Data supply device, robot system, data supply method, robot control method, data supply program, and control program

Abstract

A data supply device connected to a control device of a robot includes: an input unit that causes a user to specify a data file in which a plurality of operation commands are listed in a predetermined order; a receiving unit that receives, from the control device, a signal including information on the number of operation commands that can be transmitted to the control device; a supply processor that acquires an operation command in a specified data file and determines whether or not the operation command can be transmitted to the control device on the basis of the signal received by the receiving unit; and a transmission unit that, if it is determined that transmission is possible, transmits the operation command acquired by the supply processor to the control device in a predetermined order, and repeats acquisition of the operation command, reception of the signal, determination of whether transmission is possible, and transmission of the operation command.

Description

Technical Field

[0001] This invention relates to a data supply device, a robot system, a data supply method, a robot control method, a data supply program, and a control program. Background Technology

[0002] A robot system is known that causes the robot to move according to a robot program (see, for example, Patent Document 1). In the robot system described in Patent Document 1, data of the robot program relating to a series of actions is stored in a storage area within the robot's control device. Furthermore, the robot moves by sequentially reading the robot program data from the storage area and executing it through the robot's control device.

[0003] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2019-81204 Summary of the Invention

[0004] The problem the invention aims to solve There are limitations on the capacity of a robot's control unit to store data in its storage area. For example, in cases where a series of actions involves hundreds of thousands or millions of teach positions, or where the robot program data has a massive number of teach positions exceeding the storage area limit, the control unit cannot store the data, thus preventing the teaching of a series of actions to the robot. Therefore, it is desirable for the robot's control unit to be able to handle robot programs, including massive numbers of teach positions, without exceeding the available workload.

[0005] Solution for solving the problem One aspect of the present invention is a data supply device connected to a robot's control device. The data supply device comprises: a data acquisition unit that acquires the action commands from a data file that lists multiple action commands in a predetermined order; a receiving unit that receives from the control device a signal including information about the number of action commands that can be sent to the control device; a judging unit that, based on the signal received by the receiving unit, determines whether the action commands can be sent to the control device; and a sending unit that, if the judging unit determines that sending is possible, sends the action commands acquired by the data acquisition unit to the control device in the predetermined order, repeating the acquisition of the action commands, the reception of the signal, the determination of whether sending is possible, and the sending of the action commands. Attached Figure Description

[0006] Figure 1 This is an overall structural diagram of a robot system according to one embodiment of the present invention.

[0007] Figure 2 It means Figure 1 A block diagram of the data supply device.

[0008] Figure 3 This is a flowchart illustrating a data supply method according to one embodiment of the present invention. Detailed Implementation

[0009] Hereinafter, with reference to the accompanying drawings, a data supply device, robot system, data supply method, robot control method, data supply program, and control program according to one embodiment of the present invention will be described.

[0010] like Figure 1 As shown, the robot system 1 of this embodiment includes: a robot 3; a control device 5 for the robot 3; and a data supply device 7 that supplies data to the control device 5.

[0011] Robot 3 is, for example, a six-axis vertical jointed robot. Robot 3 can also be any type of robot, such as a vertical jointed robot other than six-axis or a horizontal jointed robot.

[0012] The robot 3 comprises: a base 11 disposed on the ground F; a rotating body 13 capable of rotating relative to the base 11 about a first axis A; a first arm 15 capable of rotating relative to the rotating body 13 about a second horizontal axis B orthogonal to the first axis A; a second arm 17 capable of rotating relative to the first arm 15 about a third axis C parallel to the second axis B; and a wrist 19 capable of rotating relative to the second arm 17.

[0013] Each of these components, including the base 11, rotating body 13, first arm 15, second arm 17, and wrist 19, has a built-in servo motor (not shown) that rotates around its respective axis of rotation. A tool S, for example, is mounted at the front end of the wrist 19.

[0014] Robot 3 is equipped with a robot coordinate system CR. In the robot coordinate system CR, its origin is located at the center of the base 11, and its Z-axis is set to be parallel to the vertical direction.

[0015] A tool coordinate system (CT) is defined for tool S. The tool coordinate system (CT) specifies the position and orientation of tool S within the robot coordinate system (CR). Furthermore, the origin of the tool coordinate system (CT) coincides with the tool center point (TCP), which serves as the working point of tool S.

[0016] The control device 5 includes: at least one control processor 21; and a control memory (memory) 23, which includes RAM (ReadOnly Memory), ROM (RandomAccess Memory), and HDD (HardDiskDrive), etc.

[0017] The control memory 23 stores data of action commands sent from the data supply device 7. For example, a maximum of eight action commands can be stored in the control memory 23 at a time.

[0018] In addition, the control memory 23 stores a control program that enables the robot 3 to move. The control processor 21 reads the control program stored in the control memory 23 and executes it, thereby implementing the control method for the robot 3.

[0019] Specifically, if the control device 5 is activated, the control processor 21 sends a stored information signal (signal) including information about the number of action commands that can be sent to the control device 5 to the data supply device 7. Since no action commands are stored in the control memory 23 immediately after the control device 5 is activated, the initially sent stored information signal after activation includes, for example, information indicating that there are eight action commands that can be sent to the control device 5.

[0020] Furthermore, the control processor 21 executes the motion commands stored in the control memory 23 sequentially, thereby causing the robot 3 to move. For example, the control processor 21 moves the rotary body 13, the first arm 15, the second arm 17, and the wrist 19 in the robot coordinate system CR, thereby aligning the position and orientation of the tool S with the position and orientation specified by the tool coordinate system CT. Thus, the tool S can be positioned at any position and orientation in the robot coordinate system CR.

[0021] Furthermore, each time the control processor 21 executes an action command stored in the control memory 23, it clears the executed action command from the control memory 23 and sends a new storage information signal to the data supply device 7. At this time, the control processor 21 increments the information in the new storage information signal regarding the number of action commands that can be sent to the control device 5 by one. Specifically, the control processor 21 sends a new storage information signal that includes information indicating the number of action commands that can be sent.

[0022] Secondly, the data supply device 7 is implemented by a computer, such as a personal computer. The data supply device 7 includes: at least one supply processor (data acquisition unit, judgment unit, conversion unit) 31, such as a central processing unit; a supply memory 33, which includes RAM, ROM, and HDD; a display unit 35 that displays various information; and an input unit 37, such as a mouse, keyboard, and touch panel. Furthermore, the data supply device 7 includes: a receiving unit 39 that receives stored information signals from the control device 5; and a transmitting unit 41 that sends action commands to the control device 5.

[0023] Data files are stored in the supply memory 33. For example, such as Figure 2 As shown, in the data file, multiple action commands for moving the tool center point of the tool S mounted on the wrist 19 of robot 3 toward the target position are listed in multiple rows in a predetermined order.

[0024] Each motion command includes, for example, the position information (X, Y, Z) of the tool coordinate system (CT) of robot 3; the posture information (P, W, R); and the motion speed (mm / s) of tool S. X, Y, and Z represent the amount of movement (mm) of the origin of the tool coordinate system (CT) in the X, Y, and Z axes of the robot coordinate system (CR), respectively. Additionally, W, P, and R represent the angles (deg) of rotation of the tool coordinate system (CT) around the X, Y, and Z axes of the robot coordinate system (CR), respectively. Each motion command is assigned an ID (1, 2, 3, ...) as an identification number, following the order listed in the data file. For example, the first row of motion commands is assigned 1, the second row 2, ..., and so on, with N being assigned to the Nth row of motion commands.

[0025] The data file stored in the supply memory 33 can be viewed by the user on the display unit 35, for example. The user can specify any data file in the supply memory 33 using the input unit 37.

[0026] In addition, a data supply program is stored in the supply memory 33. The supply processor 31 implements the data supply method by reading the data supply program stored in the supply memory 33 and executing it.

[0027] Specifically, the supply processor 31 determines whether an action command can be sent to the control device 5 based on the stored information signal received from the control device 5 by the receiving unit 39. For example, if the control device 5 sends a stored information signal containing information indicating the number of action commands that can be sent to the control device 5, the supply processor 31 determines that it can be sent. On the other hand, if no new stored information signal is sent from the control device 5, the supply processor 31 determines that it cannot be sent. In this case, after a predetermined standby time, it determines again whether it can be sent.

[0028] In addition, the supply processor 31, based on the quantity information included in the stored information signal, sequentially obtains the number of action commands in the user-specified data file that can be sent to the control device 5, starting from the one with the smaller ID.

[0029] The processor 31 can also convert the acquired motion commands into a format that the control device 5 can execute, as needed. This allows for the creation of a data file that lists motion commands in formats other than those that the control device 5 can execute. The format of the motion commands may also include, for example, units representing the motion speed of the robot 3.

[0030] In addition, when the supply processor 31 determines that it can send an action command, it sends the acquired action command from the sending unit 41 to the control device 5 in the order listed in the data file, that is, in the order of IDs.

[0031] In addition, the processor 31 repeatedly acquires action commands from the data file and determines whether the action commands can be sent, and the sending unit 41 repeatedly sends action commands to the control device 5. The stored information signals sent from the control device 5 are repeatedly received by the receiving unit 39.

[0032] These robots 3, control devices 5, and data supply devices 7 can also be directly connected to each other via connection interfaces not shown. Furthermore, robots 3, control devices 5, and data supply devices 7 have communication units not shown for mutual communication and can also be connected to each other via networks not shown, such as LAN (Local Area Network) or the Internet.

[0033] The following is for reference Figure 3 The flowchart below explains the functions of the data supply device 7, robot system 1, data supply method, robot control method, data supply program, and control program configured in this embodiment.

[0034] When using the data supply device 7 of this embodiment to make the robot 3 move, the control device 5 of the robot 3 and the data supply device 7 are started first.

[0035] If the control device 5 is activated, the control processor 21 sends a stored information signal to the data supply device 7. This stored information signal includes information indicating, for example, the number of action commands that can be sent to the control device 5, which is eight. The stored information signal sent from the control device 5 is received by the receiving unit 39 of the data supply device 7.

[0036] In the data supply device 7, the user confirms the data file on the display unit 35 and specifies the required data file using the input unit 37 (step S1). The supply processor 31 may also display information prompting the user to specify the data file on the display unit 35.

[0037] Next, the supply processor 31 determines, based on the stored information signal received by the receiving unit 39, whether it can send an action command to the control device 5 (step S2). In this case, the supply processor 31 determines that eight action commands can be sent.

[0038] Then, the supply processor 31 obtains the action commands with IDs 1 to 8 from the first to the eighth lines of the data file specified by the user (step S3). Next, the supply processor 31 converts each obtained action command into a format that can be executed by the control device 5 (step S4).

[0039] Then, the processor 31 sends the converted action commands with IDs 1 to 8 to the control device 5 from the sending unit 41 in order of ID (step S5). The action commands sent from the sending unit 41 are stored in the control memory 23 of the control device 5.

[0040] In the control device 5 of robot 3, the control processor 21 executes the action commands stored in the control memory 23 sequentially according to their ID numbers, thereby causing robot 3 to move. Furthermore, each time the control processor 21 executes an action command stored in the control memory 23, it clears the executed action command from the control memory 23 and sends a new storage information signal, including information indicating the number of action commands that can be sent to the control device 5, to the data supply device 7. This process of storing action commands sent from the data supply device 7 by the control memory 23, executing and clearing the stored action commands by the control processor 21, and sending new storage information signals is repeated.

[0041] Next, in the data supply device 7, the supply processor 31 determines whether the last sent action command with ID 8 is the last line in the data file (step S6). In this case, if the data file includes an action command in the ninth line, the last sent action command is not the last line, so the process returns to step S2.

[0042] If the process returns to step S2, the processor 31 is provided with a new stored information signal sent from the control device 5 to determine whether an action command can be sent to the control device 5. If a new stored information signal is sent from the control device 5, including information indicating the number of action commands that can be sent to the control device 5, the processor 31 is provided with a determination that an action command can be sent.

[0043] Then, the processor 31 obtains the action command for the next line in the data file, which in this case is the action command with ID 9 for the ninth line (step S3). Next, the processor 31 converts the obtained action command into a format that can be executed by the control device 5 (step S4), and then sends the action command from the sending unit 41 to the control device 5 (step S5). The action command sent from the sending unit 41 is stored in the control memory 23 of the control device 5.

[0044] Next, the processor 31 determines whether the last sent action command with ID 9 is the last line in the data file (step S6). In this case, if the data file includes the action command on the tenth line, the last sent action command is not the last line, so the process returns to step S2.

[0045] Furthermore, the processor 31 repeats steps S2 to S6 until the action command for the last line of the data file is sent. If the action command for the last line of the data file is sent, the operation of the data supply device 7 ends.

[0046] If all action commands in the data file supplied from the data supply device 7 are executed by the control processor 21, then the operation of the control device 5 also ends.

[0047] As explained above, according to the data supply device 7, robot system 1, data supply method, robot control method, data supply program, and control program of this embodiment, the data supply device 7 repeatedly receives stored information signals, acquires action commands from the data file, determines whether action commands can be sent, and sends action commands to the control device 5. Simultaneously, if it is determined that the commands can be sent to the control device 5 of the robot 3, the action commands are supplied to the control device 5 in a predetermined order. Therefore, even if the total number of action commands listed in the data file exceeds the capacity of the control device 5 of the robot 3, the robot 3 can still be taught to each action command in a predetermined order. Thus, the workload that the control device 5 of the robot 3 can handle will not exceed the capacity of the robot 3, and the robot program, which includes a large number of action commands, can be processed.

[0048] In this embodiment, the data file may also include motion commands recorded in a format executable by an NC (Numerical Control) device. In this case, the processor 31 is supplied with the motion commands to convert them into a format executable by the control device 5. Thus, the robot 3 can also be made to move based on the NC program output from CAM (Computer-Aided Manufacturing).

[0049] Furthermore, in this embodiment, an example is given of including a value representing the number of action commands that can be sent to the control device 5 in the stored information signal. However, alternatively, the ID attached to the executed action command can also be included in the stored information signal. Since the ID of the action command supplied to the control device 5 is known in the supply processor 31, by confirming the ID included in the stored information signal, it is possible to determine whether the action command has been executed and cleared, and whether an action command can be sent to the control device 5.

[0050] In addition, in this embodiment, an example of an action command is given, which includes position information, attitude information and action speed. However, it is not limited to this. Other information, such as linear interpolation, interpolation of each axis and circular interpolation, may also be included based on the content of the robot program.

[0051] In addition, in this embodiment, an example is given in which the control device 5 can store eight action commands at a time in the control memory 23, but it can also store more than eight action commands at a time.

[0052] In this embodiment, except immediately after startup, the data supply device 7 sends action commands to the control device 5 one by one; however, it can also send multiple action commands at once. Furthermore, the control processor 21 sends a new stored information signal to the data supply device 7 each time an action command is executed; however, it can also send a stored information signal to the data supply device 7 each time multiple action commands are executed. In this case, the information including the number of action commands that can be sent in the stored information signal should correspond to the number of action commands that have been executed.

[0053] In addition, in this embodiment, the data supply device 7 obtains the action command in the data file when it determines that it can send the action command to the control device 5. However, instead, the data supply device 7 may also determine whether it can send the action command to the control device 5 after obtaining the action command in the data file.

[0054] In addition, in this embodiment, the case where the data supply device 7 converts the format of the action command is illustrated. However, if the action command in the data file is already recorded in a format that can be executed by the control device 5, the process of converting the format can be omitted.

[0055] In addition, in this embodiment, the data supply device 7 includes a supply memory 33 for storing data files, but the supply memory 33 may also be built into an external device such as a server that can communicate with the data supply device 7 via a network such as a LAN or the Internet. Alternatively, instead of the supply memory 33, a storage device such as a flash memory or HDD externally mounted on the data supply device 7 may be used.

[0056] The foregoing has described in detail one embodiment of the present invention, but the present invention is not limited to the above-described embodiment. In the above-described embodiment, various additions, modifications, alterations, and partial deletions can be made without departing from the spirit and intent of the invention, or within the scope of the idea and spirit of the invention derived from the claims and their equivalents. For example, in the above-described embodiment, the order of each action and the order of each process are shown as an example, and are not limited thereto.

[0057] The following notes further disclose the above-described embodiments and variations.

[0058] Postscript 1 A data supply device is connected to the robot's control device. The data supply device includes: The data acquisition unit acquires the action commands from a data file that lists multiple action commands in a predetermined order; A receiving unit that receives from the control device a signal including information about the number of action commands that can be sent to the control device; The determination unit, based on the signal received by the receiving unit, determines whether the action command can be sent to the control device; and The sending unit, when the determination unit determines that transmission is possible, sends the action commands acquired by the data acquisition unit to the control device in the specified order. The process of acquiring the action command, receiving the signal, determining whether it can be sent, and sending the action command is repeated.

[0059] Appendix 2 In the data supply device described in Appendix 1 The data supply device includes a conversion unit that converts the action command acquired by the data acquisition unit into a format that can be executed by the control device.

[0060] Appendix 3 In the data supply device described in Appendix 2 The data file includes action commands recorded in a format that can be executed by the NC device.

[0061] Appendix 4 A robot system having: The robot; The control device; and The data supply device described in any one of Annexes 1 to 3, The control device controls the robot by sequentially executing the action commands sent from the transmitting unit.

[0062] Appendix 5 In the robot system described in Appendix 4 The control device includes a memory capable of temporarily storing at least one of the action commands. If an action command is executed, the executed action command is cleared from the memory, and the amount of information included in the signal is increased by one.

[0063] Appendix 6 A data supply method for supplying action commands to the control device of a robot. Retrieve the action commands from a data file that lists multiple action commands in a predetermined order. The system receives a signal from the control device that includes information about the number of action commands that can be sent to the robot's control device. Based on the received signal, it is determined whether the action command can be sent to the control device. If it is determined that the action can be sent, the acquired action commands are sent to the control device in the specified order. The process of acquiring the action command, receiving the signal, determining whether it can be sent, and sending the action command is repeated.

[0064] Postscript 7 A method for controlling a robot, wherein the robot moves by executing the action commands supplied by the data supply method described in Appendix 6 by the control device.

[0065] Postscript 8 A data supply program that provides action commands to the robot's control device. The data feed program causes the computer to perform the following processes: Retrieve the action commands from a data file that lists multiple action commands in a predetermined order. Based on a signal sent from the robot's control device, including information about the number of action commands that can be sent to the control device, it is determined whether the action commands can be sent to the control device. If it is determined that the action can be sent, the acquired action commands are sent to the control device in the specified order. The process of acquiring the action command, receiving the signal, determining whether it can be sent, and sending the action command is repeated.

[0066] Postscript 9 A control program that executes the action commands supplied by the data supply program described in Appendix 8 by the control device, thereby causing the robot to move.

[0067] Explanation of reference numerals in the attached figures: 1: Robot System 3: Robot 5: Control device 7: Data supply device 31: Supply to the processor (data acquisition unit, judgment unit, conversion unit) 39: Receiving Department 41: Sending Department

Claims

1. A data supply device, connected to the control device of a robot, characterized in that, The data supply device includes: The data acquisition unit acquires the action commands from a data file that lists multiple action commands in a predetermined order; A receiving unit that receives from the control device a signal including information about the number of action commands that can be sent to the control device; The judgment unit determines, based on the signal received by the receiving unit, whether the action command can be sent to the control device; as well as The sending unit, when the determination unit determines that transmission is possible, sends the action commands acquired by the data acquisition unit to the control device in the specified order. The process of acquiring the action command, receiving the signal, determining whether it can be sent, and sending the action command is repeated.

2. The data supply device according to claim 1, characterized in that, The data supply device includes a conversion unit that converts the action command acquired by the data acquisition unit into a format that can be executed by the control device.

3. The data supply device according to claim 2, characterized in that, The data file includes action commands recorded in a format that can be executed by the NC device.

4. A robot system, characterized in that, have: The robot; The control device; and The data supply device according to any one of claims 1 to 3, The control device controls the robot by sequentially executing the action commands sent from the transmitting unit.

5. The robot system according to claim 4, characterized in that, The control device includes a memory capable of temporarily storing at least one of the action commands. If an action command is executed, the executed action command is cleared from the memory, and the amount of information included in the signal is increased by one.

6. A data supply method for supplying action commands to a robot's control device, characterized in that, Retrieve the action commands from a data file that lists multiple action commands in a predetermined order. The system receives a signal from the control device that includes information about the number of action commands that can be sent to the robot's control device. Based on the received signal, it is determined whether the action command can be sent to the control device. If it is determined that the action can be sent, the acquired action commands are sent to the control device in the specified order. The process of acquiring the action command, receiving the signal, determining whether it can be sent, and sending the action command is repeated.

7. A method for controlling a robot, characterized in that, The robot moves by executing the action command supplied by the data supply method of claim 6 by the control device.

8. A data supply program for supplying action commands to the control device of a robot, characterized in that, The data feed program causes the computer to perform the following processes: Retrieve the action commands from a data file that lists multiple action commands in a predetermined order; Based on a signal sent from the robot's control device, including information about the number of action commands that can be sent to the control device, it is determined whether the action commands can be sent to the control device. as well as If it is determined that the action command can be sent, the acquired action command will be sent to the control device in the order stated. The process of acquiring the action command, receiving the signal, determining whether it can be sent, and sending the action command is repeated.

9. A control program, characterized in that, The action commands supplied through the execution of the data supply program as described in claim 8 are executed by the control device, thereby causing the robot to move.

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