JP2845373B2 - 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. on the other hand,
For example, in the test process of the robot control, for example, since it is determined that the stored teaching point data of the arm is deviated from a desired position, it is often necessary to slightly change the teaching point data.

However, in this changing process, it is often the case that the operator intends to change the teaching point of the arm because the storage position of the teaching point data is difficult to identify, but the operator mistakenly changes the teaching point of the finger. It has occurred. Usually, this error is often not noticed at that time, and is of a nature that the robot notices only after malfunctioning. However, in some cases, this malfunction may cause damage to the robot, which has been a problem.

Therefore, the present invention has been proposed in order to solve the drawbacks of the related art, and a teaching point for preventing a teaching point from being erroneously registered as a teaching point for a control target different from a target control target. And a control device for controlling the robot using the stored teaching points.

Another object of the present invention is to provide a method for storing a teaching point that can efficiently register a new teaching point while preventing erroneous registration, and a control for controlling a robot using the stored teaching point. A device is proposed.

[Means for Solving the Problems] A teaching point storage method for storing teaching points for a plurality of control targets in a single storage unit according to the present invention for achieving the above-described object includes the steps of: When registering, the information about the storage position for the new teaching point data in the storage means and the identification information about the control target are input together with the teaching point data, and When the identification information has already been stored in the storage position of the new teaching point data, only when the identification information for the new teaching point data that has been input matches the previously stored identification information, It is characterized by accepting registration.

A control device for a system having a plurality of controlled objects according to the present invention for achieving the same object, wherein each of the controlled objects is provided with a teaching point for positioning, and the plurality of controlled objects is provided. A control unit for controlling the movement of the teaching point, and a storage means for storing teaching point data; and for registering a new teaching point for the plurality of control targets, the teaching point data for the teaching point. Input means for inputting together with the storage position information and the identification information of the control target, and when identification information is already stored in the storage position for the new teaching point data, the input of the new teaching point data is Registering means for permitting the registration of the new teaching point data only when the identification information for the first time matches the already stored identification information.

According to the above method and apparatus, when the identification information is already stored in the storage position for the new teaching point data, the identification information for the input new teaching point data is already stored. Only when the identification information matches, the new teaching point data is registered, so that the teaching point is prevented from being registered in the wrong control target.

According to another aspect of the present invention, there is provided a method for storing teaching points for storing teaching points for a plurality of control targets in a single storage unit. Along with the teaching point data, information on the storage position for the new teaching point data in the storage means and identification information on the control target are input, and the identification information is identified as the storage position for the new teaching point data. Only when information is not stored, registration of the newly input teaching point data and identification information is unconditionally permitted.

Further, in order to achieve the other object, according to the present invention, there is provided control of a system having a plurality of controlled objects, wherein a teaching point for positioning is given to each of these controlled objects,
A control device for moving and controlling the plurality of control targets includes a storage unit that stores teaching point data, and a registration point for registering new teaching points for the plurality of control targets, the teaching point data including: Input means for inputting together with the storage position information for the teaching point and the identification information of the control target, and the identification information input only when the identification information is not already stored in the storage position for the new teaching point data A writing means for writing the teaching point data and the identification information to the storage location unconditionally is provided.

According to the above method and apparatus, when registering new teaching point data, registration is performed unconditionally only when identification information is not already stored in the storage position for the teaching point, Prevention of erroneous registration and efficient registration are compatible.

[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. This program is interpreted by the registration / interpretation unit 41. The interpreted command is transmitted to the movement control unit 43, and the position of the main unit 44 or the hand unit 45 is controlled according to the type of the main unit / hand unit. 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 via the registration / interpretation unit 41. 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.

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 composed of four pieces of information of XYZθ, and the attribute data includes information for identifying a main body or a hand. In the present embodiment, this attribute data is given "R" to indicate the robot body, and "H" to indicate 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 a teaching H / R for discriminating any of the hand portion and the main body from 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 switch 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. The writing to the memory 7 is performed via the switch 12 through the writing data T.
Since P and H / R are supplied to the memory 7, the switch 12
Is only possible when is closed. The switch 12 is closed when the attribute data determination device 16 determines that the attribute data read from the memory 7 and the H /
Only when it is determined that R matches.

Reference numeral 8 denotes an attribute data field clear indicator (corresponding to the key 27 in FIG. 3) for instructing the clearing of the attribute data Z in the memory 7, and reference numeral 9 denotes a teaching point data registration indicator for instructing data registration to a teaching point. (Corresponding to the key 25 in FIG. 3) and 10 are teaching point data clear indicators (corresponding to the key 26 in FIG. 3) for instructing the clearing of the teaching point data field in the memory 7. Numeral 16 denotes an attribute data judging device for judging the coincidence / mismatch between the H / R inputted by the identification input device 3 and the attribute data Z outputted from the attribute data extracting device, and 17 denotes an output result of the attribute data judging device. This is an attribute error display device.

There are three values that can be stored in the attribute data field Z in the memory 7, "R", "H", and "0". As described above, the meanings of "R" and "H" mean that the teaching points for the robot body and the hand are stored, respectively. Z
Is "0" means that the teaching point is not stored in this area yet, and that the teaching point data of either the main body or the hand can be stored. That is,
The output of the judging device 16 becomes “1” and the switch 12 closes when: the value of the Z field read by the attribute data extracting device 15 is “0”; When "H" and H / R from the identification input device 3 indicates "H", the value of the Z field read out is "R" and H / R from the identification input device 3 Indicates "R".

In the apparatus of the embodiment shown in FIG. 1, the sequence for registering a teaching point is divided into three cycles as shown in FIG. An attribute data read cycle by the take-out device 15, a check cycle by the determination device 16, and a write cycle involving the switch 12.

When newly registering, as described above, the determination device 16
Outputs "1", the switch 12 is closed, the H / R from the input unit 3 is stored in the attribute data field, and the RTP or HTP selected in accordance with the H / R is stored in the memory 7 through the switch 5. Each is written in the position data field.

When changing the teaching point data of the robot body,
First, a teaching point number input device 4 specifies which teaching point number is to be changed. Next, the identification input device 3 specifies that the data is the teaching point data of the robot body. In response to this designation, the switching unit 5 switches so that the information RTP of the robot body position register 1 is connected to the memory area control unit 6. Next, attribute data of the teaching point data of the number N indicated by the teaching point number input device 4 is extracted by the attribute data extracting device 15, and the attribute data determining device 16 is used.
Passed to. The attribute data H / R specified by the identification input device 3 is also passed to the attribute data determination device 16. Here, the attribute data determination device 16 compares the two attribute data passed and determines whether they match.

The operation when the attributes match will be described below. When the attributes match, the output indicating the match from the attribute data determination device 16 becomes “1”, and the registration of the teaching point data relating to the change is enabled, and the contents RTP of the robot body position register are stored in the memory. It is registered in the data area of the designated teaching point number in the area.

Next, a case where the attributes do not match will be described. When the attribute data Z fetched from the memory area 7 by the attribute data fetching device 15 is that of the hand, the attribute data judging device 16 outputs an inconsistent output to the memory 7 by this output. Writing is prohibited,
Registration is disabled. At the same time,
Is notified to the operator that the attribute data is inconsistent, and the data is not registered.

The operation of clearing the teaching point will be described. In FIG.
Reference numeral 11 denotes a switch for switching the clear instruction from the attribute data clear indicator 8 to valid / invalid, 13 denotes a teaching data extracting device for extracting the teaching data of the number N specified by the teaching point number input device 4, and 14 denotes the teaching data. Is a teaching data clear determiner for determining whether or not is cleared.

Since the clearing of the teaching point data is also a kind of change, the operation of the identification input device 3, the teaching point number input device 4, and the teaching point data clear indicator 10 is required for this operation. First, in the read cycle, the attribute data of the area designated by the teaching point number N is read, and the H / R from the identification input device 3 is compared with the read attribute data. Output from The data “0” is written to the N area in the memory 7 as the position data TP.

Next, when it is desired to clear the attribute data, it is necessary to operate the number input device 4 and the clear indicator 8. By this operation, the teaching point of the input teaching point number N is read by the extracting device 13, and whether the read content is “0”, that is,
The discriminator 14 checks whether the data has already been cleared by the teaching point data clear operation. When it is determined by the determiner 14 that the attribute data has been cleared, the switch 11 is closed, and an attribute data clear instruction is issued to the control device 6.
As a result, "0" is output from the control device 6 as attribute data, and this is written. Thus, the attribute data can be changed.

According to the above embodiment, the means for changing the teaching point of the robot can be switched between the one related to the robot main body and the one related to the hand part, the attribute data of the teaching point is determined, and the registration of data having different attributes is performed. By prohibiting, it is possible to register the robot position data in the storage area of the teaching point of the hand by mistake, and it is possible to prevent accidental use of the robot by mistake using the position data of the robot body,
This has the effect of preventing damage to the robot.

To change attribute data, clear the teaching point data,
Next, data protection is made possible only by performing a double operation of clearing attribute data.

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.

[Effects of the Invention] As described above, according to the teaching point storage method and the control device of the present invention, identification information is already stored in a storage position for new teaching point data by effectively using the identification information. If stored, the new teaching point data is registered only when the input identification information for the new teaching point data matches the already stored identification information, so that the new teaching point data is registered. The teaching point is prevented from being registered as a wrong control target.

Further, according to the present invention having another configuration, when registering new teaching point data by effectively using the identification information, the identification information is already stored in the storage position for the teaching point. Since registration is performed unconditionally only when registration is not performed, prevention of erroneous registration and efficient registration are compatible.

[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 for explaining a registration sequence. 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 ... Attribute data clear indicator, 9 ... teaching point data registration indicator,
10… Teach data clear instruction section, 11, 12… Switch, 13…
A teaching point data take-out device; 14 a teaching point data clear judgment device; 15 an attribute data take-out device; 16 an attribute data judgment device; and 17 an attribute error display device.

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-63-200205 (JP, A) JP-A-59-202508 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) G05B 19/42 G05B 19/4093 G05B 19/18

Claims (6)

(57) [Claims] 1. A teaching point storage method for storing teaching points for a plurality of control targets in one storage means, wherein when new teaching point data is registered, the new teaching point data is stored together with the teaching point data in the storage means. The information on the storage position for the new teaching point data and the identification information on the control target are input. If the identification information is already stored in the storage position for the new teaching point data, the input is performed. A method for storing the new teaching point data only when the identification information for the new teaching point data and the stored identification information match each other. 2. A teaching point storage method for storing teaching points for a plurality of control targets in one storage means, wherein when new teaching point data is registered, the new teaching point data is stored together with the teaching point data in the storage means. The information on the storage position for the new teaching point data and the identification information on the control target are input, and only when the identification information is not stored in the storage position for the new teaching point data, A method for storing teaching points, characterized in that registration of newly input teaching point data and identification information is unconditionally acknowledged. 3. A control device for a system having a plurality of controlled objects, wherein each of these controlled objects is provided with a teaching point for positioning, and a control device for controlling movement of the plurality of controlled objects. A storage means for storing teaching point data; and in order to register new teaching points for the plurality of control objects, the teaching point data is stored in the storage position information for the teaching points and the control object. Input means for inputting together with the identification information; and when the identification information is already stored in the storage position for the new teaching point data, the identification information for the input new teaching point data is already stored. And a registration unit for permitting registration of the new teaching point data only when the identification information matches the identification information. 4. A control device for a system having a plurality of controlled objects, wherein each of these controlled objects is provided with a teaching point for positioning, and a control device for controlling movement of the plurality of controlled objects. A storage means for storing teaching point data; and in order to register new teaching points for the plurality of control objects, the teaching point data is stored in the storage position information for the teaching points and the control object. Input means for inputting together with the identification information, and the input teaching point data and the identification information are unconditionally stored in the storage position only when the identification information is not already stored in the storage position for the new teaching point data. A control device characterized by comprising a writing means for writing to a computer. 5. The control device according to claim 3, wherein the plurality of control objects are a robot main body and a robot hand. 6. The apparatus according to claim 3, further comprising means for clearing an area for storing identification information in said storage means.
Item 5. The control device according to item 4 or 4.