JPH05307406A - Controller for robot - Google Patents

Abstract

PURPOSE:To considerably precisely judge a period when shift distances for the respective axes of a robot are detected and maintenance check work is executed. CONSTITUTION:The controller 7 of the robot is provided with a program storage part 9 storing a program regulating the operation of the robot, a program read part 10 reading the program from the program storage part 9, and an instruction discrimination part 11 discriminating whether respective instructions constituting an operation program read from the program storage part 9 by the program read part 10 are shift instructions with respect to the respective axes of an R-axis, an X-axis, a Y-axis and a Z-axis or not. The absolute values of the shift distances in the shift instructions are respectively accumulated and stored in an X-axis distance memory 12, a Y-axis distance memory 15 for the respective shift instructions on the respective axes of the R-axis, the X-axis, the Y-axis and the Z-axis in the instructions of the operation programs, which are read, based on the discrimination result of the instruction discrimination part 11.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for controlling the operation of a robot that moves in parallel or rotates about a predetermined axis.

[0002]

2. Description of the Related Art FIG. 3 is a system diagram of a robot 1 which is a premise of the present invention. The robot 1 has, for example, an R-axis drive member 3 to which an operating end 2 that is driven to rotate around a rotation axis R is mounted.
And a Z-axis driving member 4 for moving the driving member 3 up and down in the Z-axis direction, and a Y for moving the Z-axis driving member 4 back and forth in parallel in the Y-axis direction.
An axis drive member 5 and an X-axis drive member 6 that reciprocally translates the Y-axis drive member 5 in the X-axis direction are provided.
Reference numerals 5 and 6 are connected to a control device 7 such as a microcomputer and perform various operations based on an operation program stored in a memory provided in the control device 7.

[0003]

[Problems to be Solved by the Invention] Such a robot 1
In performing maintenance and inspection of the components of the robot 1 or replacement of components that have reached the end of their life, the cumulative value of the movement distance or rotation angle of each X, Y, Z, R axis of the robot 1 Need to know. Conventionally, such a means for detecting and accumulating the movement amount of each axis is not used, and the period in which the power is applied to the robot 1 is regarded as the movement period of each axis and The same amount of movement was set to. For this reason, the maintenance / inspection work cannot be performed based on the actual change over time for each axis, and depending on the setting of the same movement amount, the maintenance / inspection work is actually performed on the components that have not yet reached the maintenance / inspection time. Or there is a problem such as replacing a component that has not reached the end of its life,
There is a problem when the labor and labor of the work is wasted.

An object of the present invention is to solve the above-mentioned technical problems and to control a robot capable of detecting the moving distance of each axis of the robot and judging the time when the maintenance and inspection work is performed with extremely high accuracy. It is to provide a device.

[0005]

SUMMARY OF THE INVENTION The present invention relates to an apparatus for controlling a robot in which an operating member moves in parallel or rotates about a predetermined axis, and an operation program memory for storing an operation program that defines the operation of the robot. Command reading determination means for reading each instruction constituting the operation program from the operation program memory and determining whether the read instruction is a movement instruction related to the axis, and the instruction read determination means determines the movement instruction. Further, the robot control is characterized by including: cumulative storage means for cumulatively storing the movement distance in the read command for each axis, and display means for displaying and outputting the storage content of the cumulative storage means. It is a device.

[0006]

[Operation] According to the present invention, the operation program that defines the operation of the robot is stored in the operation program memory.
The instruction read determination means reads each instruction forming the operation program from the operation program memory and determines whether the read instruction is a movement instruction related to a predetermined axis. When the instruction read from the operation program memory determines that the instruction is a movement instruction, the movement distance in the read instruction is
The accumulated storage means accumulates and stores each axis.
The stored contents of the cumulative storage means are displayed and output by the display means.

Therefore, it is possible to measure the actual movement distance of each axis, and it is possible to perform maintenance and inspection work for each axis based on the change over time due to the actual movement of each axis. As a result, the maintenance and inspection work can be performed only for the axes that require maintenance and inspection work such as the end of life, and the labor and labor of the work can be reduced. Therefore, maintenance and inspection work can be performed with extremely high accuracy.

[0008]

1 is a block diagram of a robot controller 7 according to an embodiment of the present invention, FIG. 2 is a block diagram of a robot 1 which is a premise of the present invention, and FIG. 3 is a premise of the present invention. FIG. 3 is a system diagram of a robot 1. The configuration of the robot 1 shown in FIG. 3 is the same as that described in the section of the related art, and the description thereof is omitted. As shown in FIG. 1, the control device 7 of the robot 1 according to the present embodiment includes a program storage unit 8 in which a program that defines the operation of the robot 1 is stored, and a program reading unit 10 that reads the program from the program storage unit 8.
And, regarding each command constituting the operation program read from the program storage unit 8 by the program read unit 10, whether the command is a movement command for each of the R axis, X axis, Y axis and Z axis. And an instruction discrimination setting unit 11 for discriminating

Of the instructions of the read operation program, the R
For each movement command relating to each of the axes, the X-axis, the Y-axis, and the Z-axis, the movement distance Lx, Ly, Lz,
Absolute value of Lr | Lx |, | Ly |, | Lz |, | Lr |
Are accumulated and stored in the X-axis distance memory 12, the Y-axis distance memory 13, the Z-axis distance memory 14, and the R-axis distance memory 15, respectively. Distance data Σ | Lx accumulated and stored in the X-axis distance memory 12, the Y-axis distance memory 13, the Z-axis distance memory 14, and the R-axis distance memory 15.
|, Σ | Ly |, Σ | Lz |, Σ | Lr | (symbol Σ represents the cumulative value of the absolute value of each moving distance) is read by the data reading unit 16 and displayed by the display control unit 17. It is displayed on the display unit 18 such as a liquid crystal display device by control.

On the other hand, the operation program read out by the program reading section 10 has an X-axis drive control section 19, a Y-axis drive control section 20, and a Z-axis for each instruction constituting the operation program.
By the axis drive control unit 21 and the R-axis drive control unit 21,
The X-axis drive member 6, the Y-axis drive member 5, the Z-axis drive member 4, and the R-axis drive member 3 are moved.

As shown in FIG. 2, the control device 7 as described above stores, as an example, a CPU (central control unit) 23 realized by a microcomputer and the like, and an operation program of the CPU 23. A RAM (Random Access Memory) 24 for storing data or the like which is generated at any time during operation, a system program for decoding the operation program of the CPU 23, and causing the CPU 23 to operate in response to each instruction of the operation program, etc. And a ROM (read-only memory) 25 in which is stored.

FIG. 4 is a flowchart showing an example of the operation program of the robot 1, and FIG. 5 is a flowchart showing an example of the operation of the system program of the robot 1.
The operation program of the robot 1 is as shown in FIG.
The movement command outside of step a1, the X-axis direction movement command of step a2, the Y-axis direction movement command of step a3, the Z-axis direction movement command of step a4, and the R-axis direction movement command are appropriately used. Composed in combination.

Such an operation program is translated by the system program into a machine language executable by the CPU 23. In step b1, the CPU 23 reads the operation program from the RAM 24, and in step b2, with respect to each command of the read operation program, the X axis and Y
It is determined whether or not the movement command is for each of the axes Z, R, and R. When it is determined in step b3 that the command is a movement command in the X-axis direction, for example, step b
In step 4, the absolute value | Lx | of the moving distance Lx in the command is stored in the X-axis distance memory 12, and the accumulated value is stored as distance data Σ | Lx |.

The above-described processing is performed for the Y-axis other than the X-axis,
The same is performed for the Z axis and the R axis, and the absolute values | Ly | and | L of the movement distances Ly, Lz, and Lr in each command.
z |, | Lr | are accumulated in the Y-axis distance memory 13, the Z-axis distance memory 14, and the R-axis distance memory 15, respectively, and the distance data Σ | Lx |, Σ | Ly |, Σ | Lz |,
It is stored as Σ | Lr |. At step b5, each distance data Σ | Lx |, Σ | Ly |, Σ | Lz |, Σ | L
r | is read by the data reading unit 16 and the display control unit 1
By the control of 7, a display unit 1 such as a liquid crystal display device
It is displayed at 8.

At step b6, the instruction is executed,
In step b7, it is determined whether or not the operation program is completed. If not completed, the process returns to step b2 and the above processing is repeated until the operation program is completed. If the determination in step b3 is negative, the process is step b4.
b5 is not executed and only the instruction is executed in step b6.

As described above, according to the present embodiment, when the maintenance / inspection of the components of the robot 1 or the replacement of the components near the end of their life are performed, the X, Y, Z, The cumulative value of the movement distance or the rotation angle for each R axis can be confirmed only by visually recognizing the display unit 18. Therefore, as in the conventional example, the period in which the robot 1 is powered on is regarded as the movement period of each axis,
Compared with the technology that sets the same amount of movement for each axis, maintenance and inspection work can be performed based on the actual change over time for each axis, and maintenance is actually performed on components that have not yet reached the maintenance inspection time. Problems such as inspection work and replacement of components that have not reached the end of their life can be resolved.
It is possible to reduce the labor and labor of work.

[0017]

As described above, according to the present invention, the operation program that defines the operation of the robot is read from the operation program memory by the instruction read determination means, and the read instruction is a movement command related to a predetermined axis. When it is determined whether or not the instruction read from the operation program memory is a movement instruction by the instruction read determination means, the movement distance in the read instruction is calculated for each axis in the cumulative storage means. It was made to accumulate and be memorized. Further, the contents stored in the cumulative storage means are displayed and output by the display means.

Therefore, it is possible to measure the actual movement distance of each axis, and it is possible to perform maintenance and inspection work for each axis based on the change over time due to the actual movement of each axis. As a result, the maintenance and inspection work can be performed only for the axes that require maintenance and inspection work such as the end of life, and the labor and labor of the work can be reduced. Therefore, maintenance and inspection work can be performed with extremely high accuracy.

[Brief description of drawings]

FIG. 1 is a block diagram of a robot controller 7 according to an embodiment of the present invention.

FIG. 2 is a block diagram of a robot 1 which is a premise of the present invention.

FIG. 3 is a system diagram of a robot 1 which is a premise of the present invention.

FIG. 4 is a flowchart showing an example of an operation program of the robot 1.

5 is a flowchart showing an operation example of the system program of the robot 1. FIG.

[Explanation of symbols]

 1 Robot 2 Operating End 3 R Axis Driving Member 4 Z Axis Driving Member 5 Y Axis Driving Member 6 X Axis Driving Member 7 Control Device 8 Program Storage Section 10 Program Reading Section 11 Command Judgment Constant Section 12 X Axis Distance Memory 13 Y Axis Distance Memory 14 Z-axis distance memory 15 R-axis distance memory 15 16 Data reading unit 18 Display unit Lx, Ly, Lz, Lr Moving distance

Claims (1)

[Claims] 1. An apparatus for controlling a robot in which an operating member moves in parallel or rotates about a predetermined axis. An operation program memory storing an operation program that defines the operation of the robot; and an operation program from the operation program memory. Command read determination means for reading each of the constituent commands and determining whether or not the read command is a movement command related to the axis; and the read command determined to be the movement command by the command read determination means. A control device for a robot comprising: a cumulative storage unit that cumulatively stores the moving distance for each axis; and a display unit that displays and outputs the stored content of the cumulative storage unit.