types of teaching data have been changed by comparing them with the teaching data input immediately before, and to determine whether or not at least one of these two types of teaching data has been changed. If it is determined that there is no change in either one of the teaching data, the teaching operation of the system is performed using the composite data of the teaching data inputted immediately before.

Therefore, we have developed an automatic teaching system equipped with a robot that can effectively utilize the storage device built into the control box and reduce the burden on the operator during teaching operations. method can be provided.

[Brief explanation of drawings]

FIG. 1 is a block diagram according to an embodiment of the present invention, and FIG. 2 is a comparative explanatory diagram of the usage of a teaching data storage area according to an embodiment of the invention and the usage of a teaching data storage area according to an example of the prior art. , FIG. 3 is a comparative explanatory diagram of a teaching data modification mode according to an embodiment of the present invention and a teaching data modification mode according to an example of the prior art, and FIGS. 4 and 5 are a system according to an embodiment of the present invention. FIG. 19...CPU 21...Comparison device 27...D
Temporary storage puff around the shaft? 33...Switching element 35...D-axis step i storage buffer 37...Switching element 39...Teaching data storage area (RAM)

Claims (1)

[Claims] In a teaching method for an automatic machining system equipped with a robot that performs a teaching operation of the system by combining teaching data used for position control of the robot and teaching data used for position control of a machining section of an automatic machining device,
When synthesizing the two types of teaching data, it is determined whether or not these teaching data have been changed by comparing them with the teaching data input immediately before, and if there is no change in at least one of these two types of teaching data. A teaching method for an automatic machining system equipped with a robot, characterized in that when a judgment is made, a teaching operation of the system is performed using composite data of the teaching data inputted just before.