JP2845372B2 - Method and controller for storing teaching points - Google Patents

Description

The present invention relates to a method for storing teaching points of a system having different moving parts, such as fingers and arms, for example.
In addition, the present invention relates to a control device that controls a moving unit according to the stored teaching points.

[Prior Art] For example, a system such as a robot has a plurality of movable parts or moving parts or a controlled object (hereinafter abbreviated as a controlled object)
Is usually included. For example, one may recall a robot body (for example, an articulated arm) and a hand (for example, a finger that rotates in the θ direction) attached to its tip. In this case, one control device controls these controlled objects so that the moving direction of the arm and the rotating direction of the finger are closely related so that a desired control result of the arm and the finger can be obtained. Usually it is. Conventionally, in order for one control device to control a plurality of control targets, the teaching points of these control targets are usually stored in a predetermined memory area in a mixed manner.

[Problems to be Solved by the Invention] However, in the above-described conventional example, since the teaching points for the plurality of control targets are divided only by the memory region, the teaching points are divided into regions other than the region predetermined for each control target. The teaching point of another control target could not be stored.
Further, the teaching point for each control target is not provided with identification of which control target teaching point.

For this reason, if another control target is erroneously designated, for example, when the teaching point of the hand is designated in the movement command of the robot body, the robot body is designated by the teaching point data of the hand. It may move to a point, etc., and as a result of the malfunction, there is a disadvantage that the work and the robot (main body) are damaged.

Therefore, the present invention has been proposed in order to solve the drawbacks of the prior art, and a method of storing teaching points of a moving unit that stores teaching points for a plurality of control targets so as to be identifiable for the control targets, and storage of the teaching points. The present invention proposes a control device that controls the moving unit using the taught points.

[Means for Solving the Problems] According to claim 1 of the present invention for achieving the above objects,
A storage method for storing teaching points for a plurality of moving parts includes: storing one teaching point for one teaching number; and adding identification information of one moving part to the one teaching point. And storing the teaching points for each of the plurality of moving parts so as to be identifiable for the moving parts.

According to a preferred embodiment of the present invention, when the one teaching point is stored, the teaching point and the identification information are stored in pairs.

According to Claim 3, which is a preferred aspect of the present invention, the teaching points for each of the plurality of moving units are mixed without dividing the storage area for each control target, thanks to the identification by the identification information. Is memorized.

In order to solve the above-mentioned problem, according to the present invention according to claim 4,
A control device for a system having a plurality of control targets,
A teaching point for positioning is given to each of these control objects, and a control device for controlling the positioning of these plurality of control objects stores the teaching points of each of the plurality of control objects for each control object. A storage unit that stores the teaching points in the storage unit without being divided, and an addition unit that adds information for identifying a control target and stores the information in the storage unit when the teaching point is stored in the storage unit. It is characterized by having.

With the information for identifying the control target added by the adding means, the control target related to the stored teaching point can be identified, and it is not necessary to divide the storage area for each control target.

In order to achieve the above object, according to the fifth aspect of the present invention,
A control device for a system having a main body and a hand as a plurality of control targets, wherein a teaching point for positioning is given to each of the main body and the hand, and positioning control of the main body and the hand is performed. A control unit for storing the teaching points of the main unit and the hand unit in a mixed manner without dividing a storage area for each of the main unit and the hand unit; and storing the teaching points in the storage unit. When storing, additional means for adding information for identifying a control target and storing the added information in the storage means is provided.

With the information for identifying the main body and the hand portion added by the adding means, the main body or the hand portion related to the stored teaching point can be identified. It is not necessary to divide the storage area.

According to another aspect of the present invention, there is provided a control device having a plurality of control objects, wherein each of the control objects is provided with a teaching point for positioning, and A control device for controlling the movement of the controlled object of: a storage unit that stores a pair of the teaching point of each of the plurality of controlled objects and identification information for identifying the controlled object; Instruction means for instructing the positioning operation of the selected control target by a command having identification information of the selected control target and instruction information of the teaching point; and teaching from the storage means in accordance with the instruction information of the teaching point. Movement control means for reading a point and its paired identification information, and only when the read identification information matches the identification information of the instruction, the movement of the control target selected to the read teaching point position is controlled; To And it said that there were pictures.

 With this configuration, generation of an erroneous instruction is prevented.

According to claim 7, which is a preferred aspect of the present invention, the plurality of controlled objects are a robot main body and a robot hand.

According to claim 8, which is a preferred aspect of the present invention, the instruction means includes an interpretation means for interpreting a program instruction.

According to claim 9, which is a preferred aspect of the present invention, the command means includes a console for manually instructing movement to the control target.

[Embodiment] An embodiment in which the present invention is applied to a robot control device including a robot main body and a hand portion will be described below with reference to the accompanying drawings.

FIG. 2 shows a robot system according to the embodiment. In the figure, 40
Is a program input unit for operating the robot programmatically, and an example of the program is shown in FIG. This program is interpreted by the interpreter 41. Reference numeral 20 denotes a console, the specific configuration of which is shown in FIG. The console 20 has a function of inputting a command for teaching point registration and a command input function such as a simple movement command. The command input from the console 20 is also interpreted by the interpreter 41. The teaching points input by the console are registered in the memory 7. The registration of the actual teaching points is an operation of sequentially registering a plurality of teaching points for each of the hand portion and the main body.

Reference numeral 42 denotes a determination unit that determines whether or not there is a contradiction between the movement command and the attribute of the teaching point. Only the command that is determined by this determination unit to have no contradiction is executed by the movement control unit 43.

FIG. 4 shows an example of a program input by the program input unit 40, all of which are movement instructions (MOVE). The ＠ mark before MOVE means a move command to the hand. That is, a movement command without the ＠ mark is interpreted as a movement command to the main body. P (1) and the like mean teaching points registered in the memory 7. The teaching points in the memory 7 are stored in an array in the form of P (N). Here, N is the index number of the teaching point. One piece of teaching point information includes position data TP and attribute data. The position data TP is
The attribute data includes four pieces of information of XYZθ, and the attribute data includes information for identifying a main body part or a hand part. In this embodiment, this attribute data is "R" if it indicates the robot body.
"H" is given if the user designates the hand.

FIG. 3 is a view showing the appearance of the console 20, in which 21 is a display section having a plurality of display digits, 22 is a numeric keypad for inputting a teaching point number N, and 23 is a direction in which the main body or the hand is moved. 24, a switch for instructing either the main body or the hand to move the key 23; 25, a key for instructing the memory 7 to register a teaching point including an attribute; Teaching point data TP once registered in memory 7
A clear key 27 for instructing to clear only the attribute data 27 is a key for instructing to clear only the attribute data Z in the memory 7.

FIG. 1 is a drawing that best illustrates the features of this embodiment. Reference numeral 1 denotes a position register that holds the position information RTP of the robot body, and 2 denotes a position register that holds the position HTP of the hand. As described above, the position data of both the main body and the hand comprises four pieces of information. These position registers are provided in the console 20. Reference numeral 3 denotes an indicator for instructing information H / R for identifying either the hand portion or the main body of the teaching point data for which a registration or movement command is to be issued, and corresponds to the switch 24 in FIG. .
Reference numeral 4 denotes a teaching point number input device for designating a teaching point number N, which corresponds to the numeric keypad 22 in FIG. Reference numeral 5 denotes a changer for switching the input from the position data register according to the information H / R.

Reference numeral 6 denotes a memory area storage control device, and reference numeral 7 denotes a memory that stores teaching point data. This memory is arrayed by P (N) as described above.

Numeral 8 is an input device for inputting a teaching point number for instructing which of the registered teaching points to move to,
It corresponds to the numeric keypad in FIG. Reference numeral 9 denotes a movement command indicator for giving a movement command.
Alternatively, it corresponds to the program instruction in FIG.

Reference numeral 10 denotes a teaching data extracting device for extracting the teaching data of the number designated by the moving point input device 8, and 11 denotes an attribute judging device for judging whether the attribute data read from the memory matches the attribute data in the instruction. , FIG. Reference numeral 12 denotes a switch for turning ON / OFF whether or not to transmit the position data read from the memory 7 to the drive unit, 13 a switch for switching a partner to which the position data is given, 14 a drive unit for the robot body, and 15 a hand unit. It is a driving device.

The case where the teaching point data of the robot body is stored and registered will be described.

Which teaching point number is to be stored is indicated by the teaching point number input device 4
(Or numeric keypad 22). Next, the identification indicator 3 (or the switch 24) designates the teaching point data of the robot body. By this designation, the data switching unit 5 transmits the information of the robot body position register 1
The switching is performed so that the RTP is connected to the memory area control device 6. On the other hand, at the same time, based on the information H / R from the identification indicator 3 (or 24), data R as a symbol for indicating the attribute that the teaching point data belongs to the robot body is used as attribute data. Thus, the memory area control device 6 stores the teaching point data TP and the attribute data Z given from the data switch 5 at the position of the number N designated by the teaching point number input device 4 in the memory 7.

Subsequently, a case where the teaching point data of the hand portion is stored will be described. First, when the identification indicator 3 indicates that the data is the teaching point data of the hand, the position data of the hand is stored as the teaching point data by the operation described above, and the attribute data is that of the hand. Data “H” indicating that there is is stored.

By repeating such an operation, the registration of the teaching point in the memory is completed. Next, a description will be given of a check when the robot is moved in accordance with the teaching points registered in the memory 7.

Once the teaching point P (N) is registered in the memory 7,
All movement commands from the program input unit 40 or the console 20 are checked by the determination unit 42 in FIG. When the command is a movement command from the console 20 as shown in FIG. 3, the check is performed by hardware, for example, by the attribute judging unit 11 shown in FIG. 1, but as shown in FIG. If the program instruction is a simple program instruction, it is performed by software according to the procedure shown in FIG.

First, the determination check by the apparatus shown in FIG. 1 will be described.

Regarding the operation in the case of moving to the teaching point stored in advance by the movement command from the console 20, the data of the teaching point number N = 1, which is the teaching point data of the robot main body, is transferred by the hand movement command. A description will be given in the case where an instruction is given.
First, the movement instruction indicator 9 (corresponding to 24 in FIG. 3) provides information to the attribute judging unit 11 that the instruction is a movement instruction for the hand part. Is switched. Moving point input device 8
Based on the teaching point number information N (= 1) given by
The teaching data extracting device 10 extracts the teaching data P (N) from the memory area 7. The position data TP taken out here is supplied to the drive device designated by the switch 13 via the switch 12. Here, the attribute of the movement command and the attribute Z of the teaching data are compared by the attribute determiner 11. In this case, the attribute of the movement command indicates the hand part,
Since the attribute Z of the teaching data indicates the robot main body, the determination result is inconsistent, and since the position data switch 12 is not connected, the position data is not given to the driving device.
Erroneous operation is avoided.

On the other hand, when the attribute of the movement command and the attribute Z of the teaching data match, the SW 12 is closed, and the position data TP extracted by the teaching data extraction device 10 is switched by the switch 13 switched according to the attribute of the movement instruction. And the operation is performed.

If the instruction is a program instruction, the interpretation unit (FIG. 2) performs a check as shown in FIG. Fifth
In the figure, first, in step S2, a program instruction is fetched. In step S4, it is checked whether or not this fetched instruction is a MOVE instruction.
Index the memory 7 from P (N) in the VE instruction
Read TP and Z. In step S8, it is checked whether or not a mark is added in the instruction. If the ＠ mark is attached, it is a command for the hand part, and if not, it is a command for the main body. Then, in step S10 or step S16, the presence or absence of the ＠ mark and the read attribute Z
Is checked, and if they do not match, the instruction is an error, and error processing is performed in step S14. If the attributes match, this command is sent to the hand in step S12 and sent to the main body in step S18, where the movement control is performed.

According to the above-described embodiment, the memory area for storing the teaching points of the robot is provided with the area for storing the attributes, so that the teaching point data of the robot body and the teaching point data of the hand are mixed and arranged in the memory area. However, if the robot main body capable of distinguishing the two uses the teaching point data of the hand portion by mistake, it can be prevented from being broken, and the robot can be prevented from being damaged.

The present invention can be variously modified without departing from the gist thereof. For example, the attribute code is not limited to “R” and “H”, but may be a number, for example.

Further, in the above embodiment, the robot is composed of the main body and the hand, but the present invention is applicable if there are a plurality of moving parts.

[Effect of the Invention] As described above, according to the teaching point storage method and the control device of the present invention, the moving unit can be identified for the stored teaching point by the added identification information,
Therefore, for example, it is possible to mix and store.

The present invention is particularly effective, for example, when the control target includes a main body and a hand.

And if this storage method is applied to other control devices,
Storage means for storing a pair of the teaching points of each of the plurality of control targets and identification information for identifying these control targets, and a positioning operation of the control target selected from the plurality of control targets, Instruction means for instructing with a command having identification information of a control target and instruction information of a teaching point; and reading the identification information of the teaching point and its pair from the storage means in accordance with the instruction information of the teaching point. Movement control means for moving and controlling the selected control target to the read teaching point position only when the identification information matches the identification information of the command, the occurrence of an erroneous command is prevented. .

[Brief description of the drawings]

FIG. 1 is a view for explaining the principle of this embodiment, FIG. 2 is a block diagram of an embodiment in which the present invention is applied to a robot control device, and FIG. 3 is an external view of a console used in the embodiment. FIG. 4 is a diagram showing an example of a program used in the embodiment, and FIG. 5 is a flowchart of a control procedure when the identification check is carried out programmatically. In the drawing, 1 ... robot body position register, 2 ... hand position register, 3 ... identification indicator, 4 ... teaching point number input device, 5 ... switchover, 6 ... memory area control device, 7 ... memory, 8 ... Moving point input device, 9: Move command indicator, 10: Teaching data take-out device, 11: Attribute judgment device, 12: Switch, 13: Switching device,
14… Robot body drive unit, 15… Hand drive unit

Continuation of the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G05B 19/42 G05B 19/4093 G05B 19/4097 G05B 19/18

Claims (9)

(57) [Claims] 1. A storage method for storing teaching points for a plurality of moving parts, wherein one teaching point is stored for one teaching number and identification information of one moving part is stored in the one teaching part. A method of storing teaching points, wherein a teaching point for each of the plurality of moving parts is stored in a mixed manner so that the moving parts can be identified. 2. The method according to claim 1, wherein when the one teaching point is stored, the teaching point and the identification information are stored in pairs. 3. The teaching according to claim 1, wherein the teaching points for each of the plurality of moving units are stored in a mixed manner without dividing a storage area for each control target. Point storage method. 4. A control device for a system having a plurality of controlled objects, wherein each of the controlled objects is provided with a teaching point for positioning, and the control device controls the positioning of the plurality of controlled objects. A storage unit for storing the teaching points of each of the plurality of control targets in a mixed manner without dividing a storage area for each control target; and storing the teaching points in the storage unit. A control device comprising: an adding unit for adding information for identification and storing the added information in a storage unit. 5. A control device for a system having a main body and a hand as a plurality of control objects, wherein a teaching point for positioning is given to each of the main body and the hand, and the main body and the hand are provided. A control unit for controlling the positioning of the unit, a storage means for storing the teaching points of the main unit and the hand unit in a mixed manner without dividing a storage area for each of the main unit and the hand unit; And a storage unit for adding information for identifying a control target when storing the control information in the storage unit and storing the information in the storage unit. 6. A control device having a plurality of controlled objects, wherein each of the controlled objects is provided with a teaching point for positioning, and a control device for controlling movement of the plurality of controlled objects. Storage means for storing a pair of the teaching point of each of the plurality of control objects and identification information for identifying these control objects, and a positioning operation of the control object selected from among the plurality of control objects, Means for instructing with a command having the identification information of the controlled object and the instruction information of the teaching point; and reading the identification information of the teaching point and its pair from the storage means in accordance with the instruction information of the teaching point. A control device for controlling the movement of the control target selected to the read teaching point position only when the read identification information matches the identification information of the command. 7. The control device according to claim 6, wherein the plurality of control objects are a robot main body and a robot hand. 8. The control device according to claim 6, wherein said instruction means includes an interpretation means for interpreting a program instruction. 9. The control device according to claim 6, wherein said command means includes a console for manually instructing movement with respect to a control target.