JPH08171409A - Robot controller - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a controller for a robot capable of correcting the teaching data in real time without stopping the operation of the robot during the reproduction of the teaching data. [Configuration] The control arithmetic unit 31 performs processing using the RAM 33 in accordance with a control program stored in the ROM 32, and controls each unit of the control unit 3. Servo control unit 34
Supplies a speed command signal to the servo motor driver 35 under the control of the control arithmetic unit 31. The servo motor driver 35 generates a servo motor operation signal S _S from the speed command signal and rotates the servo motor. The teaching data correction device 36 receives the pulse signal output from the timer 37 at a predetermined sampling interval during the teaching data reproduction of the control arithmetic device 31, and each time the teaching data correction device 36 corrects the teaching data in the RAM 33. Perform processing.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot controller used for controlling a teaching playback type robot.

[0002]

2. Description of the Related Art FIG. 11 is a perspective view showing a configuration example of a coating robot system using a conventional robot controller. The manipulator 1 has arms 1a and 1b, and a coating gun 2 held at the tip of the arm 1b is moved to an arbitrary position within the operating range of the manipulator 1 to perform a coating operation. The manipulator 1 has four rotary shafts 1c to 1f, and has a built-in servo motor that rotates each rotary shaft 1c to 1f and an encoder that detects an angle of each rotary shaft 1c to 1f.

The control device 103 comprises a CPU (central processing unit), a ROM (read only memory), a RAM (random access memory) and the like. The controller 103 obtains the coordinates of the tip of the coating gun 2 and the attitude of the manipulator 1 from the angles of the rotary shafts 1c to 1f detected by the encoder, and the tip of the coating gun 2 passes through the coordinates given by the teaching. Controls the operation of the manipulator 1.
The operator of the hand-held operating device 104 is the manipulator 1
It is used when inputting an operation command or the like to the control device 103. FIG. 12 shows an example of the hand operating device 104. The hand operating device 104 has an input key 105, an emergency stop button 106, and a display 107.

Next, a procedure of teaching work in the coating robot system having the above structure will be described. FIG. 13 is a perspective view showing the orbit along which the tip of the coating gun 2 moves during the painting operation (hereinafter referred to as the painting orbit) and the position of the work 6. As shown in this figure, the painting gun 2
While spraying the paint on the work 6 arranged on the rectangular net 5 placed on the XY plane, from the point P1 to the point P.
2. Then, the spraying of the paint is stopped and the process moves from point P2 to point P3. Similarly, the coating gun 2
While spraying the paint only when moving in the X-axis direction, the paint moves from the point P3 to the point P8 in a trajectory as shown in FIG. When the operator teaches by a method of teaching the four end points of the workpiece 6 called four-point teaching described below, the control device 10
3 generates a trajectory along which the tip of the coating gun 2 moves (hereinafter referred to as a trajectory of the tip of the coating gun 2) as the trajectory as shown in FIG.

First, the operator operates the hand-held operating device 104.
Is used to set the operation mode of the control device 103 to the teaching mode, and the vertexes A to D of the net 5 and the standby position P0 (hereinafter referred to as the vertex), which is the position of the tip of the coating gun 2 when the manipulator 1 is in the standby posture. A to D and the standby position P0 are referred to as teaching points) are taught to the control device 103. In particular,
The operator operates the "X" key, "Y" key, "Z" of the input keys 105 provided on the handheld operation device 4 shown in FIG.
By using the coordinate axis designation keys of the keys and the movement direction designation keys of the "+" and "-" keys, the tip of the coating gun 2 is actually moved to each of the vertices A to D and the standby position P0, and then "OK". Press the key to teach the coordinate value.

After that, the operator operates the local operating device 10
4, the moving speed of the coating gun 2, the number of trajectories in the X-axis direction shown in FIG. 13 (hereinafter referred to as "passes"), the overspray width W, the amount of paint sprayed, the coating conditions such as the regeneration start timing, etc. When the teaching data name is input after setting, the control device 103 completes the teaching data based on those data. When the teaching data is completed, the operator sets the operation mode of the control device 103 to the reproduction mode, reproduces the teaching data, and causes the manipulator 1 to actually perform the painting work. At this time, the operator
The coating orbit, the amount of coating on the work 6, the coating quality such as uneven coating, and the like are confirmed. If there is no problem with these, the teaching work is ended.

However, it is rare for the operator to obtain the coating trajectory and the coating quality as intended by the first teaching, and not only the teaching point but also the distance from the tip of the coating gun 2 to the work 6 and the excess. Spray width W (Fig. 1
A slight deviation such as (see 3) often causes problems in the coating trajectory and coating quality. In such a case, after the operation of the manipulator 1 is completed, the operator sets the operation mode of the control device 103 to the teaching mode again, and teaches the teaching point and sets the painting condition again. In this way, when the satisfactory coating quality is not obtained unless the procedure of "Teach → Replay to confirm coating trajectory and coating quality → Re-teaching to correct teaching data" is repeated several times. There are many.

[0008]

As described above, in order to obtain a satisfactory coating trajectory and coating quality, it is necessary for the operator to repeat the correction and the confirmation of the teaching data several times. However, when modifying the teaching data, the operator needs to save / select and read the teaching data, withdraw / restore the coating gun 2 to the standby position P0, set the operating speed, and perform some complications associated with mode switching. It was necessary to carry out various operations. As a result, the operator needs a lot of man-hours to correct the teaching data, which distracts the attention to each operation, which may cause an erroneous deletion or correction error of the teaching data due to an erroneous operation. there were.

Further, in the conventional coating robot system using the robot controller, the operator can correct the teaching data in real time while actually observing the operation of the manipulator during the reproduction of the teaching data. There wasn't. For this reason, the operator has a drawback that it is difficult to grasp the coordinates that need correction on the painting trajectory, and when the manipulator is used in the work line, the entire work line must be stopped. . The present invention has been made under such a background, and provides a robot control device capable of correcting the teaching data in real time without stopping the operation of the robot during the reproduction of the teaching data. The purpose is to do.

[0010]

According to the first aspect of the present invention,
Teaching data generation means for generating teaching data of the robot, storage means for storing the teaching data generated by the teaching data generation means, and control for controlling the robot based on the teaching data stored in the storage means Means, an instruction means used for instructing the correction of the teaching data, and the control means while controlling the robot,
Teaching data modifying means for modifying the teaching data stored in the storage means in accordance with an instruction from the instructing means. The invention according to claim 2 is
2. The robot control device according to claim 1, wherein the control means controls the robot so that a predetermined portion of the robot passes a trajectory definition point, which is a plurality of predetermined coordinate points, in a predetermined order, The instructing means is used to instruct one of the trajectory definition points and the coordinate values to which the trajectory definition points are to be moved, and the teaching data correction means is provided while the control means controls the robot. In addition, the coordinate value of the trajectory definition point designated by the designating means is corrected to the coordinate value designated by the designating means.

According to a third aspect of the present invention, in the robot controller according to the first aspect, the instructing means is used to instruct a moving speed of a predetermined portion of the robot, and the teaching data correcting means, The moving speed of the predetermined part is corrected to the moving speed instructed by the instructing means while the control means controls the robot. According to a fourth aspect of the present invention, in the robot control apparatus according to the first aspect, the instructing means is used to instruct the amount of work performed by the robot, and the teaching data correcting means is the control means. It is characterized in that the amount of work performed by the robot is corrected to the amount of work instructed by the instructing means while the robot is being controlled.

The invention according to claim 5 is the invention according to claims 2 to 4.
In the robot controller described above, the teaching data is, for each of the trajectory definition points, coordinate values of the trajectory definition point, or the moving speed when the predetermined site is at the trajectory definition point, or the predetermined site. Is a teaching data constituent element indicating each of the work amounts when the trajectory definition point is present, the instructing means includes a plurality of the trajectory definition points, one type of the teaching data constituent element, and the teaching data constituent element. The teaching data correction means is used for instructing a correction value, and for each of the plurality of trajectory definition points instructed by the instructing means, while the control means controls the robot. It is characterized in that the teaching data constituent elements are collectively corrected to the correction value.

[0013]

According to the invention described in claim 1, the control means controls the robot based on the teaching data stored in the storage means, the instructing means is used for instructing the correction of the teaching data, and the teaching data correcting means is While the control means controls the robot, the teaching data stored in the storage means is corrected according to the instruction of the instruction means. According to the second aspect of the present invention, the control means causes the predetermined portion of the robot to pass the trajectory definition points, which are a plurality of predetermined coordinate points, in a predetermined order.
Control the robot. The instructing means is used for instructing one of the trajectory defining points and the coordinate value to which the trajectory defining point is moved, and the teaching data correcting means is used for instructing the robot while the controlling means controls the robot. The coordinate value of the trajectory definition point designated by is corrected to the coordinate value designated by the indicating means.

According to the third aspect of the present invention, the instructing means is used to instruct the moving speed of the predetermined portion of the robot, and the teaching data correcting means is provided while the control means controls the robot. The moving speed of the part is corrected to the moving speed instructed by the instructing means. According to the invention of claim 4, the instructing means is used to instruct the amount of work performed by the robot, and the teaching data correction means indicates the amount of work performed by the robot while the control means controls the robot. The work amount is corrected by the instruction means. According to the invention of claim 5, the teaching data is
It is composed of teaching data constituent elements showing the coordinate value of the trajectory definition point, the moving speed when the predetermined portion is at the trajectory definition point, or the work amount when the predetermined portion is at the trajectory definition point. The instructing means is used to instruct a plurality of trajectory definition points, one type of teaching data constituent element and a correction value of the teaching data constituent element, and the teaching data correcting means is provided while the control means controls the robot. Then, the teaching data constituent elements are collectively corrected to the correction values for each of the plurality of trajectory definition points designated by the indicating means.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a robot controller according to an embodiment of the present invention. The control arithmetic unit 31 performs processing by using the RAM 33 in accordance with the control program stored in the ROM 32,
Each part of the control device 3 is controlled. The servo control unit 34, under the control of the control arithmetic unit 31, based on the feedback value S _F output from the encoder built in each of the rotary shafts 1 c to 1 f of the manipulator 1 and input via the servo motor driver 35, A speed command signal is supplied to the servo motor driver 35. Servo motor driver 35
Generates a servo motor operation signal S _S from the speed command signal and rotates the servo motor built in each of the rotary shafts 1c to 1f. Further, the position feedback signal S _F is
It is also supplied to the control arithmetic unit 31 via the servo motor driver 35 and the servo control unit 34.

The teaching data correction device 36 receives the pulse signal output from the timer 37 at a predetermined sampling interval during the reproduction of the teaching data of the control arithmetic device 31, each time.
Teaching data correction processing (see FIGS. 6 to 8) for correcting the teaching data in the RAM 33 is performed. The details of FIGS. 6 to 8 will be described later. The timer 37 is capable of supplying pulse signals to a plurality of devices at a plurality of time intervals, and in this embodiment, the teaching data correction device 36.
For 10 msec intervals, and the control arithmetic unit 3
For 1, a pulse signal is supplied at 1 msec intervals.

FIG. 2 is a perspective view showing a configuration example of a coating robot system using the control device 3. In this figure, parts corresponding to those in FIG. 11 are assigned the same reference numerals and explanations thereof are omitted. In the coating robot system shown in this figure, a control device 3 is newly provided in place of the control device 103, and a hand operation device 4 is newly provided in place of the hand operation device 104. In addition, the painting trajectory and the position of the work during the painting work of this painting robot system are shown in Fig. 1.
It is the same as the coating orbit and the position of the work shown in FIG.

FIG. 3 shows an example of the hand-held operating device 4. The hand-held operating device 4 includes an input key 41 and an emergency stop button 4.
2, and a display unit 43. This hand operating device 4 is different from the conventional hand operating device 104 in that the input key 4 is used.
The point is that the "play" key of 1 is pushed down with a two-step stroke in the pushed direction due to the difference in the pushing strength. When the "play" key is pressed with a normal strength, it is pushed down with a normal stroke, and the operation mode of the control device 3 is the same as the reproduction mode of the conventional control device 103 (hereinafter, referred to as normal mode). It will be referred to as a reproduction mode). On the other hand, when the key is pressed strongly, the "reproduction" key is pressed down with a stroke longer than usual, and the operation mode of the control device 3 is a reproduction mode in which the correction can be made during the reproduction of the teaching data (hereinafter referred to as correction reproduction). Mode).

The modified reproduction mode is a higher-level mode having all the reproduction functions of the normal reproduction mode, and the control device 3 whose operation mode is the modified reproduction mode can perform all of the normal reproduction modes. In addition to the reproduction process of (1), the teaching data correction process (see FIGS. 6 to 8) can be performed. In this way, by providing two kinds of reproduction modes, the operator selects the correction reproduction mode from the beginning when the purpose is to correct the teaching data, and when the purpose is simply to confirm the teaching data. The normal arithmetic mode can be selected to cause the control arithmetic unit 31 to perform the reproducing process. As a result, the operator can select the normal reproduction mode in which the teaching data correction processing does not operate, so that it is possible to prevent the teaching data from being corrected against the operator's intentions due to carelessness or operation error.

In such a configuration, the operator
In the same procedure as the teaching operation performed using the control device 103 in the conventional technique, the vertices A to D of the net 5 and the standby position P0 shown in FIG. 13 are taught, and the above-mentioned coating conditions (moving speed of the coating gun 2, After setting the overspray width W, the amount of paint sprayed, etc.), when the "end" key provided on the handheld operation device 4 is pressed, the control calculation device 31 shown in FIG. Therefore, the trajectory point P1 shown in FIG.
The coordinate values of P8 to P8 are calculated and the values are stored in the RAM 33. At this time, the control arithmetic unit 31 stores, for each trajectory point, data called a teaching data constituent element in the RAM 33 together with the coordinate values thereof. Here, the teaching data constituent elements are individual ones that indicate the paint spraying amount, the moving speed, the paint spraying start / stop, the distance from the tip of the coating gun 2 to the work 6, etc. of the coating gun 2 among the coating conditions set at the time of teaching. Refers to data.

Thereafter, the control arithmetic unit 31 determines whether each trajectory point is within the operation range of the tip of the coating gun 2 (hereinafter referred to as the coating range) or the moving speed of the coating gun 2 is determined by the specifications of the manipulator 1. It is checked whether the teaching data of each trajectory point has cleared the minimum condition that must be satisfied, such as whether the maximum moving speed of the tip of the arm 1b is exceeded. When the teaching data does not satisfy these minimum conditions, the control device 3 informs the operator of this by using a notifying device such as a speaker or a rotating light not shown in FIG. As a result, the operator redoes the teaching of teaching points or the setting of coating conditions and corrects the teaching data.

When the teaching data satisfies the above-mentioned minimum condition, the control arithmetic unit 31 is ready to replay the teaching data, and when the operator presses the "play" key of the handheld operating unit 4 harder than usual, the operation of the control unit 3 is performed. The mode becomes the modified reproduction mode, and the control arithmetic unit 31 starts the reproduction processing.
When the operation mode of the control device 3 is changed to the correction reproduction mode, the timer 37 sets the teaching data correction device 36 to 10 mse
The supply of pulse signals is started at intervals of c. Next, when the operator presses the “start” key of the handheld operating device 4 shown in FIG. 3, the control arithmetic unit 31 causes the timer 37 to operate for 1 msec.
Each time a pulse signal output at an interval is received, the orbit point that the tip of the coating gun 2 has just passed through (or is currently passing through) and the orbit point scheduled to pass next (hereinafter referred to as the target orbit point) The orbit connecting to and is calculated, and the result is supplied to the servo control unit 34 shown in FIG. Specifically, when the tip of the coating gun 2 is at the position of R1 shown in FIG. 4, the control arithmetic unit 31 calculates a trajectory connecting the trajectory points P3 and P4, and when it is at the position of R2, A trajectory connecting the trajectory points P5 and P6 is calculated.

The servo control unit 34 compares the coordinate value of each point forming the trajectory calculated by the control arithmetic unit 31 with the coordinate value of the tip of the coating gun 2 calculated from the feedback value S _F , and the error is compared. The speed command signal is generated while being kept within a predetermined value and supplied to the servo motor driver 35.
Here, the speed command signal is a command signal for rotating each rotary shaft 1c to 1f of the manipulator 1 so that the tip of the coating gun 2 moves toward the target trajectory point.
The servo motor driver 35 converts the speed command signal into a servo motor operation signal S _S and supplies the servo motor operation signal S _S to the servo motors incorporated in the rotary shafts 1c to 1f.

Next, regarding the processing in which the teaching data correction device 36 corrects the teaching data during reproduction of the teaching data,
This will be described with reference to FIGS. Now, it is assumed that the control arithmetic unit 31 is in the middle of reproducing the teaching data after obtaining the coordinate values of the trajectory points P1 to P8 as shown in FIG. In addition, each track point P1 to P8
Is inside the painting area 7. Further, by reproducing the teaching data, the tip of the coating gun 2 is moving toward the target trajectory point P6 after passing the trajectory point P5 as shown in FIG. 5, and the tip of the coating gun 2 and the target trajectory point P6 are separated from each other. It is assumed that the distance R is 300 mm.

The teaching data correction device 36 uses the timer 37 for 10 mse while the teaching data of the control arithmetic device 31 is being reproduced.
Each time the pulse signal supplied at the interval c is received, the process proceeds to step SP1 shown in FIG. 6 in order to perform the teaching data correction process. At step SP1, it is determined which one of the input keys 41 of the handheld operation device 4 is being pressed. Here, in order for the operator to correct the coating trajectory, FIG.
P2, P3, P6 of the trajectory points P1 to P8 shown in
If it is desired to move P7 and P7 in the positive direction of the X-axis and the "X" key and "+" key of the hand-held operation device 4 are simultaneously pressed, the process proceeds to step SP2 shown in FIG. Step S
At P2, the trajectory points P2, P3, P6, and P7 shown in FIG. 5 are selected as the selected trajectory points, the coordinate values of each are written to the work area of the RAM 33, and then the process proceeds to step SP3. In this embodiment, the coordinate values written in this work area are called temporary position data. Step S
In P3, after adding ΔX to the X coordinate value of each temporary position data, the process proceeds to step SP4. In this example, Δ
X is 1 mm. By the processing shown in step SP3,
The coordinate points indicated by the temporary position data of the selected trajectory points P2, P3, P6 and P7 are P2 ′ and P shown in FIG. 9, respectively.
3 ', P6' and P7 '. At step SP4, 1 is assigned to the variable FLAG held in the work area of the RAM 33 in order to store that the correction target of the teaching data correction device 36 is the coordinate value of the trajectory point.

On the other hand, in step SP1, the operator
Since it is desired to move the trajectory points P1, P4, P5 and P8 shown in FIG. 5 in the negative direction of the X axis, the hand control device 4
When the "X" key and the "-" key of are pressed at the same time,
Go to step SP6 shown in. Steps SP6 to SP9
Except that P1, P4, P5 and P8 shown in FIG. 5 are selected as the selected trajectory points, and ΔX is subtracted from the X coordinate value of the temporary position data of each selected trajectory point, Since it is the same as the processing performed in steps SP2 to SP5, its explanation is omitted.

On the other hand, in step SP1, the operator
Since it is desired to move all the trajectory points P1 to P8 shown in FIG. 5 in the positive direction of the X-axis, the “shift” key is simultaneously pressed in addition to the “X” key and the “+” key of the hand-held operating device 4. Then, the process proceeds to step SP10 shown in FIG. The processing performed in steps SP10 to SP12 is the same as the processing performed in steps SP2 to SP5 except that all the trajectory points P1 to P8 shown in FIG. 5 are selected as the selected trajectory points. The description is omitted.
By the processing of steps SP10 to SP12, the coordinate points indicated by the temporary position data of the selected trajectory points P1 to P8 are
These are P1 'to P8' shown in FIG. 10, respectively.

On the other hand, in step SP1, the operator
When it is desired to move all the trajectory points P1 to P8 shown in FIG. 5 in the negative direction of the X axis, and the “X” key, the “−” key and the “shift” key of the hand operation device 4 are simultaneously pressed, It progresses to step SP13 shown in FIG. Step SP
The processing performed in steps 13 to SP15 is the same as the processing performed in steps SP6 to SP9, except that all the trajectory points P1 to P8 shown in FIG. 5 are selected as the selected trajectory points. Is omitted.

On the other hand, if the operator wants to increase the amount of paint sprayed from the coating gun 2 in step SP1 and simultaneously presses the "spray" key and "+" key of the hand-held operating device 4, the process proceeds to step SP16. At step SP16, the current paint injection amount of the coating gun 2 is written in the work area of the RAM 33. In the present embodiment, the current paint injection amount of the coating gun 2 written in this work area is called a temporary injection amount. Further, after adding a predetermined increase / decrease injection amount ΔS to the temporary injection amount, the process proceeds to step SP17. In this embodiment, ΔS is 1 cc / sec. In step SP17,
In order to store that the correction target of the teaching data correction device 36 is the paint injection amount of the coating gun 2, 2 is substituted for the variable FLAG held in the work area of the RAM 33.

On the other hand, if the operator wants to reduce the amount of paint sprayed from the coating gun 2 in step SP1 and simultaneously presses the "spray" key and the "-" key of the hand-held operating device 4, the process proceeds to step SP19. Steps SP19-S
The process performed in P21 is, except for subtracting the predetermined increase / decrease injection amount ΔS from the temporary injection amount, steps SP16 to SP1
Since it is the same as the process performed in 8, the description thereof will be omitted.

On the other hand, if the operator wants to increase the moving speed of the coating gun 2 in step SP1 and simultaneously presses the "speed" key and the "+" key of the hand-held operation device 4, the process proceeds to step SP22. In step SP22,
The current movement speed of the coating gun 2 is written in the work area of the RAM 33. In the present embodiment, the current moving speed of the coating gun 2 written in this work area is referred to as a temporary speed. Further, after adding a predetermined increase / decrease speed ΔV to the temporary speed, the process proceeds to step SP23. In this embodiment, ΔV is 0.1 m
/ Sec. In step SP23, in order to store that the correction target of the teaching data correction device 36 is the moving speed of the coating gun 2, 3 is assigned to the variable FLAG held in the work area of the RAM 33.

On the other hand, if the operator wants to reduce the moving speed of the coating gun 2 in step SP1 and simultaneously presses the "speed" key and the "-" key of the hand-operated device 4, the process proceeds to step SP25. Step SP25 to SP
The process performed in 27 is the increase / decrease speed ΔV from the provisional speed.
Since the processing is the same as the processing performed in steps SP22 to SP24, except for subtracting, the description thereof will be omitted. If it is determined in step SP1 that the input key 41 of the handheld operation device 4 has been pressed with a combination other than the above, or if no key has been pressed, the process proceeds to step SP28.
In step SP28, 0 is substituted into the variable FLAG held in the work area of the RAM 33 in order to store the fact that the teaching data component to be corrected by the teaching data correction device 36 has not been designated.

When the calculation of any of the temporary position data, the temporary injection amount, and the temporary speed is completed, step SP3 shown in FIG.
Go to 0. In step SP30, regarding the processing subsequent to step SP30, the correction processing of the coordinate value of the trajectory point (steps SP31 to SP33), the correction processing of the paint injection amount of the coating gun 2 (steps SP34 and SP35), the moving speed of the coating gun 2 are performed. Correction process (steps SP36, S
From P37), the value of the variable FLAG is determined in order to select the process corresponding to the current correction target of the teaching data correction device 36.

If FLAG = 1 at step SP30, the process proceeds to step SP31. In step SP31, it is determined whether or not the coordinate point indicated by the temporary position data is within the coating range. In the operation example shown in FIG. 9, since the coordinate points P2 ′, P3 ′, P6 ′ and P7 ′ indicated by the temporary position data are all inside the coating range 7, the process proceeds to step SP32. Similarly, also in the operation example shown in FIG. 10, since the coordinate points P1 ′ to P8 ′ indicated by the temporary position data are all inside the coating range 7, the process proceeds to step SP32. Step SP32
Then, it is determined whether the target trajectory point is selected as the selected trajectory point and the distance R between the tip of the coating gun 2 and the target trajectory point is smaller than the predetermined distance ΔR. In this embodiment, ΔR is 100 mm. In the process of step SP32, the target trajectory point is referred to by the control arithmetic unit 31 when the trajectory is calculated, so when the distance between the tip of the coating gun 2 and the target trajectory point is small,
By correcting the coordinate value of the target trajectory point, the operation of the manipulator 1 is performed to prevent the operation of the manipulator 1 from being jerky.

In the present operation example shown in FIGS. 9 and 10, the distance R between the tip of the coating gun 2 and the target trajectory point P6 is 30.
Since it is 0 mm and is larger than ΔR, step SP33.
Go to. In step SP33, the coordinate value of each selected trajectory point is changed to the coordinate value indicated by each temporary position data. As a result, in the operation example shown in FIG. 9, the coordinate values of the selected trajectory points P2, P3, P6 and P7 are corrected to the coordinate values of P2 ′, P3 ′, P6 ′ and P7 ′, respectively. Similarly, in the operation example shown in FIG. 10, the coordinate values of the selected trajectory points P1 to P8 are corrected to the coordinate values of P1 ′ to P8 ′, respectively.

On the other hand, in step SP30, FLAG = 2
In the case of, it progresses to step SP34. Step SP3
In step 4, it is determined whether or not the temporary injection amount obtained previously is less than or equal to the maximum paint injection amount that the coating gun 2 can inject. If the result of this determination is "YES", then step S
Go to P35. In step SP35, the paint injection amount of the coating gun 2 is corrected to the temporary injection amount.

On the other hand, in step SP30, FLAG = 3
In the case of, it progresses to step SP36. Step SP3
At 6, it is determined whether or not the provisional speed obtained previously is less than or equal to the maximum moving speed of the coating gun 2 determined by the performance of the manipulator 1. If the result of this determination is "YES", the flow proceeds to step SP37. At step SP37, the moving speed of the coating gun 2 is corrected to the temporary speed. After the processing corresponding to the correction target of the teaching data correction device 36 is finished, the example processing is finished. Note that the teaching data correction device 36 performs the above processing every time a pulse signal is input from the timer 37 at intervals of 10 msec. Therefore, as long as the operator continues to press the input key 41 in the above combination, The corresponding teaching data is continuously corrected.

The embodiment of the present invention has been described in detail above with reference to the drawings. However, the specific structure is not limited to this embodiment, and changes in design within the scope not departing from the gist of the present invention. Even this is included in this invention. For example, in the above-described embodiment, the selected trajectory point is X-selected in real time while the teaching data of the control arithmetic unit 31 is being reproduced.
Although it is moved in the positive and negative directions along the axis, it is also possible to perform the same process to move the selected trajectory point in the Y-axis direction or the Z-axis direction.

Further, in the same embodiment, P2, P3 of FIG.
As shown in P6 and P7, a plurality of orbital points arranged in a line are selected as selected orbital points, but a "point setting" key and a path for designating one orbital point are specified in the hand-held operation device 4. For "path setting"
By providing a key and pressing the "X" key and "+" key (or "-" key) and the above "point setting" key (or "pass setting" key) at the same time, any trajectory point (or path) It is also possible to modify the coordinate values in real time. In addition, "Point setting" above
Painting at any trajectory point (or pass) by pressing the key (or "pass setting" key) at the same time as the "spray" key (or "speed" key) and the "+" key (or "-" key) It is also conceivable to correct the paint injection amount (or moving speed) of the gun 2 in real time.

Further, in this embodiment, the paint injection amount and the moving speed of the coating gun 2 were corrected in real time with respect to the coating conditions, but other coating conditions such as the overspray width W may be modified. Further, the operator is required to determine the movement amount ΔX of the trajectory point, the increase / decrease amount ΔS of the paint injection amount of the coating gun 2, the increase / decrease velocity ΔV of the movement speed of the coating gun 2, and the distance ΔR between the tip of the coating gun 2 and the selected trajectory point.
Can be set to arbitrary values. Further, the timer 37 controls the control calculation device 31 and the teaching data correction device 3.
The intervals of the pulse signals supplied to 6 are not limited to 1 msec and 10 msec shown in the embodiment, and other values may be used.

Further, in this embodiment, the configuration and operation of the teaching device 3 have been described by taking the painting robot system as an example, but the teaching device 3 is used for controlling the manipulator 1 for other purposes (welding, assembly, etc.). It is also possible. Also,
In FIG. 11, the teaching points A to D in the four-point teaching are the mesh 5
Although the four teaching points do not necessarily have to be the vertices of the net 5, they may be arbitrary four points on the sides of the net 5. Further, in the embodiment, the example in which the teaching data created by the 4-point teaching is corrected during the reproduction of the teaching data has been described. However, the teaching data to be corrected is not necessarily created by the 4-point teaching. It does not need to exist, and may be generated by another method such as Point to Point or Continuous Pass.

[0042]

As described above, according to the present invention,
Since the teaching data can be simultaneously corrected while the control unit controls the robot based on the teaching data, it is not necessary to stop the work line including the robot for the teaching data correction, and the teaching data correction It is possible to reduce the man-hours required for. Furthermore, since the number of operations by the operator at the time of teaching is reduced, the risk of erroneous operation is reduced.

[Brief description of drawings]

FIG. 1 is a robot teaching device 3 according to an embodiment of the present invention.
FIG. 3 is a block diagram showing the configuration of FIG.

FIG. 2 is a perspective view showing the configuration of a painting robot provided with a robot teaching device 3 according to the embodiment.

FIG. 3 is an explanatory diagram showing an outer appearance of a hand operating device 4 in the embodiment.

FIG. 4 is a coating track and track point P1 in the same embodiment.
It is a top view showing the relation with ~ P8.

FIG. 5 is a plan view showing initial conditions of an operation example of correcting teaching data in the same embodiment.

FIG. 6 is a PAD diagram showing a processing flow of a teaching data correction device in the embodiment.

FIG. 7 is a PAD diagram showing a processing flow of the teaching data correction device in the embodiment.

FIG. 8 is a PAD showing a processing flow of a teaching data correction device in the embodiment.

FIG. 9 is a plan view showing an operation example of correcting the coordinates of a trajectory point in the same embodiment.

FIG. 10 is a plan view showing an operation example of correcting the coordinates of a trajectory point in the embodiment.

FIG. 11 is a perspective view showing a configuration of a coating robot provided with a conventional robot teaching device 103.

FIG. 12 is an explanatory diagram showing an appearance of a conventional hand-held operating device 104.

FIG. 13 is a perspective view showing a coating trajectory and a position of a work during teaching work.

[Explanation of symbols]

1 ... Manipulator, 2 ... Painting gun, 3,10
3 ... Control device, 4 ... Hand operation device, 31 ... Control arithmetic device, 32 ... ROM, 33 ... RAM, 34
...... Servo controller, 35 …… Servo motor driver,
36 ... Teaching data correction device, 37 ... Timer

Claims (5)

[Claims] 1. A teaching data generating means for generating teaching data of a robot, a storing means for storing the teaching data generated by the teaching data generating means, and the teaching data based on the teaching data stored in the storing means. Control means for controlling the robot; instruction means used for instructing correction of the teaching data; and, while the control means controls the robot, stored in the storage means in accordance with the instruction of the instruction means. A controller for a robot, comprising: a teaching data correction unit that corrects the teaching data. 2. The robot control device according to claim 1, wherein the control means causes the predetermined portion of the robot to pass a trajectory definition point, which is a plurality of predetermined coordinate points, in a predetermined order. The instructing means is used to instruct one of the trajectory defining points and a coordinate value which is a movement destination of the trajectory defining point, and the teaching data correcting means is configured such that the control means controls the robot. A controller for a robot, characterized in that, during control, the coordinate value of the trajectory definition point designated by the pointing means is corrected to the coordinate value designated by the pointing means. 3. The robot controller according to claim 1, wherein the instruction means is used to instruct a moving speed of a predetermined portion of the robot, and the teaching data correction means is configured such that the control means controls the robot. A controller for a robot, wherein the moving speed of the predetermined portion is corrected to the moving speed instructed by the instructing means while controlling the. 4. The robot controller according to claim 1, wherein the instructing unit is used to instruct a work amount of the robot, and the teaching data correcting unit controls the robot by the controlling unit. A controller for a robot, wherein the amount of work performed by the robot is corrected to the amount of work instructed by the instructing means while the robot is operating. 5. The robot controller according to any one of claims 2 to 4, wherein, in the teaching data, for each of the trajectory definition points, the coordinate value of the trajectory definition point or the predetermined portion is at the trajectory definition point. And a teaching data component indicating each of the work amount when the predetermined portion is at the trajectory definition point, and the instructing means includes a plurality of the trajectory definition points and one type of the teaching. It is used to instruct a data component and a correction value of the teaching data component, and the teaching data correcting means is a plurality of instructing means instructed by the instructing means while the control means controls the robot. The controller for a robot, wherein the teaching data constituent elements are collectively corrected to the correction values for each of the trajectory definition points of.