JP4258716B2 - Robot controller - Google Patents

Description

The present invention relates to a robot control apparatus that issues a work command to a work power supply based on a robot program.

As a conventional technique, there is a multi-function panel that performs multi-color display in a pendant for displaying and editing a robot program. In this prior art, control is performed such that the display color of the invalid operation input key is lightened, the error is displayed with a conspicuous color when an error occurs, or the color of the operation key whose operation is close to the limit is lightened ( For example, Patent Document 1).

Another prior art robot language processing apparatus has a robot language display and editing function for describing the work contents of a teaching playback type robot, and stores a program in the robot language as an intermediate code. When the robot language is displayed, the intermediate code in the memory is decoded, and the orthogonal space position of the movement command group stored in time series is linearly displayed according to the interpolation type of the movement command. Alternatively, they are connected by a curve, and these line groups are converted into coordinates on the screen viewed from an arbitrary viewpoint, and the converted lines are displayed on a display device. At this time, the line corresponding to the work section is displayed in red, for example, and the air cut section (section in which movement is performed without work) is displayed in green, for example. Some display numbers (for example, Patent Document 2).
Further, there is a robot control device that identifies a work section of a work program including an operation command and a work command, and edits and displays a welding work condition or the like as the section information (for example, Patent Document 3).
Japanese Patent No. 2716684 (page 3, right column, line 44 to page 4, left column, line 19) Japanese Patent Laid-Open No. 10-291183 (page 3, right column, rows 7 to 20) JP 2001-222309 A (page 7, right column, 16th line to 38th line)

  The conventional problems described above can recognize the work section, but the current output state to the peripheral device is unknown, so a work start command is executed for the operator operating the robot. There was a problem of not knowing if it was.

  The present invention is intended to solve the problem of such a conventional configuration, and by changing the display color of the command example of the work section according to the output state of the work start command to the peripheral device. The present invention provides a robot control device with improved safety.

The robot control apparatus according to claim 1 of the present invention includes a screen control unit that displays and edits a robot program, and controls the robot based on a robot program including instructions for controlling peripheral devices. A robot program storage unit that stores a program in the form of an intermediate code, a command interpretation unit that interprets a command of the robot program, and a work command determination that determines that a work command has been executed to a peripheral device based on the command interpretation unit A work section recognition unit for recognizing a work section based on a result of the work instruction determination unit, and a display character for converting a command of an intermediate code into a command of a character string in a display format based on the result of the command interpretation unit A column conversion unit, a display character string storage unit for storing a character string in the display format converted by the display character string conversion unit, and the operation And a color setting unit to change the color of the area for displaying the instructions in the interval, the color setting section, when the operation of the robot in the working section is stopped, moving the movement command has been stopped in the other working area The color is changed to a color different from the color of the command .

According to a second aspect of the present invention, in the robot control device according to the second aspect of the present invention, when the operation of the robot stops during the work section, the color setting unit moves the color of the movement command from the work start position to the stop position and the movement command after the stop The color from the work to the work end section is changed to a different color .

According to the present invention, it is possible to determine at a glance whether or not an actual work command is output when an operator executes a movement command by changing the color of the command sequence of the work section based on the output state to the peripheral device. There is an effect that it can be confirmed.

  Hereinafter, examples of the present invention will be described with reference to FIGS.

FIG. 1 shows a configuration diagram of Embodiment 1 of the present invention. Reference numeral 20 denotes a robot program storage unit including work instructions. In this robot program, there are a group of commands for moving the robot, a group of commands for controlling the program itself, and a group of commands for performing work commands on peripheral devices. The command group for moving the robot calculates the amount of movement between the two points, joint interpolation that determines the speed of the other axis based on the longest movement time of each axis, and the trajectory between the two points as a straight line Linear interpolation to interpolate at 3 points, circular interpolation to interpolate the locus between two points with a circular arc based on the position of 3 points, curve interpolation to interpolate the locus between 2 points with a free curve based on the position of 3 points, and moving speed There are commands to set The instruction group for controlling the program itself includes an instruction for changing the execution step of the program by an external input, an instruction for calling another program or subroutine, an instruction for branching, an instruction for maintaining the execution step by a timer for a set time. The command group for issuing work commands to peripheral devices includes a command for outputting welding start, a command for setting welding conditions, a command for outputting the end of welding, and the like to an arc welding power source that is a peripheral device. These robot programs are created when an operator operates an external teaching pendant connected to the robot controller.

As an example of the robot program, an arc welding application will be described as an example with reference to FIGS. The robot program in FIG. 2 has a display character string format. The MOVJ command on line 1 is joint interpolation, and is a command to move to the standby point of the robot. The MOVL command for line 2 is a command for linear movement to the approach point of the welding start position. This approach point is a position above the welding start position and is a position for preventing interference with other objects. Line 3 is a linear movement command to the welding start position. The ARCON command in line 4 is a welding start command. This command outputs a welding start command to the welding power source via a connection line or a communication line (network) connected to the welding power source. However, when the dry run setting is performed so that only the locus of the weld line is confirmed, the welding start command to the welding power source is not output.

The MOVL command on lines 5, 6, and 7 is a linear movement command for the work section. In this operand, V = 60 and V = 45 indicate the moving speed. In the case of arc welding application, the unit of welding speed is cm / min.
The ARCOF command in line 8 outputs a welding end command to the welding power source. When receiving the welding end command, the welding power source monitors the voltage between the welding wire and the base metal after the welding is completed under the welding end condition, and monitors the welding. When the series of welding sequences by the welding power source is completed, the welding is completed.

Line 9 is a retracted position from the welding end position. Normally, a position opposite to the welding wire protruding direction that does not interfere with the workpiece or the jig is taught. In line 10, another robot program JOB: BBB is called.

The robot program shown in FIG. 2 is stored in the robot program storage unit 20 in the form of an intermediate code. The first line in the case of the intermediate code format is shown in FIG. In the case of the MOVJ instruction, the intermediate code is stored as S000110012060F. S is a control code indicating the start of this instruction, 0001 is a MOVJ instruction, “1” in the upper 1 byte of 1001 is a code representing a position variable, and “001” in the lower 3 bytes represents a position variable number. “2” in the upper 1 byte of 2060 represents the joint interpolation speed, and “060” in the lower 3 bytes represents a speed of 60%. The suffix F represents the end code of this instruction. The position variable is stored in another storage part. This position variable is stored in an area different from the robot program storage unit 20.

The processing flow of the present invention will be described with reference to FIG. The command interpretation unit 10 reads the designated robot program from the robot program storage unit 20. First, the head address of the designated robot program in the robot program storage unit 20 is read from the designated robot program name. Thereafter, the first line is read. Since the first line is a movement command, the difference work command determination unit 11 is not notified. Then, the display character string conversion unit 14 converts the intermediate code to the display character string as described above. The processing of the display character string conversion unit 14 will be described based on FIG. FIG. 5 is a correspondence table between intermediate codes and display character strings. Thus, the intermediate code 0001 corresponds to MOVJ, and the intermediate code 0002 corresponds to MOVL.

The instruction interpreter 10 detects the control code “S”. After that, 4 bytes are read. After reading this command, the intermediate code string is divided and transferred to the display character string conversion unit 14. The display character string conversion unit 14 converts it into a display character string according to the intermediate code. In this manner, the display character string conversion unit 14 sequentially converts the display character string from the first line. The data thus converted into the display character string is stored in the display character string storage unit 15.

Next, when the ARCON command is read, the command interpreting unit 10 recognizes that it is a work command. Thereafter, the work command determination unit 11 confirms the output state to the welding power source.
If another interlock such as dry run is set when the ARCON instruction is executed, the work instruction is not actually executed. That is, the work instruction determination unit 11 monitors the output state to the peripheral device, and turns on the work state status 101 when outputting. In addition, when the data is not output to the peripheral device, the work status status 101 is turned off.

If the work status status 101 is ON, the work section recognition unit 12 searches for a work end command line. In this case, it is an ARCOF command corresponding to the welding end command. The control code 'S' at the head of each line is searched, and intermediate codes of subsequent instructions are compared. Search the ARCOF intermediate code '0011'. When the intermediate code “0011” is detected, the line number is acquired.

The color setting unit 13 displays the robot program stored in the display character string storage unit 15 based on the work section start and end line numbers specified by the work section recognition unit 12 and the display color data of the work section. Set the display color of the corresponding line of the character string. The display color is set by RGB data.
Thereafter, the robot program stored in the display character string storage unit 15 is displayed on the display screen 17 via the screen control unit 16. The display screen 17 is a teaching pendant screen connected to the robot control device or a monitor of a control device separate from the robot control device.

A second embodiment of the present invention will be described. When the robot program is executed, if the robot is stopped due to hold stop, emergency stop, mode switching stop, or the like, the work command determination unit 11 acquires the stopped execution line number. The display character string of the execution line number is set to a color different from the work section by the color setting unit 13. Specifically, as shown in FIG. 6, the color setting unit 13 sets a color based on the color table 103.
In the air cut section, that is, the section where the robot is only moving, the command is displayed in black. Next, in the work section, that is, the section outputting the start command to the peripheral device, the command is displayed in yellow. When the robot stops, the execution line is set to blue based on the color table 103.

In the third embodiment, the line number of the work section end line number is set based on the color table 103 from the stop line number of the second embodiment.
That is, in the subsequent work section, since the robot has stopped once, it is clearly shown to the operator that the quality needs to be confirmed.

  A third embodiment of the present invention will be described. In the first embodiment, there is no interlock in the robot control device, and the display color is changed depending on whether a command to a welding power source as a peripheral device is output. In this embodiment, the work command determination unit 11 turns on the work status 101 and transfers it to the work section recognition unit 12 when receiving an arc generation confirmation from the welding power source. The subsequent processing is the same as in the first embodiment. That is, when the peripheral device is operating as the operator desires, the display color is changed by the color setting unit 13.

  The present invention is useful for an industrial robot that issues a work command to a peripheral device.

System configuration diagram of the present invention Robot program display example Example of program operation Intermediate code example Table of correspondence between intermediate code and display character string Color table configuration diagram

Explanation of symbols

10: Instruction interpreter
11: Work instruction determination unit
12: Work section recognition unit
13: Color setting section
14: Display string converter
15: Display character string storage
16: Screen controller
17: Display screen

Claims (2)

In a robot control apparatus that includes a screen control unit that displays and edits a robot program, and controls the robot based on a robot program including instructions for controlling peripheral devices.
A robot program storage unit for storing the robot program in the form of an intermediate code;
A command interpreter for interpreting commands of the robot program;
A work command determination unit that determines that a work command has been executed to a peripheral device based on the command interpretation unit;
A work section recognition unit for recognizing a work section based on the result of the work instruction determination unit;
A display character string conversion unit that converts an instruction of an intermediate code into a command of a character string in a display format based on a result of the instruction interpretation unit;
A display character string storage unit for storing a character string in a display format converted by the display character string conversion unit;
A color setting unit for changing a color of an area for displaying instructions in the work section ;
The robot controller according to claim 1, wherein when the operation of the robot is stopped during the work section, the color setting unit changes the stopped movement command to a color different from the color of the movement command of another work section . When the robot operation stops during the work section , the color setting unit changes the color of the movement command from the work start position to the stop position and the color from the movement instruction after the stop to the work end section. The robot control device according to claim 1, wherein:

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