Control device and control method

Abstract

The present application does not depend on the experience of an operator and makes a motion program by teaching only one teaching point. A control device that controls a robot in which a joint shaft that moves a workpiece in one direction is attached to a front end of an arm of the robot and the joint shaft, the control device including: a motion program analysis section that calculates a movement range in which the robot and the joint shaft are combined together, based on a motion program in which an initial position of the joint shaft viewed from a coordinate origin of the robot is set; and a robot tool movement distance calculation section that calculates, as a specified value, a movement amount of the joint shaft that moves to a boundary position of the movement range, and a movement amount of the front end of the arm of the robot when the joint shaft moves to the boundary position and a movement amount of the joint shaft and a movement amount of the front end of the arm of the robot of at least one teaching point other than the boundary position, based on the calculated movement range.

Description

Technical Field

[0001] This invention relates to a control device and a control method. Background Technology

[0002] A known technology involves mounting a sliding joint axis (hereinafter also referred to as a "linear tool") at the front end of the arm of a 6-axis robot to move a workpiece in a straight line along one direction (e.g., the Y-axis), thus creating a 7-axis robot. This allows both the robot and the linear tool to move in the same direction, thereby transporting the workpiece at high speed. For example, see Patent Document 1.

[0003] When teaching a 7-axis robot system, the respective travel distances of the 6-axis robot and the linear tool are usually specified separately.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-126850 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] Teaching a 6-axis robot equipped with a linear tool generally involves teaching the position and posture of each teaching point during the teaching action.

[0009] Figure 8 This is a diagram illustrating an example of a 7-axis robot system with a linear tool mounted at the front end of the arm of a 6-axis robot.

[0010] like Figure 8 As shown, robot 10 is, for example, a 6-axis vertical articulated robot, with a linear tool 20 mounted at the end of its arm. The linear tool 20 is, for example, a sliding arm type conveying tool (articulated axis), having a plate-shaped (rectangular flat plate-shaped) frame 21, a robot-side slider 22 disposed on the upper surface of the frame 21, and a workpiece-side slider 23 disposed on the lower surface of the frame 21. The linear tool 20, for example, mounts a tool (not shown) equipped with multiple suction cups for adsorbing workpieces onto the workpiece-side slider 23, enabling the workpiece (not shown) adsorbed by the mounted tool (not shown) to move linearly in one direction along the Y-axis.

[0011] Figure 9 This is a schematic diagram illustrating an example of the positional relationship between the tip of the arm of robot 10 and the linear tool 20. Furthermore, in Figure 9 In the image, robot 10 is shown, including the tip of the arm of robot 10 (hereinafter also referred to as the "hand end of robot 10") and the portion of robot 10 other than the hand end. Additionally, in... Figure 9The diagram shows the situation where the coordinate origin of robot 10, the position of the end effector of robot 10, the coordinate origin of tool 10, and the position of the workpiece-side slider 23 of linear tool 20 are all located on a straight line in the X-axis direction.

[0012] Figure 10 This is a diagram schematically illustrating an example of the positional relationship of the workpiece-side slider 23 of the linear tool 20 when it swings in the +Y axis direction.

[0013] like Figure 10 As shown, for example, when the workpiece-side slider 23 of the linear tool 20 swings in the +Y axis direction, the end effector of the robot 10 moves a distance D in the +Y axis direction. r As the amount of movement at the end of the hand, the workpiece side slider 23 moves a distance D in the +Y axis direction. t This refers to the tool movement relative to the tool coordinate origin. Furthermore, when creating the motion program for robot 10, the operator needs to separately study the end-effector movement D. r and tool movement amount D t Input the total movement D, representing the coordinates of the workpiece-side slider 23 as observed from the origin of the robot 10 (hereinafter also referred to as "robot + tool coordinates"). all (=D r +D t ) and tool movement D t .

[0014] However, in the amount of movement D at the end of the hand r With tool movement D t The research requires teaching experience, so when operators lack experience, teaching time is still needed, which leads to the problem of longer teaching time.

[0015] Therefore, it is desired to create motion programs without relying on the operator's experience, by teaching only one teaching point.

[0016] Methods for solving problems

[0017] One aspect of the control device disclosed herein is a control device for controlling a robot and a joint axis that is mounted at the front end of a robot arm to move a workpiece in one direction. The control device includes: a motion program analysis unit that calculates a range of motion for bringing the robot and the joint axis together based on a motion program set from the origin of the robot's coordinate system to the initial position of the joint axis; and a robot tool travel distance calculation unit that, based on the calculated range of motion, calculates the amount of motion of the front end of the robot arm when the joint axis moves to the boundary position, and the amount of motion of the joint axis at at least one teaching point outside the boundary position, as well as the amount of motion of the front end of the robot arm, based on the amount of motion of the joint axis that moves the joint axis to the boundary position of the range of motion.

[0018] One aspect of the control method disclosed herein is a computer-implemented control method for controlling a robot and a joint axis mounted on the front end of a robot arm that moves a workpiece in one direction. The control method includes: a motion program parsing step, which calculates a range of motion for bringing the robot and the joint axis together based on a motion program set with an initial position of the joint axis observed from the origin of the robot's coordinates; and a robot tool travel distance calculation step, which, based on the calculated range of motion, calculates the amount of motion of the front end of the robot arm when the joint axis moves to the boundary position, and the amount of motion of the joint axis and the amount of motion of the front end of the robot arm at at least one teaching point outside the boundary position, using the amount of motion of the joint axis that moves the joint axis to the boundary position as a specified value.

[0019] Invention Effects

[0020] According to one method, motion programs can be created by teaching only one teaching point, without relying on the operator's experience. Attached Figure Description

[0021] Figure 1 This is a functional block diagram illustrating a functional structural example of a robot system according to one embodiment.

[0022] Figure 2 This is a diagram representing an example of an action procedure.

[0023] Figure 3 This indicates that it is set at Figure 2 A diagram illustrating an example of a teaching point in a motion procedure.

[0024] Figure 4A This is a diagram illustrating an example of the relationship between the position of the robot's end effector at teaching points P1 and P6 and the position of the workpiece-side slider of the linear tool.

[0025] Figure 4B This is a diagram illustrating an example of the relationship between the position of the robot's end effector at the teaching point P3 and the position of the workpiece-side slider of the linear tool.

[0026] Figure 5 This is a diagram illustrating an example of the relationship between the teaching point and the robot's coordinate origin.

[0027] Figure 6 This is a flowchart illustrating the control processing of the robot control device.

[0028] Figure 7 This is a diagram illustrating an example of the relationship between the teaching point and the boundary position.

[0029] Figure 8 This is a diagram illustrating an example of a 7-axis robot system with a linear tool mounted at the front end of the arm of a 6-axis robot.

[0030] Figure 9 This is a diagram that schematically illustrates an example of the positional relationship between the tip of a robot arm and a linear tool.

[0031] Figure 10 This is a diagram that schematically illustrates an example of the positional relationship when the workpiece-side slider of a linear tool swings in the +Y axis direction. Detailed Implementation

[0032] Hereinafter, an embodiment will be described using the accompanying drawings.

[0033] <One Implementation Method>

[0034] Figure 1 This is a functional block diagram illustrating a functional structural example of a robot system according to one embodiment. Furthermore, for systems having... Figure 8 The elements of robot 10 and linear tool 20 have the same functions and are labeled with the same reference numerals, with detailed descriptions omitted.

[0035] like Figure 1 As shown, the robot system 1 includes a robot 10, a linear tool 20, and a robot control unit 30. For example, the robot system 1 is used in a factory equipped with multiple stamping machines (not shown), and the robot 10 uses the linear tool 20 to move workpieces between the stamping machines (not shown) based on the control instructions of the robot control unit 30.

[0036] Robot 10 and linear tool 20 can also be directly connected to robot control device 30 via a connection interface not shown. Alternatively, robot 10 and linear tool 20 can also be connected to robot control device 30 via a network such as a LAN (Local Area Network). In this case, robot 10 and linear tool 20 and robot control device 30 may also have a communication unit (not shown) for communicating with each other via the involved connection.

[0037] <Robot Control Device 30>

[0038] like Figure 1 As shown, the robot control device 30 outputs drive commands to the robot 10 and the linear tool 20 based on the action program, controlling the movements of the robot 10 and the linear tool 20. In addition, the robot control device 30 can also be connected to a teaching pendant (not shown) for teaching actions to the robot 10 and the linear tool 20.

[0039] like Figure 1 As shown, the robot control device 30 of this embodiment includes a control unit 31, an input unit 32, a storage unit 33, and a display unit 34. Furthermore, the control unit 31 includes an action program parsing unit 311, a robot tool travel distance calculation unit 312, and an action control drive unit 313.

[0040] The input unit 32 may be, for example, a keyboard, buttons (not shown), or a touch panel of the display unit 34 (described later) included in the robot control device 30, and accepts operations from the operator of the robot control device 30.

[0041] The storage unit 33 is, for example, a ROM (Read Only Memory) or an HDD (Hard Disk Drive), which stores system programs and application programs executed by the control unit 31 (described later). Additionally, the storage unit 33 may also store the end-effector movement D at each teaching point calculated by the robot tool movement distance calculation unit 312 (described later). r And the tool movement D of the workpiece-side slider 23 of the linear tool 20. t wait.

[0042] The display unit 34 is, for example, an LCD (Liquid Crystal Display) or other display device, which displays the screen of the manufacturing process and the tool movement amount D of the workpiece-side slider 23. t Images, etc.

[0043] <Control Department 31>

[0044] The control unit 31 includes a CPU (Central Processing Unit), ROM, RAM, CMOS (Complementary Metal-Oxide-Semiconductor) memory, etc., which are configured to communicate with each other via a bus, as is known to those skilled in the art.

[0045] The CPU is the processor that controls the entire robot control device 30. The CPU reads the system program and application program stored in ROM via the bus, and controls the robot control device 30 as a whole according to the system program and application program. Thus, as... Figure 1 As shown, the control unit 31 is configured to perform the functions of the motion program parsing unit 311, the robot tool travel distance calculation unit 312, and the motion control drive unit 313. The RAM stores various data such as temporary calculation data and display data. Furthermore, the CMOS memory is configured to be a non-volatile memory that maintains its stored state even when the power supply to the robot control device 30 is cut off, and is backed up by a battery (not shown).

[0046] The motion program analysis unit 311 inputs a motion program, for example, from an external device such as a computer (not shown), which sets the coordinates of the workpiece-side slider 23 observed from the coordinate origin of the robot 10 (i.e., the coordinates of the robot + the tool), and calculates the range of motion that brings the robot 10 and the linear tool 20 together based on the input motion program.

[0047] In addition, the motion program analysis unit 311 can also obtain motion programs created by the operator through input operations via the input unit 32.

[0048] Figure 2 This is a diagram representing an example of an action sequence. In Figure 2 In the action program, as described above, the coordinates of the robot and the tool are set only at the position corresponding to the teaching point P1 [1] (e.g., the maximum distance that the workpiece side slider 23 can move as observed from the coordinate origin of the robot 10, or a specified value specified by the operator).

[0049] Figure 3 It means in Figure 2 A diagram illustrating an example of a teach point set in the action procedure. That is, based on... Figure 2 The illustrated motion sequence shows that the robot 10 and the linear tool 20 move, for example, from the teach point P1 representing the coordinates of the robot and tool, in the order of teach points P2 to P6. Furthermore, in Figure 2 The action sequence shown only illustrates the positions of teaching points P1 and P2[1] and [2], but also includes the positions of teaching points P3 to P6[3] to [6].

[0050] Figure 4A This is a diagram illustrating an example of the relationship between the position of the end effector of the robot 10 at teaching points P1 and P6 and the position of the workpiece-side slider 23 of the linear tool 20. Figure 4B This diagram illustrates an example of the relationship between the position of the robot 10's end effector at teach point P3 and the position of the workpiece-side slider 23 of the linear tool 20. Furthermore, the tool movement of the workpiece-side slider 23 relative to the tool coordinate origin (the robot 10's end effector position) at teach points P1, P3, and P6 is defined as distance D. t1 D t3 D t6 .

[0051] In addition, Figure 2 In the action procedure, there are 6 teaching points, but there can also be more than 6 teaching points.

[0052] Specifically, the motion program parsing unit 311 parses the input motion program. The motion program parsing unit 311, based on the coordinates of the robot + tool at the teaching point P1 set at the position [1] of the motion program, parses the input motion program. Figure 3 Within the area enclosed by teaching points P1 to P6, such as Figure 4A As shown, the range of movement is calculated by setting the teaching point P1 as the boundary position of the linear tool 20 moving to the bottom in the -Y axis direction and setting the teaching point P6 as the boundary position of the linear tool 20 moving to the bottom in the +Y axis direction.

[0053] Based on the calculated movement range, the robot tool movement distance calculation unit 312 uses the tool movement amount that moves the workpiece-side slider 23 of the linear tool 20 to the boundary position of the movement range as a specified value, and calculates the movement amount of the robot's end effector when the workpiece-side slider 23 moves to the boundary position and the movement amount of the linear tool 20 at each of the teaching points P2 to P5 outside the boundary position.

[0054] Specifically, the robot tool movement distance calculation unit 312 calculates, for example, the distance D from the teaching points P1 and P6 at the boundary positions based on the tool coordinate origin to the coordinates of the workpiece-side slider 23. t1 D t6 Let D be the tool movement amount. t1 D t6 Set to the specified value D respectively c1 D c2 Additionally, the robot tool movement distance calculation unit 312 can also calculate the robot + tool movement distance based on the coordinates of the robot + tool at teaching points P1 and P6 and the specified value D. c1 D c2The difference is used to calculate the movement of the robot 10's end effector at the teaching points P1 and P6 at the boundary positions.

[0055] In addition, the specified value D c1 D c2 This can be the maximum movement of the workpiece-side slider 23 relative to the tool coordinate origin, or it can be the movement specified by the operator. For example, at the specified value D... c1 D c2 When the workpiece-side slider 23 is moved to its maximum extent relative to the tool coordinate origin, the performance of the linear tool 20 can be maximized.

[0056] Next, the robot tool movement distance calculation unit 312 uses mathematical formula 1 or mathematical formula 2 to calculate the tool movement amount D at the teaching point Pn (n = 2, 3, 4, 5) other than the boundary positions P1 and P6. tn .

[0057] [Mathematical Expression 1]

[0058]

[0059] [Mathematical Expression 2]

[0060]

[0061] Here, D max1 D max2 These represent the Y-axis coordinates of teaching points P1 and P6, respectively, as observed from the origin of robot 10, representing the boundary positions, i.e., the Y-axis movement D of the robot + tool. Y1 D Y6 , is the maximum displacement in the -Y axis direction and the +Y axis direction. Additionally, D yn The coordinates of the robot + tool at the teaching point Pn, as observed from the origin of the robot 10 (hereinafter also referred to as "Y-axis movement").

[0062] Specifically, such as Figure 5 As shown, the Y-axis movement D of the robot + tool at the teaching point Pn is... yn When the value is below "0", the robot tool movement distance calculation unit 312 uses mathematical formula 1 to calculate the movement distance based on the Y-axis movement D of the teaching point P1. max1 The Y-axis movement D of the teaching point Pn yn The ratio is used to calculate the tool movement D at the teaching point Pn. tn For example, the Y-axis movement D of the teaching point P1 observed from the origin of robot 10. max1 The tool travel distance is 1000mm, and the tool movement distance D is... t1 (Specified value D) c1With a value of 800mm, the Y-axis movement D of the teaching point P3 is... y3 Tool travel distance D when it is 500mm t3 It is 400mm.

[0063] Additionally, the Y-axis movement D of the robot + tool at the teaching point Pn yn When the value is greater than "0", the robot tool movement distance calculation unit 312 uses mathematical formula 2 to calculate the movement distance D of the Y-axis at the teaching point P6. max2 The Y-axis movement D of the teaching point Pn yn The ratio is used to calculate the tool movement D at the teaching point Pn. tn .

[0064] Furthermore, the robot tool movement distance calculation unit 312 can also calculate the robot + tool coordinates and tool movement amount D at the teaching point Pn outside the boundary position. tn The difference is used to calculate the amount of movement of the end effector of robot 10 at the teaching point Pn outside the boundary position.

[0065] The motion control drive unit 313 calculates the movement of the robot 10's end effector and the tool movement D at teaching points P2-P6, as calculated by the robot tool movement distance calculation unit 312. tn The robot 10 and the linear tool 20 are driven by executing the motion program at positions [2] to [6].

[0066] <Control Processing of Robot Control Device 30>

[0067] Next, the actions involved in the control processing of the robot control device 30 in this embodiment will be explained.

[0068] Figure 6 This is a flowchart illustrating the control processing of the robot control device 30. Whenever an action program is input that sets the coordinates (robot + tool coordinates) of the workpiece-side slider 23 as observed from the origin of the robot 10 at the teach point P1, the flowchart shown here is executed.

[0069] In step S1, the motion program parsing unit 311 inputs the motion program with the coordinates of the robot + tool set at the teaching point P1 from an external device (not shown).

[0070] In step S2, the motion program parsing unit 311 parses the input motion program and calculates the movement range with teaching points P1 and P6 as boundary positions based on the coordinates of the robot and tool at the teaching point P1 set at the position [1] of the motion program.

[0071] In step S3, the robot tool movement distance calculation unit 312 calculates the tool movement amount D of the workpiece side slider 23 at teaching points P1 and P6. t1 D t6 Set to the specified value D c1 D c2 .

[0072] In step S4, the robot tool movement distance calculation unit 312 calculates the robot + tool coordinates (Y-axis movement D) at teaching points P1 and P6. max1 D max2 ) and the specified value D c1 D c2 The difference is used to calculate the movement of the robot 10's end effector at the teaching points P1 and P6 at the boundary positions.

[0073] In step S5, the robot tool movement distance calculation unit 312 uses mathematical formula 1 or mathematical formula 2 to calculate the tool movement amount D at the teaching point Pn other than the boundary positions P1 and P6. tn .

[0074] In step S6, the robot tool movement distance calculation unit 312 calculates the robot + tool coordinates (Y-axis movement distance D) at the teaching point Pn other than the boundary positions P1 and P6. yn ) and tool movement D tn The difference is used to calculate the amount of movement of the robot 10's end effector at the teaching point Pn outside the boundary positions P1 and P6.

[0075] In step S7, the motion control drive unit 313 calculates the movement of the robot 10's end effector and the tool movement D at the teaching points P2 to P6. tn The motion program is executed at positions [2] to [6] of the motion program to drive the robot 10 and the linear tool 20.

[0076] As described above, in one embodiment, the robot control device 30 inputs an action program with coordinates of a robot + tool set at a teaching point P1 located at the far end of the movement range of the workpiece-side slider 23 of the linear tool 20. Based on the coordinates of the robot + tool at teaching point P1, the robot control device 30 calculates the movement of the end effector of the robot 10 and the tool movement at the remaining teaching points P2 to P6 using mathematical formula 1 or mathematical formula 2, and sets them in the action program. Therefore, the robot control device 30 can create an action program by teaching only one teaching point, without relying on the operator's experience. Moreover, even operators with little experience in teaching the robot + tool can easily perform the teaching, saving the operator the trouble of teaching the tool position.

[0077] The above describes one embodiment, but the robot control device 30 is not limited to the above embodiment, and includes variations and improvements within the scope of achieving the purpose.

[0078] <Variation Example 1>

[0079] In one embodiment described above, the direction of motion of the linear tool 20 is set to the Y-axis direction, but it is not limited to this. The linear tool 20 can also move in any direction in the XY plane.

[0080] <Variation Example 2>

[0081] Furthermore, for example, in the above embodiment, the robot tool movement distance calculation unit 312 calculates the tool movement amount D at the teaching point Pn other than the boundary positions P1 and P6 using mathematical formula 1 or mathematical formula 2. tn However, it is not limited to this. For example, the robot tool movement distance calculation unit 312 can also use mathematical formula 3 or mathematical formula 4 to calculate the tool movement amount D at the teaching point Pn other than the boundary positions P1 and P6. tn Specifically, such as Figure 7 As shown, the Y-axis movement D at the teaching point Pn yn For (D) max1 +D max2 When the distance is less than or equal to 2, the robot tool movement distance calculation unit 312 uses mathematical formula 3 to calculate the tool movement amount D at the teaching point Pn. tn Additionally, the Y-axis movement D at the teaching point Pn yn Greater than (D) max1 +D max2 In the case of ) / 2, the robot tool movement distance calculation unit 312 uses mathematical formula 4 to calculate the tool movement amount D at the teaching point Pn. tn .

[0082] [Mathematical Expression 3]

[0083]

[0084] [Mathematical Expression 4]

[0085]

[0086] Furthermore, the various functions included in the robot control device 30 of one embodiment can be implemented separately through hardware, software, or a combination thereof. Here, implementation through software means that the computer reads and executes the program.

[0087] Furthermore, the various structural components included in the robot control device 30 can be implemented by hardware, software, or a combination thereof, including electronic circuits.

[0088] Programs can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read-Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAM). Furthermore, programs can also be provided to a computer using various types of transient computer-readable media. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer-readable media can provide programs to a computer via wired communication paths such as wires and optical fibers, or via wireless communication paths.

[0089] Furthermore, the steps describing a program recorded in a recording medium certainly include processing performed sequentially in that order, but are not limited to sequential processing, and also include processing performed in parallel or independently.

[0090] In other words, the control device and control method disclosed herein can be implemented in a variety of ways having the following structure.

[0091] (1) The robot control device 30 disclosed herein is a control device for controlling a robot 10 and a linear tool 20, on which a linear tool 20 for moving a workpiece in one direction is mounted at the front end of the arm of a robot 10. The robot control device 30 includes: an action program analysis unit 311, which calculates the range of movement for bringing the robot 10 and the linear tool 20 together based on an action program set from the origin of the coordinate system of the robot 10 to the initial position of the linear tool 20; and a robot tool movement distance calculation unit 312, which calculates the movement of the front end of the arm of the robot 10 when the linear tool 20 moves to the boundary position of the movement range, and the movement of the linear tool 20 at at least one teaching point Pn outside the boundary position and the movement of the front end of the arm of the robot 10, based on the calculated movement range and using the movement amount of the linear tool 20 that moves the linear tool 20 to the boundary position of the movement range as a specified value.

[0092] According to the robot control device 30, motion programs can be created without relying on the operator's experience, simply by teaching a single teaching point.

[0093] (2) Alternatively, in the robot control device 30 described in (1), the specified value is the maximum distance that the linear tool 20 can move.

[0094] Therefore, the robot control device 30 can make the most of the performance of the linear tool 20.

[0095] (3) Alternatively, the robot control device 30 described in (1) may also include an input unit 32, which accepts input from the user and the specified value is a value specified by the user via the input unit 32.

[0096] Thus, the robot control device 30 enables the robot 10 and the linear tool 20 to move within any range of motion.

[0097] (4) Alternatively, the robot control device 30 described in any of (1) to (3) may further include: a motion control drive unit 313, which sets the movement amount of the linear tool 20 at at least one teaching point other than the calculated boundary position and the movement amount of the front end of the robot 10 arm in the motion program and executes the motion program.

[0098] Thus, the robot control device 30 is able to drive the robot 10 and the linear tool 20.

[0099] (5) The control method disclosed herein is a computer-implemented control method for controlling a robot 10 and a linear tool 20, on which a linear tool 20 for moving a workpiece in one direction is mounted at the front end of the arm of a robot 10. The control method comprises: an action program parsing step, which calculates the range of motion for bringing the robot 10 and the linear tool 20 together based on an action program that sets the initial position of the linear tool 20 as observed from the origin of the robot 10; and a robot tool movement distance calculation step, which calculates the movement of the front end of the arm of the robot 10 when the linear tool 20 moves to the boundary position of the movement range, using the movement amount of the linear tool 20 that moves the linear tool 20 to the boundary position as a specified value, and the movement amount of the linear tool 20 at at least one teaching point outside the boundary position and the movement amount of the front end of the arm of the robot 10.

[0100] According to this control method, it can achieve the same effect as (1).

[0101] Explanation of reference numerals in the attached figures

[0102] 1. Robot system

[0103] 10 robots

[0104] 20 Linear Tools

[0105] 21 framework,

[0106] 22 robot side sliders,

[0107] 23. Workpiece side slider

[0108] 30 Robot control devices

[0109] 31 Control Department

[0110] 311 Action Program Analysis Department

[0111] 312 Robot Tool Movement Distance Calculation Unit

[0112] 313 Motion Control Drive Unit

[0113] 32 Input Section

[0114] 33 Storage Department

[0115] 34 Display section.

Claims

1. A control device for controlling a robot and said joint axis, wherein said joint axis is mounted at the front end of the robot arm to move a workpiece in one direction, characterized in that, The control device includes: The motion program analysis unit calculates the range of motion that brings the robot together with the joint axis based on the motion program that sets the initial position of the joint axis as observed from the origin of the robot's coordinates. as well as The robot tool movement distance calculation unit, based on the calculated movement range, uses the amount of movement of the joint axis that moves the joint axis to the boundary position of the movement range as a specified value, and calculates the amount of movement of the robot arm tip, the amount of movement of the joint axis at at least one teaching point outside the boundary position, and the amount of movement of the robot arm tip when the joint axis moves to the boundary position, based on the coordinates of the joint axis observed from the origin of the robot's coordinate system when the joint axis moves to the boundary position and the specified value.

2. The control device according to claim 1, characterized in that, The specified value is the maximum distance that the joint axis can move.

3. The control device according to claim 1, characterized in that, The control device also includes an input unit that accepts input from the user. The specified value is a value specified by the user via the input section.

4. The control device according to any one of claims 1 to 3, characterized in that, The control device further includes: a motion control drive unit, which sets the movement amount of the joint axis and the movement amount of the front end of the robot arm at at least one teaching point other than the boundary position calculated in the motion program, and executes the motion program.

5. A computer-implemented control method for controlling a robot and said joint axis, wherein said joint axis is mounted at the front end of the robot arm to move a workpiece in one direction, characterized in that, The control method comprises: The motion program parsing step calculates the range of motion that brings the robot together with the joint axis, based on the motion program that sets the initial position of the joint axis as observed from the origin of the robot's coordinates. as well as The robot tool movement distance calculation step involves, based on the calculated movement range, using the amount of movement of the joint axis that moves the joint axis to the boundary position of the movement range as a specified value, and calculating the movement of the robot arm tip, the movement of the joint axis at at least one teaching point outside the boundary position, and the movement of the robot arm tip when the joint axis moves to the boundary position, based on the coordinates of the joint axis observed from the robot's coordinate origin when the joint axis moves to the boundary position and the specified value.

Images