JP3200463B2 - Checking robot teaching data - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for confirming teaching data of a robot in equipment using an industrial robot.

[0002]

2. Description of the Related Art FIG. 4 shows a block diagram of an assembly or processing facility using an industrial robot. The system includes a general control device 1 for controlling the entire equipment, and a robot control device 3, a peripheral device A control device 4, a peripheral device B control device 5, and a peripheral device C control device 12 accompanying the general control device 1. Each control unit includes a general operation panel 2, a robot 7 and a robot operation panel 6, a peripheral device A8 of a deburring machine and its operation panel 9, a peripheral device B10 of a drilling machine and its control panel 11, and a periphery of the drilling machine. A device C13 and a control panel 14 are provided. Other,
Loading device 15 and loading device 1 for loading and unloading workpieces
6 is provided.

FIG. 5 is a diagram showing a movement path of a robot. As shown in the figure, a robot 7 is an assembling or processing facility for assembling or processing with peripheral devices, and mainly carries a work between these peripheral devices.

FIG. 10 shows operation switches of a conventional general operation panel. When the general control device 1 is set to the manual mode from the general operation panel 2, the robot 7 and the peripheral devices are controlled so as to be moved by the respective control devices, and the robot 7 and the peripheral devices can be manually operated. That is, since the robot control device 3 is separated from the control device 1 that controls the entire equipment, the operation panel 6 of the robot control device 3 can teach the robot 7 and check the teaching data.

[0005] In the automatic mode, the robot 7 and peripheral devices are controlled by the overall control device 1 via the respective control devices, so that the operator can operate the entire facility simply by operating the entire operation panel 2. Can be. The control panel of the robot 7 and the peripheral devices is controlled so that the robot 7 and the peripheral devices cannot be operated from the operation panel. Further, when operating the equipment, the robot and the peripheral devices must be in a fixed position state. It is controlled so that it cannot be operated, increasing safety against operator error. Conventionally, in such equipment,
Confirmation of the teaching position of the robot was performed in the automatic mode, and correction was performed in the manual mode.

[0006]

However, when confirming the operation of the entire equipment, it is necessary to confirm not only the independent operation of the robot 7 but also the operation in conjunction with the peripheral device. In this case, since the entire equipment is in the manual mode, the peripheral devices are also operated only by manual operation, and when operating the peripheral devices, the operation panels 9, 11, and 14 of the peripheral devices 8, 10, and 13 are provided.
I had to move around and move the peripherals manually. For this reason, there is a problem that time is required for complicated work and confirmation, and accuracy is deteriorated.

As another confirmation method, a method is considered in which the operation mode of the entire operation panel 2 for operating the entire apparatus is set to the automatic mode, and the robot operation panel 6 of the robot controller 3 forcibly operates the robot 7 independently. Can be However, in this method, the control device 1 that controls the entire system always monitors the robot control device 3 in the automatic mode in order to improve the reliability of the operation, and the robot control device 3 does not perform a predetermined operation. The system was programmed to stop the entire facility, and could not be confirmed.

Further, a method of confirming the teaching position of the robot in such equipment will be described in detail below.
Since the robot can be taught in one way and there is no need to manually check the operation, the mode is set to the automatic mode and the equipment is automatically operated to check. The work inspected visually or as a finished product is inspected to find a defect at the teaching position of the robot. Stop automatic operation of equipment and switch to manual mode. Move the robot to the position to be corrected by operating the robot control panel. In this case, it is necessary to manually operate not only the robot but also peripheral devices. This is because the work moved by the robot at the correction position is a work assembled or processed by a peripheral device before that, and it is difficult to substitute a work that has not been assembled or processed. Correct the teaching position of the robot.

In order to confirm the corrected position, an automatic mode is set and the equipment is automatically operated. However, before that, manually return the robot and peripheral devices to the home position. This is because, in the automatic mode, control is performed so that the automatic operation cannot be performed unless the operator is in a fixed position state in order to increase safety against an operator's operation error. As described above, in order to confirm the teaching position of a conventional robot, not only the robot but also the peripheral devices must be manually operated. The entire facility must be returned to a fixed position, which is a very time-consuming task.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and has as its object to check the teaching data of a robot so that the teaching data of the robot can be checked easily, efficiently, and with high accuracy. It is to provide a method.

[0011]

In order to achieve the above object, the present invention controls a robot by a robot controller and controls peripheral devices by respective peripheral device controllers. In an assembly or processing facility where the equipment controller is controlled by the overall controller, manual mode, automatic mode, and confirmation mode
In the manual mode, the robot controller and the peripheral device controller are separated from each other in the manual mode, and the teaching data of the robot is inputted by the robot operation panel provided in the robot controller. check the operation to perform the independent operation, in automatic mode
Robot and peripheral devices are controlled by the overall control device
In the confirmation mode, only the robot is operated from the robot operation panel to correct the teaching data of the robot, and the peripheral devices are automatically operated to control the teaching data of the robot as a whole. It is characterized in that confirmation is performed.

Further, in order to achieve the above object, the present invention provides an assembling or processing facility, in which a confirmation mode is added to an overall control device in addition to an automatic mode and a manual mode. , Robot only robot
Operate from the operation panel.
, The teaching position can be confirmed without manual operation , and unlike the automatic mode, the operation panel of the robot controller is made usable and the teaching position of the robot is corrected from the robot operation panel By controlling the robot so that the robot can be taught, it is possible to easily confirm and correct the teaching position of the robot.

[0013]

According to the above-mentioned means, as shown in FIG. 2, the entire operation panel 2 is provided with an automatic mode changeover switch and a manual mode changeover switch and a check mode changeover switch. Apparatus 1
Is to disconnect only the robot controller 3 so that the robot alone can be operated, and the peripheral devices are automatically operated.

When the teaching data of the robot can be confirmed in this confirmation mode, the operation of the robot can be performed independently by using the operation panel of the robot controller and controlling the robot by a low speed operation. The functions can be checked safely using the functions, and the peripheral devices operate automatically, so that the interlocking operation between the robot and the peripheral devices can be easily checked. That is, by providing a special mode for checking the teaching data of the robot in the equipment using the industrial robot, the checking operation can be performed efficiently.

The modification and the confirmation work in the confirmation mode are as follows. The equipment is fixed in position by manual operation, and the overall control device is set to the confirmation mode. Move the robot from the operation panel of the robot and check the teaching position. The peripherals operate automatically, so there is no need to move them manually.
When the robot moves to the correction position, stop the robot from the operation panel of the robot and perform correction. Move the robot from the operation panel of the robot, and the equipment resumes operation from the place where it was interrupted for correction. The equipment moves continuously, loads the next work, continues operation, and reaches the correction position.
Confirmation is made visually or by waiting until the work is further carried out and inspecting the carried-out work. As described above, according to the present invention, in addition to the automatic mode and the manual mode, a mode for checking is newly provided. In the checking mode, the robot and its peripherals are easily checked and corrected. It was configured to control the equipment.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 4 is a block diagram of the entire equipment in a processing cell using the industrial robot described above. The equipment includes an industrial robot 7, a carry-in device 15, and a carry-out device 1.
6. Peripheral device A8 = Deburring machine, Peripheral device B10 = Drilling machine, Peripheral device C13 = Drilling machine has control devices 3, 4, 5, 12 and operation panels 6, 9, 11, 14 respectively. . Further, there is an overall control device 1 for controlling these and an overall operation panel 2 thereof.

FIG. 3 shows specific work contents. If holes machining a workpiece, as shown, carries the workpiece by loading device 15 performs deburring in peripheral A8 deburring machine, and then subjected to drilling in the peripheral device B 10 hole drilling machine Thereafter, drilling by the robot 7 is performed, drilling is further performed by the peripheral device C13 of the drilling machine, and the unloading device 16 unloads the work. The movement of the work is performed by the robot 7.

Next, the work contents of the robot will be described in more detail. (01) Move from the fixed position to the tool changing table, and move the hand A to the loading table where the hand A is mounted at the tip of the robot. (02) Take out the work from the loading device. (03) Carry the work to peripheral device A8. (04) Change the hand from A to B at the tool changer,
The work from which the burr was cut by the peripheral device A8 is converted to the peripheral device B10.
Carry to. (05) The hand is changed from B to A at the tool exchange table, the next work is taken out from the loading device, and transported to the peripheral device A8. (06) Place the hand B on the tool exchange table, attach a drill with the drill exchange table, and drill a small-diameter hole in the work on the peripheral device B10. (07) Put the drill, hold the hand B, and the peripheral device B10
Then, the work with the overflow hole processing and the small-diameter hole processing is carried to the reversing table.

(08) The hand is changed from B to C, and the work on the reversing table is carried to the peripheral device C13. (09) Change the hand from C to B, and carry the work on the peripheral device A8 to the peripheral device B10. (10) Change the hand to A, and from the loading device,
Carry work. (11) Attach a drill and drill a small-diameter hole in the work on the peripheral device B10. (12) Hold the hand C, and use the peripheral device C13 to carry the work having the drain hole processed to the discharge device. (13) Hold the hand B and carry the over-hole drilled and small-diameter drilled workpiece to the reversing table from the peripheral device B10. (14) Repeat (13) from (08).

When the teaching data of the robot is confirmed by this equipment, the operation mode of the overall operation panel 2 is set to the confirmation mode, thereby confirming the position data at which the robot 7 conveys the work, and confirming the hole machining by the robot 7. Confirmation can be performed safely. In addition, the operation of the peripheral equipment can be easily confirmed because the operation performed by the peripheral device is automatically operated.

Next, an operation procedure for checking the teaching data of the robot will be described with reference to the mode changeover switch of FIG. (01) Press the manual mode changeover switch on the entire operation panel 2 to switch to the manual mode. (02) Press the robot safety lock release switch on the overall operation panel 2. (03) Turn on the drive power of the robot 7. (04) The operation speed of the robot 7 is set slower than the normal operation speed. (05) The program of the robot 7 is moved one step at a time, and the operation position of the robot 7 is confirmed. (06) Skip the steps for controlling peripheral devices. (07) If the position of the robot cannot be confirmed without operating the peripheral device, use the manual switch of the peripheral device to move the peripheral device. (08) If the operation position of the robot 7 is not correct, correct it. (09) The above operations (5) to (8) are repeated until all the operation positions of the robot 7 are confirmed.

(10) The confirmation mode changeover switch on the entire operation panel 2 is pressed to enter the confirmation mode. (11) Press the operation switch on the operation panel 2. (12) Turn on the drive power of the robot 7. In this case, in the confirmation mode, the safety lock is automatically released when the operation switch is pressed. (13) Set the operation speed of the robot 7 to be lower than the normal operation speed. (14) The program of the robot 7 is moved one step at a time or continuously, and the program is confirmed (operation position of the robot and control of peripheral devices). (15) If the steps for controlling peripheral devices are not correct, correct them. In this case, this confirmation cannot be made in the manual mode, and it is not appropriate for safety to do so. (16) If the operation position of the robot 7 is not correct, correct it. (17) Gradually increase the operation speed of the robot 7. (18) Repeat the above operations (14) to (17) until the equipment specifications are satisfied. (19) Press the automatic mode changeover switch on the entire operation panel 2 to set the automatic mode. (20) Press the operation switch on the operation panel 2.

As described above, in the automatic mode, the drive power supply of the robot and the program start are automatically performed. In the automatic mode, the start position of the robot and the start step number of the program are fixed for safety reasons, and are not moved from other positions. For this reason, it is difficult to confirm and correct in the automatic mode.

FIG. 1 shows a program flowchart relating to mode switching. That is, when the automatic mode changeover switch, the manual mode changeover switch, and the confirmation mode changeover switch of the overall operation panel 2 are pressed, the automatic mode, the manual mode, and the confirmation mode are set, respectively. In the automatic mode, the peripheral device and the robot are automatically controlled. In the manual mode, the operation of the peripheral device and the robot is controlled by the manual switch, and in the confirmation mode, the peripheral device is automatically controlled.

Next, a control method in the manual mode, the automatic mode, and the confirmation mode will be described with reference to FIGS. FIG.
In the automatic mode, a signal is sent from the general controller to the robot controller and the peripheral device controller informing that the automatic mode has been selected. Upon receiving the signal, the robot controller continuously executes the user program, and the peripheral device controller receives the signal, invalidates the switches of each operation panel, and automatically controls by exchanging signals with the overall control panel. I do. When the automatic operation switch on the entire operation panel is pressed, a start signal is output to the robot immediately after it is operated, and when the robot sends a signal indicating that the work has been set to the peripheral device, processing to the peripheral device starts. Or output a signal to start processing.

In the confirmation mode shown in FIG. 7, a signal notifying that the automatic mode has been selected is output from the general control device to the peripheral device control device. The peripheral device control device receives this signal, invalidates the switches of each operation panel, and performs automatic control based on the signal of the overall control panel. However, only the robot can be operated from its operation panel.
Even if the automatic operation switch is pressed, the start signal is not output to the robot. Therefore, in order to operate the equipment, the start switch on the operation panel of the robot must be pressed to operate the robot.

However, for this reason, only the robot can be stopped at an arbitrary position, the teaching position can be corrected,
The equipment can be restarted by pressing the start switch again from the operation panel of the robot. Also, the robot and the peripheral device control unit monitor signals that indicate that the robot is in the home position. If all of these signals are not valid, automatic operation cannot be started and safety at the start is secured. .

In the manual mode shown in FIG. 8, control signals are not output to the robot controller, the overall controller, and the peripheral device controller, and each of them operates independently.

FIG. 9 is a flowchart showing the flow of the user program of the robot, the overall control device, and the peripheral devices in the manual mode and the confirmation mode in the method for confirming the teaching data of the robot according to the present invention.

[0030]

As described above, according to the present invention, the robot is controlled by the robot controller and the peripheral devices are controlled by the respective peripheral device controllers, and the robot controller and the peripheral device controller are controlled by the overall controller. In the assembling or processing equipment controlled by the robot, there are three modes: a manual mode, a confirmation mode which is a special mode for correcting and confirming the teaching data of the robot, and an automatic mode.
Equipped with a mode switching means of the stage, in the manual mode, after inputting the teaching data of the robot without controlling the peripheral device controller, disconnect the robot controller from the overall controller,
Modify the teaching data of the robot by performing the independent operation of the robot using the robot operation panel provided in the robot controller
Rutotomoni, the entire apparatus peripherals to automatic operation
Confirmation data to confirm teaching data of other robots
Since with the over-de, eliminates the need for the operation of each peripheral device, can concentrate on confirmation of the teaching data of the robot, the working efficiency is greatly improved.

[Brief description of the drawings]

FIG. 1 is a program flowchart relating to mode switching for carrying out a method of checking teaching data of a robot according to the present invention.

FIG. 2 is a diagram showing details of an entire operation panel for implementing a method of checking teaching data of a robot according to the present invention.

FIG. 3 is a flowchart showing specific work contents in a method for checking teaching data of a robot according to the present invention.

FIG. 4 is a block diagram of an assembling or processing facility serving as a premise for implementing a method of checking teaching data.

FIG. 5 is a movement path diagram of the robot in which the robot moves.

FIG. 6 is a flowchart illustrating control in an automatic mode in the method for checking teaching data of a robot according to the present invention.

FIG. 7 is a flowchart illustrating control in a confirmation mode in the method for confirming teaching data of a robot according to the present invention.

FIG. 8 is a flowchart illustrating control in a manual mode in the method for checking teaching data of a robot according to the present invention.

FIG. 9 is a diagram illustrating a robot, a control device, and a robot in a manual mode and a confirmation mode in the method for confirming teaching data of the robot according to the present invention.
It is a flowchart which shows the flow of a peripheral device.

FIG. 10 is a diagram showing details of a conventional entire operation panel.

[Description of sign]

 DESCRIPTION OF SYMBOLS 1 Overall control device 2 Overall operation panel 3 Robot control device 4,5,12 Peripheral device control device 6 Robot operation panel 7 Robot 8,10,13 Peripheral device 9,11,14 Peripheral device control panel

Claims (2)

(57) [Claims] 1. A robot is controlled by a robot controller.
And peripheral devices to each peripheral device control device.
The robot controller and peripheral equipment control
Assembling or controlling the device by the overall control device
In processing equipment, manual mode,Automatic mode, confirmation modeThree-stage mode
A switching means is provided.
And peripheral equipment control devices, and prepare them for robot control devices.
The robot teaching panel to transfer robot teaching data.input
didAfter that, let the robot perform the independent operation and confirm the operation,In the automatic mode, each of the robot and peripheral devices is
It is controlled by the control unit via each control unit.
Sea urchin,  Operate only the robot from the robot operation panel in the confirmation mode
To modify the teaching data of the robot,
Robots as a whole device by automatically operating peripheral devices
Characterized in that the display data is checked.
How to check the teaching data of the unit. 2. Peripheral devices are for loading and unloading a work, and dedicated to assembling or processing. A robot mainly carries a work between these peripheral devices and performs assembling or processing with the peripheral device. Robots and peripheral devices have dedicated control devices and operation panels for controlling them, respectively.There are an overall control device and an overall operation panel for controlling these components. , And the peripheral devices are controlled so that they can be operated by the respective control devices. If the automatic mode is set, the robot and the peripheral devices are controlled by the overall control device via the respective control devices. The control panel controls the robot and peripheral devices so that they cannot be operated.
In addition, when operating the equipment, control is performed so that the robot and peripheral devices cannot operate unless they are in a fixed position.In such an assembly or processing and maintenance, the overall control device has a confirmation mode in addition to the automatic mode and the manual mode. In addition, in the confirmation mode, unlike the manual mode, the robot and peripheral devices are controlled by the overall control device so that the entire equipment can be moved automatically, and the teaching position can be confirmed without manual operation. Unlike the control panel of the robot, the operation panel of the robot can be used, and the robot's operation panel can be used to correct the teaching position of the robot, making it easy to check the teaching data of the robot. A method for confirming teaching data of a robot, characterized in that the method can be performed.