JP3204513B2 - Work robot work control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work robot (hereinafter referred to as "robot") in which a work robot and a work are relatively moved to perform the same work at a part or all stop positions after the relative movement. The present invention relates to a method of controlling the relative movement between a workpiece and a robot, and a robot operation control method.

[0002]

(Description of FIG. 1) FIG. 1 is a diagram showing a work W1 to Wn, a robot RB, and a robot (or a work) to be applied to the control method of the prior art and the present invention. It is a figure which shows the relative movement apparatus TR, (overall control apparatus NC), and the robot control apparatus RC. In the figure, a robot (for example, an arc welding robot) RB performs one or more work (for example, horizontal fillet welding) at a first stop position P1 of a work (for example, a work to be welded). After doing
Relative moving device (for example, X slider and Y slider) T
R moves the robot RB and the workpieces W1 to Wn relatively, and the robot performs the same operation as the operation at the first stop position at a part or all of the stop positions after the second stop position P2 of the workpiece. It is a figure explaining repetition.

(Explanation of FIG. 2) FIG. 2 shows that the relative movement device TR moves the workpieces W1 to Wn shown in FIG. 1 in accordance with a relative movement signal S6 output from the robot control device RC. Move the robot RB to Pn,
The flowchart of the conventional control method in which the robot RB performs work at one or a plurality of places at each stop position is shown, and the operation sequence is as follows. In order to start the N1 operation, for example, when a start push button switch of a robot control device RC (not shown) is pressed and a robot operation start signal S1r is output, the operation starts. When the RP1 signal S1r is input, a relative movement signal S6 is output to a relative movement device TR for moving the robot RB to the first stop position P1, for example, an X slider and a Y slider. Note that TR and RB are mechanically linked. When the movement of the RQ1 TR to the first stop position P1 is completed, a work command is issued to the robot RB at the first work position Q1.
The RB starts work according to the RC program, and outputs a work completion signal Rf when the work at the first work position Q1 is completed. N10 When the work completion signal Rf is input to RC, it is determined that control has been completed, and when work is to be continued, a control continuation signal S10 is output. When the RP2 control continuation signal S10 is input, the robot RB is switched to the second
A relative movement signal S6 for moving to the stop position P2 is output. When the movement of the RQ2 TR to the second stop position P2 is completed, a work command is issued to the robot RB at the second work position Q2.
The RB starts work according to the RC program, and outputs a work completion signal Rf when the work at the second work position Q2 is completed. N10 and subsequent operations When the work completion signal Rf is input to the RC, it is determined whether control has been completed. If the work is to be continued, a control continuation signal S10 is output. When the work is completed, a control end signal S10s is output. ,
The operations of RC, RB and TR are all ended.

[0004]

In the conventional robot work control method, the work objects W1 to Wn shown in FIG. 1 are controlled by the robot controller RC shown in FIG. After the TR moves the robot RB or the work to each of the stop positions P1 to Pn,
In order to perform the work at each of the work positions Q1, Q2,... Of B, the program for each work position stored in advance in the RC is sequentially executed and the processing is terminated. In such a conventional control method, as shown in FIG. 2, a movement command RP1 to the first stop position P1 after the work start command, a work command RQ at the first work position Q1, and a movement to the second stop position P2. Command R
P2, a work command RQ2 at the second work position Q2, and a program for outputting all commands up to the end of the work, all of which have been taught to the robot controller RC. As described above, in the conventional control method, each stop position P1
, P2,..., P2,..., It is necessary to repeat the teaching at each work position. It took time. Further, in the conventional control method, the program for moving the relative movement device TR to each stop position and the program for performing the work at each work position at each stop position are integrated programs. Even if it is desired to change a part or to change a part of the work content at the work position, since the integrated program must be changed, it takes a lot of time to change the program.

[0005]

According to a first aspect of the present invention, there is provided a control method comprising:
As shown in FIG. 1, one working robot RB moves and
Operation area where work on the work piece cannot be performed without it
Workpieces larger than
1 Stop at the stop position P1 and stop
After working at one or more locations on the work W1, the relative
The moving device TR moves the work robot RB and stops at the second stop.
Work at some or all stop positions P2,... Pn after the stop position
Stop the industrial robot RB and move it into the second or later operation area.
A workbuffer for sequentially working on a certain work W2,.
In the work control method of the bot RB , as shown in FIG.
And a robot controller R for controlling the working robot RB
C, the work robot RB has the above-mentioned stop positions P1,.
n to perform one or more types of work on the work
And stores the above-mentioned operation in the general control unit NC.
Work robot RB beyond the work area to the next operation area
The relative movement signal S6 to be moved and the working robot RB are
The programs that work at the stop positions P1,.
The program specification signal S7 to be specified is stored in advance and
Preparations before the start of work are completed, and then written to the general control unit NC.
The relative movement signal S6 of the first stop position P1
Then, the relative moving device TR moves to the first stop position P1 to
After moving the bot RB, the robot controller RC
Stored in the general control unit NC from the above programs
The program designation signal S7 of the first stop position P1
Therefore, the program at the designated first stop position P1 is selected.
And the working robot RB is moved to the first position of the work W1.
Work at the stop position P1 and finish the work at the first stop position P1.
And then the second and subsequent data stored in the general control device NC.
By the relative movement signal S6 of the stop positions P2,.
The mobile device TR is moved to the second and subsequent stop positions P2,.
After sequentially moving the industrial robot RB, the robot control
When the control device RC is in the second or subsequent stop position P2,.
n to the general control unit NC from the above programs
The program of the stored second and subsequent stop positions P2,.
The second and subsequent stop positions specified by the system specification signal S7
P2,... Pn programs are sequentially selected and executed, and
Part of the industrial robot RB after the second stop position of the work
Or the work previously executed at all the stop positions P2,.
Repeat the same operation or perform a different operation to the second stop position
This is a work control method of the work robot for ending the work after P2,... Pn . The control method according to claim 2 is based on claim 1.
In the control method described above, the halfway stop command signal S22 is generated until the work completion signal Rf is output after the halfway stop command signal S22 is generated.
22 with the performing aborted and held temporarily held even after a power-down the work completion signal Rf, when that caused a re-start signal S31a, the working position counter N2 the work completion signal the holding, the middle stop This is a work control method for a work robot in which a control method for setting a work position number next to the work that has been performed and starting the work following the work completed after the halfway stop is added. A control method according to a third aspect of the present invention is the control method according to the second aspect, wherein the start / restart signal S1 for starting and restarting the work is generated by the same circuit, and the start / restart signal S1 is set to the first signal and the second signal. The first signal is used as a start signal S31b until the work completion signal Rf is output, and the second signal is used as the start signal S31b until the completion of the entire work after the completion signal Rf is output. Work to make the signal a restart signal S31a
Is a work control method for a robot .

[0006]

First Embodiment (Explanation of FIG. 3) FIG. 3 shows a general control device for controlling a robot RB and a relative movement device TR for moving the work W1 to Wn or the robot RB shown in FIG. , NC) output from the NC to the robot controller RC at each stop position after the relative movement device TR moves the robot RB to each of the stop positions P1 to Pn by the relative movement signal S6. robot RB by the specified signal S7 shows a block diagram of a control method of the present invention that NC is commanding the following operations by the work completion signal Rf outputted every time to end the work 1 to a plurality of locations, Robo
Work control method of Tsu bet is as follows. N1 (start / restart command circuit) The start / restart command circuit N1 outputs a start / restart signal S1 for pressing the start / restart push button switch PB1 to start control of the NC. N2 (Work Position Counter) Each time the work is completed, the work position counter N2 adds "1" to the completed work position number n of the work position counter and outputs a counter signal S2 to the NC. N6 (moving position command circuit) The moving position command circuit N6 outputs a relative movement signal S6 from the stop position data of the robot stored at the address of the NC memory from the counter signal S2 input from the work position counter N2. Then, the robot is moved to each stop position by the relative movement device. N7 (Program number designating circuit) The program number designating circuit N7 reads out the program number stored in the NC determined from the work position of the robot,
A program designation signal S7 is output to the robot controller RC. N9 (Completion position holding circuit) The completion position holding circuit N9 receives the work completion signal Rf, holds the completion work position number n in the memory, and outputs the completion position holding signal S9. This circuit N9 retains the memory contents even if the power is cut off . RC (Robot Control Unit) The robot control unit RC has a program number designated by a program designation signal S7 from the NC,
Causes the robot RB to start work at one or a plurality of places according to the program stored in the. N10 (Control end determination circuit) The control end determination circuit N10 compares the completed work position number n of the robot with the end work position number m stored in the memory of the NC, and when n <m, N23 and Returning to N6 described above via the work position counter N2 described above, the work is repeated in the same order until n = m, and n = m
The work is terminated when it becomes. N22 (Intermediate stop instruction circuit) The intermediate stop instruction circuit N22 outputs an intermediate stop instruction signal S22 when the robot is to be stopped halfway without terminating all repetitive operations. FF1 (Intermediate Stop Hold Circuit) The intermediate stop hold circuit FF1 is a circuit that holds the intermediate stop command signal S22 output from N22 until the stop signal S23s is output from N23 and outputs a stop hold signal S51. AND1 (Intermediate Stop Operation Circuit) The intermediate stop operation circuit AND1 outputs the intermediate stop operation signal S41 to N23 described later when the stop hold signal S51 and the work completion signal Rf are input simultaneously. N23 (Continuation / Stop Determination Circuit) The continuation / stop determination circuit N23 outputs the counter-up signal S23 when the control continuation signal S10 is input from N10 and the halfway stop operation signal S41 is not input from AND1. When the signal S41 is being input, a stop signal S23s is output. SW1 (start / restart switching circuit) The start / restart switching circuit SW1 outputs a start / restart signal S1.
, And outputs a start signal S31b until a start / restart switching signal S52 described later is input, and outputs a restart signal S31a when the signal S52 is input. FF2 (start / restart switch command circuit) The start / restart switch command circuit FF2 outputs a start / restart switch signal S52 when the completion position holding signal S9 is input, and receives a control end signal S10s from N10. When this is done, the signal S52 is stopped. This circuit FF2 outputs a signal S52 when the power is turned on again for restarting after the power is cut off due to an intermediate stop, and when the completion position holding signal S9 is output. SW3 (restart operation circuit) The restart operation circuit SW3 outputs a restart signal S31a from SW1.
Is input to the work position counter N2, and a number obtained by adding "1" to the stopped completed work position number is set.

(Explanation of FIG. 4) FIG. 4 shows a work (hereinafter, referred to as a work to be welded) composed of frames WS and Wf of which both ends are half and frames (W1, W2,..., W20) having 20 frames. And stop positions (stop position numbers Pr, Ps) of the robot RB moved by the relative movement device TR including an X slider and a Y slider (not shown).
, P1 to P4, P11 to P14,..., P211 to P214
) And the work location at the stop position (Q1 to Q165)
FIG. 4 is a diagram for explaining an embodiment of a method of controlling the operation with the above. In the figure, the respective symbols are as follows. X is a robot X
The moving direction of the X slider that moves in the direction, and Y is the moving direction of the Y slider that moves the robot in the Y direction. First, the robot has retreated to the origin position Pr. At the start of work preparation, the robot moves the distance A with the X slider.
And moves to the reference position Ps. This position Ps
Then, for example, the start / restart push button switch PB1 is pressed to generate the start / restart signal S1. A method of controlling the operation of the robot for the first half frame Ws will be described. In response to the start / restart signal S1, the Y slider moves the robot by the distance B1 in the Y direction and stops at the first movement stop position P1. At this position P1, the NC outputs a program designation signal S7 including a robot start signal to the robot controller RC. At this stop position P1, the robot executes the first program pre-teached by the robot controller RC at the work position. Executing in Q1, for example, a horizontal fillet welding operation is performed. When the welding is completed, the robot controller RC outputs a work completion signal Rf to the NC. NC
When the signal Rf is input to the NC, the work position counter N2 in the NC is advanced from 1 to 2, and then the Y slider moves the robot again in the minus Y direction by the distance B1 -C1 and at the second stop position P2. Stop. At this position P2, the NC outputs a program designation signal S7 to the robot controller RC. At this stop position P2, the robot executes the above-mentioned first program pre-teached by the robot controller RC at the work position Q2. To perform the horizontal fillet welding operation. After the welding operation is completed, the above-described counter is advanced to 3, and the Y-slider moves the robot by a distance C1 + C2 in the minus Y direction, stops at the third stop position P3, and is previously teated by the robot controller. The second program is executed at the work position Q3. Next, the Y slider moves the robot in the minus Y direction by a distance B2 -C2, stops at the fourth stop position P4, and executes the same second program at the work position Q4. Thus, the operation of the half frame Ws is completed. Next, the first
A method of controlling the work of the robot for the framework W1 will be described. After the execution of the work position Q4, the X slider moves the robot by the distance D in the X direction, stops the robot at the fourth stop position P14 of the first frame, and executes the third program at the work position Q5. Next, the Y slider moves the robot by a distance B2 -C2 in the Y direction, and the third slider of the first frame is moved.
The program is stopped at the stop position P13 and the same third program is executed at the work position Q6. Subsequently, the Y slider moves the robot in the Y direction by a distance C2 + C1,
Stop at the stop position P12 and execute the fourth program at the work position Q
Execute at 7. Furthermore, the Y slider moves the robot to Y
After moving in the direction by the distance B1-C1 and stopping at the first stop position P11 of the first frame, the same fourth program as described above is executed at the work position Q8. Hereinafter, the stop position P11 of the first frame W1 is controlled by the control method of the order described in the half frame Ws.
The work is performed at the work position Q9, the work is performed at the stop position P12 at the work position Q10, the work is performed at the stop position P13 at the work position Q11, and the work is performed at the stop position P14 at the work position Q12. The work of the first framework W1 is completed. Each stop position P21 to P of the second framework W2
At 24, work is performed at work positions Q13 to Q20,
The same applies to the frameworks W3 to W20. Finally, for the half frame Wf, the work position Q at the stop positions P214 to P211 is the same as the work positions Q5 to Q8 at the stop positions P14 to P11 of the first framework.
The work is executed in steps 165 to Q168, and the work on the workpieces Ws and W1 to W20 and Wf is repeatedly completed. As described above, in this embodiment, the four programs of the first program at the work place Q1, the second program at the work place Q3, the third program at the work place Q5, and the fourth program at the work place Q7 are pre-teached or Simply by making the program offline and storing it in the robot controller, the NC only receives a program command signal S7 for executing any of these four programs in accordance with each work location. Since the work can be performed, the program creation of the robot control device can be performed in a very short time, the operation rate of the robot is extremely improved, and the time of the entire work is reduced. In the above description, the work positions for executing the first program are Q1, Q2, Q9, Q10, Q17, Q18,.
, Q162, and the work positions for executing the second program are Q3, Q4, Q11, Q12, Q19, Q20,.
, And Q164, and the work positions for executing the third program are Q5, Q6, Q13, Q14, Q21, Q22,.
5 and Q166, and the work positions for executing the fourth program are Q7, Q8, Q15, Q16, Q23, Q24,.
7 and Q168.

(Explanation of FIG. 5) FIG. 5 shows a half frame Ws and Wf and a frame (W1) having two frames.
, W2) and each stop position Pr of the robot RB moved by the X slider and the Y slider.
, Ps and P1 through P4, P11 through P14, P21 through P2
FIG. 4 is a diagram for explaining a method of controlling operations of P4 to P31 to P34 and work locations Q1 to Q20. In the figure, the description of the reference numerals is the same as in FIG. In the same figure, for example, an arc welding robot firstly sets up a frame standing plate in the X direction and Y
The vertical intersection of the frame standing plate in the direction, i.e., the working positions Q1 to Q12, is subjected to vertical fillet welding from the inside in the peripheral direction, and then the intersection of the Y direction frame standing plate and the reinforcing plate, This figure shows a method of controlling the operation in the case where horizontal fillet welding is performed at the positions Q13 to Q20 in a staggered manner. The main differences of the work control method between FIG. 4 and FIG. 4 are as follows. First, both differ in the order in which the X and Y sliders move.
Therefore, the order of the work positions executed on the work is different. That is, in FIG. 4, the work positions Q1 to Q4 and Q5 to Q8 are all in the order of the Y direction, whereas in FIG. 5, the work positions Q1 to Q6 and Q7 to Q12 are in the X direction. In order. Second, they differ in the number of programs.
That is, in FIG. 4, at each work position, for example, all horizontal fillet welding is performed, so that each adjacent work position Q1
Since the movement of the joint arm of the robot is the same if the slider in the Y direction is moved, the same program could be used for the first to fourth programs. The robot was able to perform repetitive tasks. However, in FIG. 5, even at the adjacent work positions Q1 and Q14, Q12 and Q13, etc., Q1 to Q12 are vertical fillet welds and Q13 to Q20 are horizontal fillet welds. Since the movements of the articulated arms are different, first to eighth eight programs are required. However, in FIG. 5, similarly to FIG. 4, as described in the flowchart shown in FIG.
Relative movement between the workpiece and the robot is performed, and the robot is started by the program designation signal S7 output from the NC to the robot control device RC to start the robot .
Bot work is controlled.

(Explanation of FIG. 6) FIG. 6 shows the work positions Q2, Q3, Q10, Q11, Q15 to Q15 of the first framework W1 of FIG.
Eighteen locations and program numbers corresponding to each work position
It is an explanatory view showing a case where eight programs 001 to 008 are applied. Further, FIG. 5 also shows the correspondence between each work position (for example, Q4 and Q6) other than the first framework W1 and each program number (for example, 002). When the work position is determined in this way, the program number can be determined one-to-one correspondingly.

(Description of FIGS. 7 and 8) FIGS. 7 and 8
FIG. 7 is a diagram showing settings of a memory for instructing a program of a program number described in FIG. 6 in each work place when work is performed in the work place of the work shown in FIG. 5 in the order shown in FIG. 5. In FIGS. 7 and 8, the left # 00 outside the frame
0 to # 047 indicate the address numbers of the memory, and the inside of the frame is the data or data number for each item described on the right outside the frame. The address numbers # 000 to # 005 are the moving distances of the relative moving device TR shown in FIG.
5000, B1 = 1400, B2 = 900, C1 = 900, C2 = 50
0 and D1 = 0. The address # 006 is a position number at which the work is started and is 1 since the work is started from the work position Q1, and the address # 007 is a position number at which the work is ended.
Since it ends at the work position Q20, it is 20. The address numbers # 008 and # 009 are the number of the stop position P of the robot at the work position Q1 and the program number, respectively. The number of the stop position P of the robot corresponds to the work position Q in FIG.
Since the stop position of the robot when performing the operation 1 is P1, it is 1. The program number is the work position Q1
The movement of the articulated arm of the robot when executing the above operation is the same as the operation position Q3 in FIG. Similarly, the addresses # 010 and 011 are "11" because the robot stop position at the work position Q2 is P11 in FIG. 5, and the program number is 002 in FIG. Similarly, the robot stop positions of the work positions Q3 to Q20 and the program numbers are determined from FIGS.

( Explanation of FIG. 9) Functional explanation of the block FIG. 9 shows the robot described in the embodiment of FIGS.
Is a block diagram of a working method of controlling bets, code and function of each block is as follows. N1 (start / restart command circuit) A general control device for controlling the relative movement device and the working robot, for example, a start / restart pushbutton switch PB1 of NC
To start the NC control, a start / restart signal S1
Is output. SW1 (start / restart switching circuit) The start / restart signal S1 is input, and until the start / restart switching signal S52 described later is input, the start signal S31b is output from the contact b, and the signal S52 is input. , A restart signal S31a is output from the contact a. N2 (work position counter) When the start signal S31b is input, the counter number n is set to 1, and when the counter setting signal S33 described later is input, the counter number n is set to the previous completed work position number. Set the number to which "1" is added and set the counter signal S2
Is output. When a counter-up signal S23 is input from N23 to be described later, a counter signal S2 to which "1" is added is output. N3 (reference position movement command circuit) In order to move the robot RB to the reference position Ps, NC
Outputs a reference position movement signal S3 to the relative movement device TR. TR is, for example, a distance A = 5000 in the X direction of the robot.
[Mm] Move. N4 (work start position command circuit) A work position (for example, Q
"1" of the number 1) (hereinafter referred to as the work start position number)
(For example, from memory address # 006),
The work start position signal S4 is output. N5 (work position command circuit) When the work start position signal S4 from N4 and the counter signal S2 from the work position counter N2 are input, the address number = work start position number × 2 × (n-1) ) Read out the stop position number of the +8 robot (hereinafter referred to as stop position number) and output the stop position signal S5. (Example) The work start position number of the work start position signal S4 is 1
When the counter signal S2 is n = 1, the address number =
Since 1 × 2 × (1-1) + 8 = 8, address # 008 in FIG.
, The stop position number "1" is read out, and the stop position signal S5 of the stop position number "1" is output. Counter signal S2
Is n = 2, the address number = 1 × 2 (2-1) + 8 = 1
Since it is 0, the stop position number "11" of # 010 is read, and the stop position signal S5 is output. N6 (moving position command circuit) Reads the last one digit of the stop position number in the NC memory. When 1, the Y slider is set to 1400 [mm] with respect to the X axis. When the distance is 900 [mm] 3 with respect to the axis, the Y slider is moved by -900 [mm] with respect to the X axis, and when the distance is -500 [mm] 4, the Y slider is moved by -900 [mm]. The direction relative movement signal S6 (y) is output. (Example) When the stop position is P1, the last digit of the stop position number "1" is "1", so the above 1 is executed. When the stop position is P14, the last digit of the stop position number "14" is "4", so the above 4 is executed. Next, the upper two digits of the stop position number in the NC memory are read, and an X direction relative movement signal S6 (x) for moving the X slider (the upper two digits of the stop position number) × 800 [mm] is output. I do. (Example) When the stop position is P1, the upper two digits of the stop position number "1" are "0", so that the X slider does not move. When the stop position is P24, since the upper two digits of the stop position number "24" are "02", an X-direction relative movement signal S6 (x) for moving the X slider by 2 * 800 = 1600 [mm] is output. TR (relative moving device) The relative moving device TR moves the robot to a stop position determined by the signal S6 based on the X and Y relative relative movement signals S6 (x, y) of the X and Y sliders output from the NC. N7 (program number designating circuit) The program number stored at the address number following the readout of the work position number of N5 is read out, and a program designating signal S7 is outputted to the robot controller RC. (Example) Address # 008 from which the stop position number of N5 is read
In the case of, the program number 001 at the next address # 009 is read. If the address from which the stop position number of N5 was read is # 010, the program number of the next address # 011
Read 002. RC (Robot Control Device) The robot control device RC causes the robot RB to start work according to a program number designated by the program designation signal S7 from the NC and stored in the RC in advance. (Example) At the stop position P1 of # 008 of N5, the work of the program number 001 of # 009 specified by the program signal S7 is executed. At the stop position P17 of # 010 of N5, the program number 002 of # 011 specified by the program signal S7.
Perform the work of. When the robot RB finishes the work,
The RC outputs a work completion signal Rf to the NC. SW2 (Completion work position output circuit) When the work completion signal Rf is inputted, the counter signal S2 of the work position counter N2 is output as the completion position signal S32. N9 (Completion position holding circuit) The completion position signal S32 is input, the completion work position number is stored in the memory, and the completion position holding signal S9 is output. This memory is non-volatile, and its contents are preserved even when the power is turned off. N10 (control end determination circuit) Compares the completed work position number n of the completed position holding signal S9 with the finished work position number m = 20 stored in the address # 007 of the NC, and outputs a control continuation signal S10 when they do not match. And
If the numbers match, a control end signal S10s is output. N21 (work end circuit) The NC and RC end all operations in response to the control end signal S10s. N22 (Intermediate stop command circuit) If you do not want to end the repetitive work of the robot and want to stop it halfway for replacing the welding wire, at lunch, or to carry over to tomorrow, press the halfway stop push button switch PB2 to stop halfway. The command signal S22 is output. FF1 (intermediate stop holding circuit) A flip-flop circuit which holds the intermediate stop command signal S22 output from N22 until a stop signal S23s is output from N23 and outputs a stop holding signal S51, and is set by the signal S22. It is reset by the stop signal S23s. AND1 (intermediate stop operation circuit) When the stop holding signal S51 and the work completion signal Rf are simultaneously inputted, the stop operation signal S41 is output to N23 described later. N23 (continuation / stop determination circuit) When the control continuation signal S10 is input from N10, AND
When the intermediate stop operation signal S41 is not inputted from 1, the counter up signal S23 is outputted, and when the signal S41 is inputted, the stop signal S23s is outputted. N24 (Intermediate stop circuit) When the stop signal S23s is input from N23, the robot stops at the completion of the work in the middle of the work end. AD (addition circuit) "1" when the completion position holding signal S9 of N9 is input.
And outputs an addition signal S61. FF2 (start / restart switching command circuit) This is set when the completion position holding signal S9 is input, outputs the start / restart switching signal S52, and switches the start / restart switching circuit SW1 to the contact a side. When the control end signal S10s is input from N10, the signal is reset and the signal S52 is stopped, so that the start / restart switching circuit SW1 returns to the contact b side. The FF 2 is set to output the signal S52 when the power is turned off and then turned on again, and when the completion position holding signal S9 is output. SW3 (restart operation circuit) When the start / restart push button switch PB1 is pressed while the switch SW1 is switched to the contact a, the restart signal S31a is input from the switch SW1 to the switch SW3, and the addition signal S61 of the AD is output. A number obtained by adding "1" to the completed work number input to the work position counter N2 and stopped is set, the work position counter N2 is set, and a counter signal S2 is output from N2.

Description of the operation of the first stop position P1 Pressing the start / restart pushbutton switch PB1 of the NC,
A start / restart signal S1 for starting control of the NC is output. Since the start / restart switching circuit SW1 is connected to the contact b, the start signal S31b is output from the switch SW1.
The signal S31b sets the counter number of the work position counter N2 to 1. The signal S31b is output to the reference position movement command circuit N3, and outputs a reference position movement signal S3 to the relative movement device TR in order to move the robot RB from the origin position Pr shown in FIG. 5 to the reference position Ps. During or after the movement of the robot, the work position (Q1) number “1” at which work is started is read from the memory of the NC, and a work start position signal S4 is output to the work position command circuit N5. When "1" of this signal S4 and n = 1 of the counter signal S2 from the work position counter N2 are inputted, the circuit N5 receives the address number = work start position number × 2 × (n−
1) Since + 8 = 8, the stop position number "1" of the robot is read from the address # 008 shown in FIG. 7, and the stop position signal S5 is output to the movement position command circuit N6. The movement position command circuit N6 reads the last one digit "1" of the stop position number "1", and moves the Y slider a distance B1 = 1400 [mm] with respect to the X axis as predetermined. The signal S6 is output to the relative movement device TR. The robot moves to the first stop position P1 in FIG. 5 by the relative movement device TR. After the movement of the robot, the NC program number designating circuit N7 outputs the address # 008 shown in FIG.
The program number “001” stored at the next address # 009 is read out, and the program designation signal S7 is sent to the RC.
Is output. RC is a program number “001” designated by the program designation signal S7, and causes the robot RB to start work by a program stored in advance in the RC by teaching or offline. Robot RB
Completes the work at the work position Q1, the RC outputs a work completion signal Rf to the NC. When the work completion signal Rf is input, the completed work position output circuit SW2 of the NC outputs the counter number S2 of the work position counter N2 to the completion position signal S2.
Output as 32. The signal S32 indicates the completion position holding circuit N
When the input is input to the circuit 9, the completed work position number "1" is held in the memory of this circuit, and the completed position holding signal S9 is output. The control end determination circuit N10 determines the completion work position number n = 1 of the completion position holding signal S9 and the address # 00 of the NC.
7 is compared with the end work position number m = 20, and since n <m, the control continuation signal S10 is output. When the halfway stop operation signal S41 is not input to the continuation / stop determination circuit N23, the circuit N23 outputs a counter up signal S23 to the work position counter N2. The work position counter N2 adds 1 to the counter number 1 and outputs the counter signal S2 of the counter number 2 to the work position command circuit N5 again.

[0013]Description of operation after second stop position P2  The work position command circuit N5 receives the work start position signal described above.
S4 and "1" of work start position signal S4 and work position count
When n = 2 of the counter signal S2 of the data N2 is input,
Address number = work start position number x 2 x (n-1) + 8 = 10
Therefore, from the address # 010 shown in FIG.
Read "11" and send stop position signal S5 to move position command
Output to the circuit N6. This circuit N6 is provided with the stop position number.
Read the last digit “1” of the number “11” and determine
And the distance between the Y slider and the X axis is B1 = 1400 [mm].
The relative movement signal S6 to be moved is output to the relative movement device TR.
Power. This B1 is the first stop position P1 in the Y direction.
, The TR does not move in the Y direction. I
However, since the second digit of the stop position number “11” is “1”, X
Relative movement signal that moves the slider 1 × 800 = 800 [mm]
The signal S6 is output to the relative movement device TR. The robot is
The position is moved to the second stop position P2 in FIG. 5 by the relative movement device TR.
Move. After the robot moves, the NC program number
The constant circuit N7 has the address next to the address # 010 shown in FIG.
Program number 002 stored in
A program designation signal S7 is output to RC. Hereinafter, the first
In the same manner as the description of the operation at the stop position P1,
N2 is the counter number obtained by adding 1 to the counter number 2.
3 to the working position command circuit N5 again.
Output. Hereinafter, the operation of the third stop position P3 will be described in the second stop position P3.
The operation is the same as that at the stop position P2.

Description of the halfway stop operation The halfway stop pushbutton switch PB2 of the halfway stop command circuit N22 is pressed to output a halfway stop command signal S22 without terminating all the repetitive operations of the robot . If the work is interrupted at the same time as pressing the PB2, there is a possibility that a defect will be generated in the work. Therefore, it is necessary to stop the robot halfway after completing the work at one stop position. The halfway stop signal holding circuit FF1 is a circuit for holding the signal S22 even when PB1 is released. When the signal S22 is input to the set terminal S, the stop holding signal S51 is output from the Q terminal. PB1
When the button is pressed, the work at the work position being continued is completed, and the work completion signal Rf is input to the completed work position output circuit SW2.
Hereinafter, the control continuation signal S10 is input to the continuation / stop determination circuit N23 in the same manner as the description of the operation at the first stop position P1. At this time, since the stop holding signal S51 of the FF1 and the work completion signal Rf are input to the halfway stop operation circuit AND1, the AND1 outputs the halfway stop operation signal S41 to the continuation / stop determination circuit N23. . Therefore, the circuit N23 outputs the stop signal S23s to the halfway stop circuit N24, and the NC and RC stop halfway. In this state, the control power may be cut off .

Description of restart operation As described above, during the repetitive operation of the robot , the halfway stop push button switch P22 of the halfway stop command signal circuit N22
B2, the halfway stop command signal S22 is output, one stop position operation is completed, and the operation completion signal Rf is output.
From the continuation / stop determination circuit N23 to the halfway stop circuit N24
Next, the restart operation from the time when the control power supply is cut off after the stop signal S23s is input will be described. After turning on the control power, start / restart command circuit N1
By pressing the restart button switch PB1, a start / restart signal S1 for starting the control of the NC is output. In this state, the start / restart switching command circuit FF2 outputs the start / restart switching signal S to the output terminal Q when the first completion position holding signal S9 is input to the set terminal S, as described above.
52 is output. In this state, even if the control power supply is cut off , since this state is maintained, the signal S52 switches the start / restart switching circuit SW1 to the contact a side. Accordingly, when the signal S52 is input to the circuit SW1, the circuit SW1 outputs the restart signal S31a to the restart operation circuit S1.
Output to W3. On the other hand, the completion position holding signal S9 of the completion position holding circuit N9 is input to the addition circuit AD, and the addition signal AD is added to the restart operation circuit SW3 by adding "1" to the completion work position number before the control power is turned off. S61 is output.
This circuit SW3 outputs a counter setting signal S33 for setting the work position number of the addition signal S61 to the work position counter N2. The work position counter N2 has a counter signal S2
Is output to the work position command circuit N5, and the work is resumed from the work in the state immediately before the control power supply was cut off .

Description of Operation Ending Operation The operation at the time of ending when all the repeated operations of the robot are ended is as follows. Control end determination circuit N10
When the completion position holding signal S9 is input to the circuit N10, the circuit N10 determines that the completion work position number n = 20 of the completion position holding signal S9 and the end work position number m = 20 stored in the address # 007 of the NC. Since n = m, the control end signal S10s is output to the work end circuit N21 and the start / restart switching instruction circuit FF2. The work end circuit N21 keeps the NC and RC in the end state,
Return to the state just before starting. The start / restart switching command circuit FF2 outputs a control end signal S10 to the reset terminal R.
Since s is input, the signal is reset and the output signal of the output terminal Q, that is, the start / restart switching signal S52 is stopped. Therefore, the start / restart switching circuit SW1 returns to the contact point b, and the work on the next work can be started.

[0017]

According to the control method of the present invention, there is provided a program for controlling the movement of a work robot RB or a relative movement device TR for moving a work to a stop position of the work repeatedly. And the designation of a program to start the work and to repeatedly execute the predetermined program is performed by the general control device, and the working robot is repeated at one or all of the stop positions after the second stop position. The execution of the actual work content at a plurality of work positions can be performed by separately or separately separating the relative movement program and the work content program by inputting the data to the robot controller for controlling the work robot through teaching or off-line. Therefore, despite the repetitive work being included as in the conventional control method, the tee is required for each work position.
It is not necessary to repeat the program creation on the off-line or off-line, and since the relative movement program and the work content program at each work position are not integrated as in the conventional control method, any Even when it is desired to change the program, it is not necessary to change the integrated program, which is advantageous for shortening the program time and preventing the occurrence of a program bug. According to the control method of claim 2, in addition to the function of the control method of claim 1, when a large workpiece is to be worked, if a stop command is given before the whole work is completed, 2. In addition to the effect of claim 1, work is stopped due to the stoppage in the middle of the operation, in which the intermediate operation is stopped before the next operation is completed after the repetition operation is completed, and the restart is performed from the next operation. It is possible to prevent the occurrence of a defect in the work content of the object and to avoid a complicated manual operation after the restart. The control method according to claim 3 is based on claim 1.
In addition to the functions of the control method of claim 2, it is not necessary for the operator to determine whether to start or restart and to press any of the pushbutton switches.
By pressing the same push button switch, the operation of the robot can be started or restarted, and no erroneous operation occurs.

[Brief description of the drawings]

FIG. 1 shows work objects W1 to Wn to which the control methods of the present invention and the present invention are applied, a robot RB, a relative movement device TR between the work object and the robot, and a (NC) robot control device RC. FIG.

FIG. 2 is a flowchart of a conventional robot work control method.
It is.

FIG. 3 is a block diagram of a conventional robot work control method.

FIG. 4 is a diagram showing a work to be worked comprising a frame having half a frame and 20 frames at both ends, a stop position of a robot which is moved by a relative moving device comprising X and Y sliders, and work at a work position at each stop position. It is a figure explaining an example of a control method.

FIG. 5 is a diagram showing a work to be worked consisting of a half frame and two frames at both ends, a stop position of a robot moved by a relative moving device consisting of X and Y sliders, and work at a work place at each stop position. It is a figure explaining an example of a control method.

FIG. 6 shows the application of eight programs of program numbers 001 to 008 corresponding to eight work positions (Q2, Q3,...) Of the first framework W1 in FIG. FIG. 4 is an explanatory diagram showing a relationship with the above.

FIG. 7 is a diagram showing a setting of a memory for instructing a program of a program number described in FIG. 6 in each work place when work is performed in the work place of the work shown in FIG. 5 in the order shown in FIG. 5; It is.

FIG. 8 is a view showing a continuation of FIG. 7;

FIG. 9 shows the robot described in the embodiment of FIGS. 5 to 8;
It is a block diagram of a working method of controlling the bets.

[Explanation of symbols]

NC: general control device RB: (working) robot TR: relative movement device (for example, X slider, Y slider) RC: robot control device Ws, W1 to Wn, Wf: work piece Pr: origin position Ps: reference position P1 P4, P11 to P14,... P211 to P
214 ... Stop positions Q1 to Q165 ... Work position PB1 ... Start / restart push button switch PB2 ... Middle stop push button switch N1 ... Start / restart command circuit SW1 ... Start / restart switching circuit N2 ... Work position counter N3 ... Reference Position move command circuit N4 Work start position command circuit N5 Work position command circuit N6 Move (robot stop) position command circuit N7 Program number designating circuit SW2 Complete work position output circuit N9 Complete position holding circuit N10 Control end Determination circuit FF1 halfway stop holding circuit AND1 halfway stop operation circuit N21 work end circuit N22 halfway stop instruction circuit N23 continuation / stop determination circuit AD addition circuit FF2 start / restart switching instruction circuit SW3 restart operation circuit N24 ... the middle stop circuit S1 ... start and re-start signal S31b ... start signal S31a ... re-start Symbol S2: Counter signal S3: Reference position movement signal S4: Work start position signal S5: Stop position signal S6: Relative movement signal S6 (x): X direction relative movement signal S6 (y): Y direction relative movement signal S6 (x , Y) ... X and Y direction relative movement signal S7 ... program designation signal Rf ... work completion signal S32 ... completion position signal S9 ... completion position holding signal S10 ... control continuation signal S10 s ... control end signal S22 ... halfway stop instruction signal S51 ... Stop hold signal S41: Halfway stop operation signal S23: Counter up signal S23s: Stop signal S61: Addition signal S52: Start / restart switching signal S33: Counter setting signal

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-58-172707 (JP, A) JP-A-58-137588 (JP, A) JP-A-60-201857 (JP, A) JP-A-1- 103709 (JP, A) JP-A-1-105600 (JP, A) Technical trend survey report Machine technology in view of patents March 1975 Published by the Japan Patent Office (58) Fields investigated (Int. Cl. ⁷ , (DB name) G05B 19/18

Claims (3)

(57) [Claims] 1. If one working robot does not move
Exceeds the operating area where the work cannot be performed
After the work robot having the size is stopped at the first stop position and the work is performed at one or a plurality of places in the first operation area , the relative movement device is used for the work.
Moving the robot and stopping the working robot at a part or all of the stop positions after the second stop position,
Working to sequentially work on the work object located in the operating area
The work robot control method, the robot controller that controls the working robot, 1 of the work object the working robot is said at each stop position
A program for performing a plurality of types of work is stored in advance, and the general control device extends from the operation area to the next operation area.
Preparing a relative movement signal for moving the work robot and a program designating signal for sequentially designating a program in which the work robot performs work at each of the stop positions to complete preparation before starting work, After the relative movement device moves the work robot to the first stop position by the relative movement signal of the first stop position stored in the general control device, the robot control device And selects and executes the first stop position program designated by the first stop position program designation signal stored in the general control device, and the work robot performs work at the first stop position of the work. Then, the work at the first stop position is completed. Next, the relative movement device stores the second and subsequent stop positions according to the relative movement signal of the second and subsequent stop positions stored in the general control device. Of the after moving the working robot sequentially in the stop position, the second after the stop position has been stored in the overall controller from the robot control apparatus of the plurality of programs at each stop position of the second subsequent and pick a second after the stop position program designated by the program designation signal sequentially, perform working robot is first in the second stop position after the part or the whole of the stop position of the work object I
A work control method for a work robot that repeats the same work as the work performed or performs a different work and ends the work after the second stop position. 2. The control method according to claim 1, wherein the intermediate stop command signal is temporarily held until a work completion signal is output after a halfway stop instruction signal is generated, and the work completion signal is output. even retained after a power-down, when that caused a re-start signal, the working position counter by work completion signal the holding, by setting the next work position number when the aborted, completed after the middle stop An operation control method for an operation robot that starts the operation following the operation. 3. The control method according to claim 2, wherein a start / restart signal for starting and restarting the work is generated by the same circuit, and the start / restart signal is a signal of the first signal and the second signal.
Until the work completion signal is output.
A work control method for a working robot , wherein the first signal is used as a start signal, and the second signal is used as a restart signal from when the completion signal is output until all work is completed.