JP3205859B2 - Robot controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates, when you play the teachings operated cooperatively multiple robots, a robot control device capable of detecting a potential between the robot interference.

[0002]

2. Description of the Related Art In recent years, robots have been widely used in various production sites, but a large number of robots are utilized in cooperative operation.

A teaching method for operating a plurality of robots in a coordinated manner includes a direct teaching method for teaching while actually moving the robot, and an indirect teaching method for teaching using a graphic display and a computer without using an actual robot. There is.

[0004] As a direct teaching method, there are a method of teaching while moving the robot using a teaching pendant or the like, and a method of teaching while a human directly moves the tip of the robot. In these direct teaching methods, the possibility of interference between cooperating robots is not detected when teaching, but the possibility of interference is detected when playing back the taught contents. For example, as disclosed in Japanese Patent Application Laid-Open No. 63-256384, in the first reproduction after teaching, the operator issues a command for interference check, and every time the cooperating robot reaches the target point, the next target point is set. There is a method of detecting the possibility of robot mutual interference from the robot and the robot shape data, displaying the possibility of interference to the operator when there is a possibility of interference, and executing the next target point when there is no possibility of interference.

On the other hand, as indirect teaching methods, there are an off-line teaching method for creating teaching contents using a graphic display and a computer, and a multi-cooperative robot language method for creating teaching contents using a robot language. In these indirect teaching systems, for example, Japanese Patent Application Laid-Open Nos. 60-99991 and 60-2174.
As disclosed in Japanese Patent Application Publication No. 10-107, the operation of a plurality of robots is simulated on a graphic display based on the teaching contents, and after confirming that the robots do not interfere with each other, the teaching contents of the cooperative operation with the actual robot are checked. There is a way to play.

As a method for detecting interference between robots, an interference area when a plurality of robots are installed is set, and the operation of the plurality of robots is monitored so that the plurality of robots are not positioned within the area at the same time. The way to do it was common. However, when the articulated robot performs the interlaced operation, it is difficult to set the interference area, and the working efficiency is deteriorated. Therefore, a method of detecting interference between robots by replacing the robot shape with a three-dimensional model has been proposed. For example, as disclosed in Japanese Patent Application Laid-Open No. 5-204428, the shape of a robot is modeled as a sphere that covers a hand and a wrist and a sphere that covers an elbow joint, and the possibility of interference between robots is considered. As disclosed in JP-A-6-226666,
There is a method of detecting the possibility of interference between the robots by replacing the shape of the robot with a cylinder for the upper and lower arms and a ball for the hand.

[0007]

In such a conventional robot control apparatus, the possibility of interference is not detected when teaching an operation to a robot, and the operator issues a command for interference check during reproduction after teaching. Since this method detects the possibility of interference between robots, it is not known whether or not interference will occur between cooperating robots until the teaching content is reproduced. Therefore, as a result of reproducing the teaching contents, when a large number of teaching contents that may interfere with each other are generated, the number of correction points of the teaching points increases, which is equivalent to the teaching from the beginning. In addition, in the operation of a plurality of robots performing cooperative operation based on sensor information such as a visual sensor and a touch sensor, the operation path changes each time the teaching content is reproduced, and cooperates only with the interference detection of the first reproduction after the teaching. There is a problem that it is not possible to guarantee that there is no interference in the operation between the robots.

On the other hand, in the configuration of the conventional indirect teaching method described above, if a change in the teaching content is required due to a slight difference in the work environment at the site or a design change, the model data on the computer, the teaching content, etc. It is necessary to perform the change, the interference detection by simulation, and the like in a place different from the site, and there is a problem that it takes time and effort. In addition, in the operation of a plurality of robots that perform a cooperative operation based on sensor information such as a visual sensor and a touch sensor, a simulation that considers the sensor information cannot be performed at present, and there is no guarantee that the robots will not interfere with each other. There's a problem.

Further, in the configuration in which the robot model is replaced with a three-dimensional model to detect the possibility of interference between the robots, calculation of interference detection takes a considerable time since three-dimensional data is handled. . Furthermore, various devices are attached to the robot arm according to the intended use, such as a wire feeding device and a torch cable for a welding robot. There is a problem that interference detection cannot be performed.

[0010] The present invention is intended to solve the above problems, and an object thereof is to provide a robot control device capable of detecting the possibility of interference with robotic mutual while re without the teachings operated cooperatively multiple robots .

[0011]

According to one aspect of the present according to claim 1 invention, the control unit for cooperatively operating a plurality of robots, a teaching section for teaching the operation of the plurality of robot by an operator of the operation, the teaching a storage unit for registering record teachings created in part, and a interference detector for detecting the interference between registered teachings of reproduction at the plurality of robots, the teachings of thus the storage unit to a predetermined detection procedure In order
Next, a read is detected by the interference detector the presence or absence of interference between the plurality of robots based on a predetermined interference detection conditions in the transfer process between the current reading out the teachings and the previous reading out the teachings Detect interference by repeating processing
And repeat the teaching contents of the operations of multiple robots.
Teaching contents or interference detection after detecting interference while generating
When the conditions are changed, the interference
This is a robot control device with a detection procedure that does not emit .

[0012] Thereby, the same path as the previous interference detection is detected.
Road, the same conditions do not need to detect the interference again,
Check again for the same route where no interference was detected
Waste is saved and efficiency is improved.

The present invention according to claim 2 provides the teaching section
Operator's operation of the detection procedure along with the created teaching content
And store the teaching contents and the detection procedure
Means to read out the data in sequence,
2. The robot controller according to claim 1, wherein the robot controller detects interference .

[0014] Thus, while reproducing the teaching contents,
When detecting interference, follow the detection procedure desired by the operator.
Therefore, interference can be detected while automatically reproducing the teaching contents .

According to a third aspect of the present invention, there is provided an interference detecting section.
Calculates the mutual distance that is the closest part of multiple robots
And an interference determination unit that determines the presence or absence of interference.
The interference determination unit determines that the mutual distance between the closest parts is
Depending on the detection conditions that there is interference when the
The robot controller according to claim 1 or 2, wherein the robot controller determines interference .

Thus, the closest approach that is likely to interfere
Interference can be detected only for the part, improving work efficiency.
Can be improved .

According to a fourth aspect of the present invention, an interference detector
Change the interference detection conditions between the specified parts of multiple robots.
Claims that there is interference when the mutual distance is less than a predetermined value.
1 to a robot controller according to claim 3.

As a result, it is considered that the possibility of interference is high.
Interference can be detected for the part
Out Ru can.

According to a fifth aspect of the present invention, an interference detecting section is provided.
The detection procedure should be performed on the motion path of the robot to detect interference.
At least one or more sampling points or interpolation points
The robot control device according to any one of claims 1 to 4 , wherein interference is detected in a moving process corresponding to the robot control device.

Thus, not only the teaching point but also the
It was possible to detect interference at the position,
For example, when registering, it is possible to detect interference only for the teaching point.
Even in this case, interference can be detected more reliably during playback,
In addition, multiple robots that cooperate based on sensor information
Even if the operation path is different every time in the operation of
The possibility of interference can be detected .

According to a sixth aspect of the present invention, there is provided an apparatus for detecting interference.
Specify the detection procedure and detection conditions including the start instruction or stop instruction.
The robot controller according to any one of claims 1 to 5 , wherein the input is performed by an operation of an operator .

Thus, the procedure and the procedure desired by the operator can be performed.
And conditions can be entered to detect interference.
Can be detected only when there is a
For example, interference detection suitable for work on site can be easily performed .

[0023]

According to the present invention, there is provided a control unit for operating a plurality of robots in cooperation with each other, a teaching unit for teaching operations of the plurality of robots by an operation of an operator, and a teaching unit. a storage unit for registering record teachings created in, and a interference detector for detecting the interference between registered teachings of reproduction at the plurality of robots, the teachings of thus the storage unit to a predetermined detection procedure Read sequentially
And, in the process of detecting by the interference detection unit whether the interference among the plurality of robots based on a predetermined interference detection conditions in the transfer process between the current reading out the teachings and the previous reading out the teachings Detect interference by repetition
While playing back the teaching contents of the operations of multiple robots.
After detecting interference, change the teaching contents or interference detection conditions.
When the movement process does not change,
A robot control device having an outgoing procedure.
The present invention described in the above, the teaching content created by the teaching unit and
The detection procedure is stored in storage means by the operator
And sequentially reads the teaching content and the detection procedure from the storage means.
Then, according to the detection procedure, the interference is detected during reproduction.
According to a third aspect of the present invention, there is provided the robot control device according to the first aspect , wherein the interference detecting unit includes a plurality of robots.
A calculation unit that calculates the mutual distance that is the closest part of the
An interference determination unit for determining the presence or absence of interference
The part, when the mutual distance of the closest parts is smaller than a predetermined value
To determine interference based on the detection conditions
The robot controller according to claim 1 or 2, wherein the interference detection unit
The interference detection conditions between specified parts of multiple robots.
A robot control apparatus according to any one of claims 1 to 3 mutual distance is that there is interference when equal to or less than a predetermined value, also, the present invention according to claim 5, interference detection
The detection procedure of the part, the operation path of the robot to detect the interference
At least one or more sampling points or interpolation points
A robot controller according to any one of <br/> claims 1 to 4, to interference detection in a moving process corresponding to one, the invention also relating to a sixth aspect, the interference
Detection procedures and detections including detection start or stop instructions
The robot control device according to any one of claims 1 to 5 , wherein the exit condition is input by an operation of an operator .

Hereinafter, embodiments of the present invention will be described.

(Embodiment) FIG. 1 is a schematic diagram showing a relationship between a robot control device of the present invention and a robot. In the figure, 1 and 2 are robots, 3 is a teaching pendant for registering the operation contents, 4 is a storage device for storing teaching contents, 5 is an interference detecting unit for detecting the possibility of interference of the teaching contents, and 6 is an operator's The teaching unit teaches the operation of the robots 1 and 2 by operating the teaching pendant 3. FIG. 2 is a block diagram showing a configuration of an embodiment of the robot control device of the present invention. The arrows in FIG. 2 indicate the flow of data.

The interrelationship and operation of the above components will be described. As shown in FIG. 2, the robot 1 and the robot 2
The teaching contents for coordinating the two robots are a direct teaching method in which the robots are individually moved by operating the teaching pendant 3 and the teaching contents generated by the teaching unit 6 are registered in the storage device 4. When registering the teaching contents, the current position where the teaching contents of the robots 1 and 2 are to be registered and the previous position where the teaching contents stored in the storage device 4 are registered are input to the interference detection unit 5, and during that time, The robot checks the possibility that the robots will interfere with each other on the route, and stores the content to be taught this time in the storage device 4 only when there is no possibility of the interference. On the other hand, the interference detection unit 5
If the result indicates that there is a possibility of interference between the robots, the teaching content of this time is not stored in the storage device 4, and the fact that the teaching content cannot be registered is displayed to the operator on the teaching pendant 3.

FIG. 3 is a block diagram showing the configuration of the interference detection unit 5. In the figure, 7 is a route generation unit for calculating points on the route, 8 is a posture calculation unit of the robot 1, and 9 is a robot 2
Is a distance calculation unit that calculates the distance of the closest part between the robot 1 and the robot 2, and 11 is an interference determination unit that determines whether the robots are interfering with each other.
These units can be realized by a program operation of a microcomputer.

The interrelationship and operation of the above components will be described. When the operation start positions and the operation target positions of the robots 1 and 2 are input to the path generation unit 7, the path generation unit 7 calculates points on the path, and the posture calculation unit 8 calculates points on the path of the robot 1, A point on the path of the robot 2 is output to the attitude calculation unit 9. The posture calculation unit 8 and the posture calculation unit 9 calculate the postures of the robot 1 and the robot 2, respectively, and output the results to the distance calculation unit 10. The distance calculation unit 10 calculates the distance between the closest robot parts from the posture data of the robot 1 and the robot 2 and outputs the result to the interference determination unit 11. The interference determination unit 11 compares the distance of the closest part with a predetermined value, and outputs a result indicating that no interference occurs if the mutual closest part distance is larger than a predetermined value. If the value is smaller, the result of interference is output.

In the above configuration, two robots 1,
Interference detection unit 5 when registering teaching contents for cooperating 2
Is checked for the possibility of interference between the robots 1 and 2 by the operator. The operator instructs from the teaching pendant 3 whether to perform the interference check at the time of registration or to directly store the data in the storage device 4 without the interference check at the time of registration. You may do so. Further, in the above configuration, the interference check is performed without specifying the condition when the teaching contents for coordinating the two robots 1 and 2 are registered. The operator may instruct from the teaching pendant 3 the designation of each part of the robots 1 and 2 to be subjected to interference detection. For example, as shown in FIG. 4, the detection conditions of the interference detection unit 5 are as follows: the part of the robot 1 is A, the part of the robot 2 is B, and the distance between the parts specified by the robots 1 and 2 is L. Is instructed from the teaching pendant 3 by the operator. When these detection conditions are instructed, the interference detection unit 5 checks the possibility of interference according to the instructed detection conditions. Also,
The detection condition of the interference detection unit 5 may be configured such that the operator indicates from the teaching pendant 3 either the distance between the robots or the designation of each of the robots 1 and 2 to be subjected to the interference detection. In the configuration in which the teaching pendant 3 is connected to the teaching unit 6, it goes without saying that the detection condition can be given to the interference detection unit 5 via the teaching unit 6.

A description will now be given of the means for detecting interference during reproduction of the teaching contents for causing the robots 1 and 2 to cooperate. Reproduction of the teaching contents of the robots 1 and 2 is performed by sequentially reading the teaching contents from the storage device 4 and executing the instruction contents. The operator can start or stop the interference detection and specify the detection conditions. In order to
After registering the teaching contents of the robots 1 and 2, prior to the teaching content reproducing operation, first, a process designation for interference detection is written into the storage device 4 while reproducing. In the present embodiment, an instruction register, an interference detection condition register, and an information register are provided in the storage device 4 corresponding to each teaching content of a teaching point, and a start instruction or a stop instruction is written in the instruction register. Write the interference detection conditions, such as the detection site and mutual distance, and write information such as the presence or absence of detection in the information register. Each time the teaching content is read, each of the above registers is also read and processed in accordance with it. I do. If no interference is detected for some reason even under the start command, it is described in the information register that no interference is detected.

FIG. 5 is a flowchart showing a process for storing the above-mentioned instruction in the storage device 4. First, in step 1 , the teaching contents of the robots 1 and 2 are recorded in the storage device 4. Note that the teaching content may be the one subjected to interference check at the time of teaching. Next, the process proceeds to step 2 and waits for the operator to determine whether or not to detect interference while reproducing the teaching content from the position where the teaching content is registered. This judgment is input by the operator. When the operator determines that it is necessary to detect the interference while reproducing the teaching contents, the process proceeds to step 3 and stores the predetermined mutual distance between the closest parts of the robots 1 and 2 from the teaching pendant 3 as the interference detection condition. In step 4 , the instruction to start the interference detection while reproducing the teaching content is stored in the instruction register of the storage device 4, and in step 5 , the teaching content is reproduced from the position where the teaching content is registered. The information for interference detection is stored in the storage device 4 while ending the processing.

If the operator determines in step 2 that it is not necessary to detect interference while reproducing the teaching content, the process proceeds to step 6 and issues an instruction to stop the process of detecting interference while reproducing the teaching content. An operation that can be registered is performed, and in step 7 , it is checked whether or not interference detection is performed while reproducing the teaching contents.
The state where interference is detected is a case where a start instruction is written in the instruction register and information indicating that interference is detected is written in the information register. It must fill the start command and the information both stop command not to interfere the detection of the interference detection information if the above conditions for interference detection while playing teachings, therefore, in step 8, the operator teaching pendant 3 In step 9 , an instruction to stop the process of detecting interference while reproducing the teaching content is stored in the storage device 4, and in step 10 , the instruction from the registered position of the teaching content taught this time is stored. Information that no interference is detected while the content is being reproduced is stored in the storage device 4.
If the interference is not detected while the teaching contents are being reproduced in step 6 , the above processing is unnecessary, and the processing is terminated to wait for the next operation.

In the above processing, the interference detection condition is set to the mutual distance between the closest parts of the robots 1 and 2, but the part of the robots 1 and 2 and the mutual distance may be specified.

Hereinafter, the operation of detecting the interference while reproducing the teaching contents after the instruction storage processing will be described with reference to the drawings. FIG. 6 is a flowchart illustrating an example of a process of detecting interference while reproducing the teaching content created by the process illustrated in FIG. 5 according to a command, a condition, and information. In step 1 1, as the starting position of the operation reads the current position of the robot 1 and 2, in Step 1 2, the target position of the operation from the storage device 4 reads the registered position of the teachings of the robots 1 and 2. Next, a stearyl <br/>-up 1 3 and Step 1 4, checks whether interference detection while playing teachings. That is, in step 13 and step 14 , when the instruction is a start instruction and the information is interference detection, it is determined that interference is to be detected, and the process proceeds to step 15;
To migrate to 2 4. This process, as described in the process shown in FIG. 5, when the instruction does not interfere detected by the convenience even start command by considerations can migrate to Step 2 4.

[0035] In the case of interference detection, in Step 1 5 calculates the interpolation point on the path operation start and operation target point, in step 1 6, calculates the posture of the robot 1 from the interpolation point, step In 17, interference is checked according to the detection conditions included in the interference detection command read in step 13 . Interference shifts to Step 1 8 If not detected, is operated by direct operation to the robot 1, the process proceeds to check whether or not the interference detection for all interpolation points Step 1 9, If all have not been completed, the process returns to step 15 to repeat the same operation as described above. However, if the interference detection has been completed for all the interpolation points, the process proceeds to step 20 and the storage device 4
Reads the teaching points Karatsugi, the process proceeds to step 2 1, was checked by the following teaching point read the whether complete reproduction for all the teaching points, for all teaching points Without next teaching point Although the reproduction end as completed regeneration, proceeds to step 2 2 as reproduction incomplete if there is next teaching point, the current position and operation start point, one
In step 23 the technique, the process returns to Step 1 3 of the teachings read in step 2 0 set as the target position, and repeats the same operation as described above. Further, when the interference is detected in Step 1 7, the process moves to Step 2 6,
Stop robots 1 and 2 and teach pendant 3
Indicates that interference has been detected.

Further, Step 1 3, when it is determined that no interference detected while playing by Step 1 4, the process moves to scan <br/> Step 2 4, on the path of motion start point and the operation target point the interpolation point is calculated, and the robot is operated 1 and 2 to the target point of the route at step 2 5 executes step 2 0 and subsequent treatment.

Through the above processing, interference can be detected while reproducing the teaching contents for causing the robots 1 and 2 to cooperate.

It should be noted that, in the above processing, step1
3. Step14. If there is an instruction for interference detection by
Interference was detected, but interference was detected in the previous step
For the same route that was not
It is useless, so do not detect interference on that route.
By doing so, unnecessary processing can be omitted and more effective
Playback operation can be realized. As a specific means, a storage device
4 from the previous time (the current robot position
Corresponding) and the teaching content read this time from the storage device 4.
As a result of interference check on the route between the two points,
When the above result is obtained, the teaching content
From the indicated content registration position to the next teaching content registration position
If you write information that no
To determine whether or not to detect interference
What should I do? However, the teaching read from the storage device 4
If the registered position of the content is different from the current robot position,
Or the position where the teaching content is registered has been changed.
The interference detection conditions have changed, or
The operation path changes according to the instruction from the sensor information.
In such cases, the interference check registered in the teaching
If you delete the important information or ignore it
Good.

Note that the present invention is not limited to the above embodiment, and it goes without saying that, for example, a plurality of robots may be connected to each other by communication between robot controllers to perform a cooperative operation, or the number of robots may be changed. No.

[0040]

As apparent from the foregoing description, according to the robot control apparatus of the present invention according to claim 1, the reproducing
Operation that does not change the teaching contents and detection conditions in interference detection
To eliminate unnecessary unnecessary interference detection for
I can do it. Further, according to the robot control device of the present invention according to the second aspect, in the interference detection during reproduction, the operator
Automatically detects interference according to the desired effective procedure . Further, according to the robot control device of the present invention according to claim 3, only for the closest part having a high possibility of interference.
Interference detection can improve the efficiency of detection work . Further, according to the robot control device of the present invention according to claim 4, interference
Specify a site that is likely to be
And the efficiency of the detection operation can be improved .
Further, according to the robot control apparatus of the present invention, not only the teaching point but also the operation between the teaching points is detected by the interference.
And detection accuracy can be improved . Further, according to the robot control device of the present invention according to claim 6, the position of the operator is described.
Specify and input desired procedures and conditions to detect interference.
And efficient and highly accurate interference detection.
Work suitable for the place becomes possible.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing the overall configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing an interference detection unit and its periphery;

FIG. 3 is a block diagram illustrating a configuration of an interference detection unit.

FIG. 4 is a schematic diagram showing detection conditions given to an interference detection unit.

FIG. 5 is a flowchart showing a storage process for detecting interference when playing back teaching contents.

FIG. 6 is a flowchart showing interference detection processing at the time of playing back teaching contents.

[Explanation of symbols]

 1, 2 Robot 3 Teaching pendant 4 Storage device 5 Interference detection unit 6 Teaching unit 7 Path generation unit 8 Attitude calculation unit of robot 1 9 Attitude calculation unit of robot 2 10 Distance calculation unit between robots 1 and 2 closest to each other 11 Interference determination unit

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G05B 19/18 B25J 13/00 B25J 19/06

Claims (6)

(57) [Claims] A control unit for operating a plurality of robots in a coordinated manner, a teaching unit for teaching the operations of the plurality of robots by an operation of an operator, and a storage unit for registering and recording the teaching contents created by the teaching unit. , and a interference detection unit for detecting the mutual interference between the plurality of robots when playing teachings registered <br/>, teachings thus the storage unit at a predetermined detection procedure
The contents sequentially read out, this time to read out the teachings and the previous
By repeating the processing of detecting by the interference detection unit whether the interference among the plurality of robots based on a predetermined interference detection conditions in the transfer process between the teaching contents read out
Detecting interference and teaching the operation of multiple robots
After detecting interference while playing back the content,
Moving process that does not change when the interference detection condition is changed
Is a robot controller with a detection procedure that does not detect interference . 2. The teaching contents created by the teaching unit.
The detection procedure is stored in the storage means by the operation of the operator,
The teaching contents and the detection procedure are sequentially read from the storage means,
Interference detection during playback according to the above detection procedure
The robot control device according to claim 1 . 3. The method according to claim 1, wherein the interference detection unit is configured to perform a closest approach of a plurality of robots.
A calculation unit that calculates the mutual distance that is a part, and the presence or absence of interference
And an interference determination unit for determining, the interference determination unit,
When the mutual distance between the closest parts is smaller than the specified value,
Claims to determine interference based on detection conditions
The robot control device according to claim 1 or 2. 4. The method according to claim 1, wherein the interference detection conditions of the interference detection unit are set to a plurality of robots.
The mutual distance between the specified parts of the unit is less than the specified value
4. The robot control device according to claim 1 , wherein the robot sometimes interferes . 5. The detecting procedure of the interference detecting section, wherein the detecting step detects the interference.
At least one sump on the motion path of the power robot
In the movement process corresponding to either the ring point or the interpolation point
The robot controller according to any one of claims 1 to 4, wherein interference detection is performed . 6. An interference detection start or stop instruction is included.
Input the detection procedure and detection conditions
The robot controller according to any one of claims 1 to 5 , wherein the robot controller applies force .