Robot control device

Abstract

Provided is a technology that enables a robot to correctly reproduce an operation intended by an operator, and also enables the timing intended by the operator to correctly reproduce the output timing at which an external signal is output from a robot control device to an external peripheral device. A robot control device for controlling a robot for changing the position and orientation of an external peripheral device includes at least one storage device for storing position and orientation information of the robot for each first cycle during direct teaching, and at least one processor for processing the position and orientation information of the robot for each second cycle during direct teaching. The processor stores external signal information including ON / OFF signals of the external peripheral devices for each first cycle, reads out the position and posture information for each first cycle, outputs signals for controlling the position and posture of the robot, reads out the external signal information for each second cycle, and outputs signals for controlling the position and posture of the robot. And outputs a signal for controlling the external peripheral device so that the external peripheral device is linked with the robot.

Description

Technical Field

[0001] This disclosure relates to a robot control device. Background Technology

[0002] Conventional methods utilize direct teaching, where the operator directly holds the robot arm or similar component to apply force and move it, thereby changing the robot's position and posture while simultaneously teaching it movements (see, for example, Patent Document 1). Another known technique stores several positions and postures traversed during direct teaching as teaching points beforehand, and automatically generates a motion program by interpolating these teaching points as motion commands. This technique has the advantage of allowing for easy modification of the motion program after teaching.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2023-38776 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] However, in the aforementioned techniques, there are instances where the interpolation path between teach points during the execution of the action program cannot accurately reproduce the operator's intended action. Furthermore, in such cases, it is difficult to reproduce the external signal output from the robot control device to external peripheral equipment at the timing intended by the operator. For example, if the external signal is used to control the opening and closing of a door, even a slight change in the output timing has little impact on production quality. However, in coating operations or laser processing operations on workpieces, deviations in the timing of external signals used to control the start and end times of the coating or laser processing equipment can significantly affect production quality.

[0008] This disclosure was made in view of the above-mentioned problems, and its object is to provide a timing technique that enables a robot to correctly reproduce the actions intended by the operator, and that can also correctly reproduce the operator's intentions in terms of the timing of output signals from the robot control device to external peripheral devices.

[0009] Solution for solving the problem

[0010] This disclosure discloses a robot control device for controlling a robot used to change the position and posture of external peripheral devices. The robot control device includes: at least one storage device; and at least one processor, wherein, during direct teaching, the storage device stores the position and posture information of the robot in each first cycle, and during the direct teaching, the storage device stores external signal information including the on / off signals of the external peripheral devices in each second cycle; the processor reads the position and posture information stored in the storage device in each first cycle and outputs a signal for controlling the position and posture of the robot; the processor reads the external signal information stored in the storage device in each second cycle and outputs a signal for controlling the external peripheral devices in a manner that causes the external peripheral devices to be linked with the robot. Attached Figure Description

[0011] Figure 1 This is a diagram illustrating a robot system equipped with a robot control device according to one embodiment of the present disclosure.

[0012] Figure 2 This is a functional block diagram of a robot control device according to one embodiment of the present disclosure.

[0013] Figure 3 It is a diagram used to illustrate the robot's position and posture information and the external signal information of external peripheral devices.

[0014] Figure 4 This is a flowchart illustrating an example of motion storage processing performed by a robot control device according to one embodiment of the present disclosure.

[0015] Figure 5 This is a flowchart illustrating an example of motion reproduction processing performed by a robot control device according to one embodiment of the present disclosure.

[0016] Figure 6 This is a diagram illustrating a robot system equipped with a robot control device according to other embodiments of the present disclosure. Detailed Implementation

[0017] An embodiment of this disclosure will now be described in detail with reference to the accompanying drawings.

[0018] Figure 1 This is a diagram illustrating a robot system 4 equipped with a robot control device 1 according to one embodiment of the present disclosure. (See diagram below.) Figure 1 As shown, the robot system 4 of this embodiment includes a robot control device 1, a robot 2, and a coating device 3 as an external peripheral device.

[0019] The robot system 4 of this embodiment is as follows: a coating nozzle 31 of a coating device 3 is provided at the front end of the robot arm 20. By controlling the position and posture of the robot 2, the position and posture of the coating nozzle 31 are changed while coating material is applied to the workpiece W. The robot system 4 of this embodiment has a direct teaching function. This direct teaching function is achieved by the operator directly holding the robot arm 20 or the like to apply force and move it, thereby changing the position and posture of the robot 2 and teaching it its actions.

[0020] Robot control unit 1 is a computer used to control the position and posture of robot 2 for applying coating material to workpiece W. Robot control unit 1 controls the position and posture of robot 2 based on robot motion path information taught through a direct teaching function. Detailed information about robot control unit 1 will be provided later.

[0021] Robot 2 is, for example, a 6-axis vertical joint robot, and as described above, has a coating nozzle 31 at the front end of the robot arm 20. Robot 2 is controlled by robot control device 1, and coating material is sprayed from the coating nozzle 31 onto the workpiece W in conjunction with the robot 2's movements.

[0022] In addition, robot 2 is equipped with multiple state detectors 21 for detecting the position and posture of robot 2. The state detectors 21 are composed of position (rotation angle) detectors such as servo motors installed on each drive axis of robot arm 20 and encoders mounted on each servo motor. Furthermore, in Figure 1 For simplicity, only one drive axis state detector 21 is shown in the diagram. During direct teaching, these multiple state detectors 21 are used to detect torque, speed, and position, thereby obtaining the position and posture of the robot 2 and acquiring robot motion path information.

[0023] Alternatively, the following structure can be adopted: an operating part (not shown) such as an operating hand is set on the wrist of robot 2, and a force sensor is built in to detect the force applied by the operator to the operating part. The position and posture of robot 2 can be obtained based on the magnitude and direction of the force detected by the force sensor.

[0024] The coating apparatus 3 applies a coating material to the workpiece W. As the coating apparatus 3, for example, besides... Figure 1 In addition to the cream coating apparatus shown for coating a decorative cake as workpiece W with cream, other examples include coating apparatus for coating paint, sealing apparatus for coating sealant, and bonding apparatus for coating adhesive.

[0025] The coating apparatus 3 includes, for example, a hopper for introducing coating material, a storage tank for storing coating material, a pump and supply pipe for pressurizing the coating material stored in the storage tank, and a coating nozzle 31 for spraying coating material.

[0026] Next, the structure of the robot control device 1 will be described in detail. Figure 2 This is a functional block diagram of the robot control device 1 according to this embodiment. The robot control device 1 of this embodiment is constructed using a computer, which includes, for example, memory such as ROM (read-only memory) and RAM (random access memory) interconnected via a bus, a CPU (control processing unit), and a communication control unit. The functions and operations of each functional unit described later can be achieved through the coordinated cooperation of the CPU, memory, and control program stored in the memory of the aforementioned computer.

[0027] The robot control device 1 may include a teach pendant (not shown). The teach pendant may include a display section such as a monitor that can display the action program, a touch panel or keypad for inputting teaching commands, etc.

[0028] like Figure 2 As shown, the robot control device 1 includes a storage device 11 and a processor 14. Multiple storage devices 11 and processors 14 may be provided.

[0029] The storage device 11 includes a position and attitude information storage unit 12 and an external signal information storage unit 13.

[0030] The position and posture information storage unit 12 acquires and stores the position and posture information of the robot 2 as the motion path information of the robot 2. Specifically, the position and posture information storage unit 12 acquires and stores the position and posture information based on the rotation angle of each servo motor detected during direct teaching.

[0031] More specifically, in this embodiment, the position and posture information storage unit 12 acquires and stores the position and posture information of the robot 2 every first cycle, for example, every 8 milliseconds, during direct teaching. Here, Figure 3 This diagram illustrates the position and orientation information of robot 2 and the external signal information from external peripheral equipment (coating device 3). For example... Figure 3 As shown, the position and pose information of robot 2 can include, for example, the coordinate values ​​of each axis of robot 2 at each moment, i.e., the rotation angle values ​​J1 to J6 of each of the 6 axes. Alternatively, the orthogonal coordinate values ​​at each moment, i.e., the coordinate values ​​of the X-axis, Y-axis and Z-axis, the rotation angle values ​​of the A-axis, B-axis and C-axis around these axes, and the shape value P, etc., can be listed.

[0032] During direct teaching, the external signal information storage unit 13 acquires and stores external signal information, including the ON / OFF signals of external peripheral devices, every second cycle, for example, every 8 milliseconds. The second cycle can be the same as the first cycle or a different cycle. For example, the first cycle can be set to a 5-millisecond cycle, and the second cycle can be set to a 1-millisecond cycle or a 10-millisecond cycle.

[0033] Furthermore, since the timing for acquiring position and posture information via the position and posture information storage unit 12 and the timing for acquiring external signal information via the external signal information storage unit 13 can be linked together as long as their acquisition timings are linked, they can be the same or different timings. For example, the external signal information storage unit 13 can also acquire and store the external signal information of the external peripheral device (coating device 3) when the position and posture information of the robot 2 is acquired during direct teaching.

[0034] As external signal information, it at least includes the I / O status signals, i.e., the on / off signals, of the external peripheral device (coating apparatus 3). Specifically, if it is coating apparatus 3, such as... Figure 3 As shown, the external signal information is a signal that notifies the start / stop timing of coating. Furthermore, the external signal information may also include the amount of coating material ejected from the coating nozzle 31 of the coating apparatus 3 (e.g., as shown in the image). Figure 3 The signal (for variable control of the amount of cream sprayed out) is used.

[0035] Thus, in addition to storing the timing data of the robot 2's position and posture, the storage device 11 of this embodiment also stores external signal output data of external peripheral devices acquired in conjunction with it. That is, it stores the on / off timing signal of the coating device 3, which is an electrical signal used for communication with external peripheral devices, in conjunction with the robot 2's movements.

[0036] like Figure 2 As shown, the processor 14 includes a position and attitude control unit 15 and an external peripheral device control unit 16.

[0037] The position and posture control unit 15 reads the position and posture information stored in the position and posture information storage unit 12 in each first cycle and outputs signals for controlling the position and posture of the robot 2. Specifically, the position and posture control unit 15 uses the position and posture data read in each first cycle as control commands to output signals for controlling the servo motors installed on each axis of the robot 2. Thus, by controlling the position and posture of the robot 2, the position and posture of the coating nozzle 31 of the coating device 3, which is an external peripheral device, can be changed.

[0038] The external peripheral device control unit 16 reads the external signal information stored in the external signal information storage unit 13 every second cycle and outputs a signal for controlling the external peripheral device in a manner that enables the external peripheral device to be linked with the robot 2. Specifically, the external peripheral device control unit 16 causes coating material to be sprayed from the coating nozzle 31 of the coating apparatus 3, which is an external peripheral device, in linkage with the robot 2.

[0039] Next, refer to Figure 4 and Figure 5 This section details an example of motion storage processing and motion reproduction processing performed during direct teaching using the robot control device 1 of this embodiment.

[0040] Figure 4 This is a flowchart illustrating an example of motion storage processing performed by the robot control device 1 of this embodiment. This process is repeatedly executed during direct teaching.

[0041] In step S11, the position and posture information of robot 2 and the external signal information of external peripheral equipment (coating device 3) are acquired. That is, this position and posture information and the external signal information are acquired synchronously. Then, proceed to step S12.

[0042] In step S12, it is determined whether the position and attitude information obtained in step S11 is being stored in the position and attitude information storage unit 12, and whether the external signal information obtained in step S11 is being stored in the external signal information storage unit 13. If the determination is yes, proceed to step S13; otherwise, end the current action storage process.

[0043] In step S13, the i-th position and pose information of this processing, i.e., the position and pose information obtained in step S11, is stored in the position and pose information storage unit 12. Then, proceed to step S14.

[0044] In step S14, the i-th external signal information of this processing, i.e., the external signal information obtained in step S11, is stored in the external signal information storage unit 13. Then, proceed to step S15.

[0045] In step S15, there is a standby period of 8 milliseconds. After that, the process returns to step S11. Thus, the process moves to the (i+1)th step, and the series of processes from steps S11 to S15 is repeated every 8 milliseconds.

[0046] Figure 5 This is a flowchart illustrating an example of motion reproduction processing performed by the robot control device 1 of this embodiment. This process is repeatedly executed during direct teaching.

[0047] In step S21, the i-th position and attitude information is read from the position and attitude information storage unit 12 and the i-th external signal information is read from the external signal information storage unit 13. Then, proceed to step S22.

[0048] In step S22, it is determined whether the position and posture of the robot 2 are being reproduced by the position and posture control unit 15 based on the position and posture information read in step S21, and whether the state of the external peripheral device (coating device 3) is being reproduced by the external peripheral device control unit 16 based on the external signal information read in step S21. If the determination is yes, proceed to step S23; if no, end the reproduction process.

[0049] In step S23, the external signal information read in step S21 is applied to the external peripheral device (coating apparatus 3) by the external peripheral device control unit 16, and the state of the external peripheral device (coating apparatus 3) is reproduced based on the external signal information. Then, the process proceeds to step S24.

[0050] In step S24, the position and posture control unit 15 uses the position and posture information read in step S21 as a control command to control the robot 2, and reproduces the position and posture of the robot 2 based on the position and posture information. Then, proceed to step S25.

[0051] In step S25, there is a standby period of 8 milliseconds. After that, the process returns to step S21. Thus, the process moves to the (i+1)th step, and the series of processes from steps S21 to S25 is repeated every 8 milliseconds.

[0052] According to this embodiment, the following effects can be achieved.

[0053] In this embodiment, during direct teaching, the storage device 11 stores the position and posture information of the robot 2 in each first cycle, and during direct teaching, it stores external signal information, including the on / off signals of external peripheral devices 3 and 31, in each second cycle. Furthermore, the processor 14 reads the position and posture information stored in the storage device 11 in each first cycle and outputs a signal for controlling the position and posture of the robot 2, and reads the external signal information stored in the storage device 11 in each second cycle and outputs a signal for controlling the external peripheral devices 3 and 31 in a manner that links them with the robot 2. Therefore, since the robot 2 and the external peripheral devices are controlled based on the position and posture information of the robot 2 and the external signal information of the external peripheral devices acquired periodically (e.g., every few milliseconds) during direct teaching, a robot control device 1 can be provided that enables the robot to accurately reproduce the operator's intended movement, and also accurately reproduces the timing of the operator's intended movement for the output timing of external signals from the robot control device 1 to the external peripheral devices.

[0054] Furthermore, in this embodiment, the first cycle and the second cycle can be set to the same or different cycles, and the timing for acquiring position and attitude information via the storage device 11 and the timing for acquiring external signal information can be set to the same or different timings. The same effect as described above can be achieved in either case.

[0055] In this embodiment, the external peripheral device is the coating apparatus 3. The processor 14 outputs a signal to control the position and posture of the robot 2, thereby changing the position and posture of the coating nozzle 31 of the coating apparatus 3. The processor 14 also outputs a signal to cause the coating material to be sprayed from the coating nozzle 31 in conjunction with the robot 2. Thus, in the coating operation on the workpiece W, the robot 2 can be directly taught to correctly reproduce the operator's intended movement, and the timing of the coating material spraying from the coating nozzle 31 can also be correctly reproduced by the robot control device 1. Therefore, since the coating operation of the robot 2 can be correctly taught to a skilled operator and can be correctly reproduced, production quality can be improved. Furthermore, when hardware such as a button or foot pedal that allows the operator to switch the on / off state of the coating apparatus 3 while manually moving the robot arm 20 directly, the operator's on / off timing can be correctly taught and reproduced, taking into account the time delay before the coating material is actually output from the coating apparatus 3.

[0056] While this disclosure has been described in detail, it is not limited to the various embodiments described above. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the spirit of this disclosure or from the intent of the disclosure derived from the claims and their equivalents. Furthermore, these embodiments can also be implemented in combination. For example, in the embodiments described above, the order of actions and the order of processes are shown as examples and are not limited to these orders. Similarly, the use of numerical values ​​or formulas in the description of the embodiments is also consistent with this.

[0057] For example, in the above embodiment, although the coating apparatus 3 is described as an external peripheral device, a laser processing apparatus can also be used as an external peripheral device. Here, Figure 6 This is a diagram showing a robot system 4A equipped with a robot control device 1A according to other embodiments of the present disclosure.

[0058] like Figure 6 As shown, the robot system 4A includes a robot control device 1A, a robot 2A, and a laser processing device 3A as an external peripheral device. The structure of the robot control device 1A is basically the same as that of the robot control device 1 described in the above embodiment. Furthermore, the structure of the robot 2A is the same as that of the robot 2 described in the above embodiment.

[0059] The laser processing apparatus 3A performs laser processing (laser welding, laser cutting, etc.) by irradiating a workpiece W with a laser. The laser processing apparatus 3A includes a laser processing head 30, a laser oscillator 32, and a light guide path 33. The laser processing head 30 has a laser processing nozzle 31A for emitting laser light at its front end.

[0060] The laser processing head 30 is detachably mounted on the wrist of the robot 2A. Optical system components such as optical lenses and lens driving mechanisms are installed inside the laser processing head 30.

[0061] The laser oscillator 32 oscillates internally according to instructions from the laser control unit provided in the robot control device 1A to generate a laser beam. The type of laser oscillator 32 is not limited, and conventionally known laser oscillators can be used.

[0062] The light guide path 33 guides the laser generated by the laser oscillator 32 to the laser processing head 30 and the laser processing nozzle 31A. The light guide path 33 is constructed using various light guiding materials such as optical fibers, reflectors, and optical lenses.

[0063] In other embodiments of this disclosure, the external peripheral device is a laser processing apparatus 3A. The processor 14 outputs signals to control the position and posture of the robot 2A, thereby changing the position and posture of the laser processing head 30 of the laser processing apparatus 3A. The processor 14 also outputs signals to cause laser light to be irradiated from the laser processing nozzle 31A of the laser processing head 30 in a manner linked to the robot 2A. Thus, in laser processing operations on workpiece W, the robot 2A can be directly taught to accurately reproduce the operator's intended movement, and the timing of laser irradiation from the laser processing nozzle 31A can also be accurately reproduced using the robot control device 1A. Therefore, the robot 2A can be correctly taught to perform laser processing operations by a skilled operator, and these operations can be accurately reproduced, thereby improving production quality.

[0064] Furthermore, in the above embodiments, a structure is adopted in which the storage device 11 acquires and stores external signal information every second cycle, and the processor 14 reads out the external signal information every second cycle, but it is not limited to this. A structure that does not limit the cycle of acquiring external signal information or the cycle of reading out external signal information can also be adopted.

[0065] The following notes further disclose the above-described embodiments and variations.

[0066] (Postscript 1)

[0067] A robot control device (1, 1A) controls robots (2, 2A) for changing the position and posture of external peripheral equipment (31, 31A), wherein the robot control device (1, 1A) comprises:

[0068] At least one storage device (11); and

[0069] At least one processor (14),

[0070] During direct teaching, the storage device (11) stores the position and posture information of the robot (2, 2A) in each first cycle.

[0071] During the direct teaching process, the storage device (11) stores external signal information, including the on / off signals of the external peripheral devices (3, 3A), in each second cycle.

[0072] The processor (14) reads the position and posture information stored in the storage device (11) in each of the first cycles, and outputs signals for controlling the position and posture of the robots (2, 2A).

[0073] The processor (14) reads the external signal information stored in the storage device (11) in each second cycle and outputs a signal for controlling the external peripheral devices (3, 3A) in a manner that enables the external peripheral devices (3, 3A) to be linked with the robot (2, 2A).

[0074] (Postscript 2)

[0075] In the above-mentioned robot control device (1),

[0076] The first cycle and the second cycle may be the same or different cycles.

[0077] (Note 3)

[0078] In the above-mentioned robot control device (1),

[0079] The timing for acquiring position and orientation information by the storage device (11) may be the same as or different from the timing for acquiring external signal information.

[0080] (Note 4)

[0081] In the above-mentioned robot control device (1),

[0082] The external peripheral equipment is a coating device (3).

[0083] The processor (14) changes the position and orientation of the coating nozzle (31) of the coating device (3) by outputting a signal for controlling the position and orientation of the robot (2).

[0084] The processor (14) outputs a signal to cause the coating material to be sprayed from the coating nozzle (31) in conjunction with the robot (2).

[0085] (Note 5)

[0086] In the aforementioned robot control device (1A),

[0087] The external peripheral equipment is a laser processing device (3A).

[0088] The processor (14) changes the position and orientation of the laser processing head (30) of the laser processing device (3A) by outputting a signal for controlling the position and orientation of the robot (2A).

[0089] The processor (14) outputs a signal to cause laser to be irradiated from the laser processing nozzle (31A) of the laser processing head (30) in a manner that is linked with the robot (2A).

[0090] (Note 6)

[0091] A robot control device (1, 1A) controls robots (2, 2A) for changing the position and posture of external peripheral equipment (31, 31A), wherein the robot control device (1, 1A) comprises:

[0092] At least one storage device (11); and

[0093] At least one processor (14),

[0094] During direct teaching, the storage device (11) stores the position and posture information of the robot (2, 2A) in each first cycle.

[0095] During the direct teaching process, the storage device (11) stores external signal information, including the on / off signals of the external peripheral devices (3, 3A).

[0096] The processor (14) reads the position and posture information stored in the storage device (11) in each of the first cycles, and outputs signals for controlling the position and posture of the robots (2, 2A).

[0097] The processor (14) reads the external signal information stored in the storage device (11) and outputs a signal for controlling the external peripheral devices (3, 3A) in a manner that enables the external peripheral devices (3, 3A) to be linked with the robot (2, 2A).

[0098] Explanation of reference numerals in the attached figures

[0099] 1. 1A: Robot control device

[0100] 2, 2A: Robot

[0101] 3: Coating equipment (external peripheral equipment)

[0102] 3A: Laser processing equipment (external peripheral equipment)

[0103] 4. 4A: Robotic System

[0104] 11: Storage device

[0105] 12: Position and posture information storage unit

[0106] 13: External signal information storage unit

[0107] 14: Processor

[0108] 15: Position and posture control unit

[0109] 16: External Peripheral Equipment Control Department

[0110] 20: Robotic Arm

[0111] 21: State Detector

[0112] 30: Laser processing head (external peripheral equipment)

[0113] 31: Coating nozzle (external peripheral equipment)

[0114] 31A: Laser processing nozzle (external peripheral equipment)

[0115] W: Workpiece

Claims

1. A robot control device for controlling a robot used to change the position and posture of external peripheral equipment, the robot control device comprising: At least one storage device; and At least one processor, in, During direct teaching, the storage device stores the robot's position and pose information in each first cycle. During the direct teaching process, the storage device stores external signal information, including the on / off signals of the external peripheral devices, in each second cycle. The processor reads the position and pose information stored in the storage device each first cycle and outputs a signal for controlling the position and pose of the robot. The processor reads the external signal information stored in the storage device in each of the second cycles and outputs a signal for controlling the external peripheral device in a manner that enables the external peripheral device to interact with the robot.

2. The robot control device according to claim 1, wherein, The first cycle and the second cycle may be the same or different cycles.

3. The robot control device according to claim 1 or 2, wherein, The timing for acquiring position and orientation information by the storage device may be the same as or different from the timing for acquiring external signal information.

4. The robot control device according to any one of claims 1 to 3, wherein, The external peripheral equipment is a coating device. The processor changes the position and orientation of the coating nozzle of the coating device by outputting signals to control the position and orientation of the robot. The processor outputs a signal to cause the coating material to be sprayed from the coating nozzle in conjunction with the robot.

5. The robot control device according to any one of claims 1 to 3, wherein, The external peripheral equipment is a laser processing device. The processor changes the position and orientation of the laser processing head of the laser processing device by outputting signals to control the position and orientation of the robot. The processor outputs a signal to cause laser light to be irradiated from the laser processing nozzle of the laser processing head in a manner that is linked to the robot.

6. A robot control device for controlling a robot used to change the position and orientation of external peripheral equipment, the robot control device comprising: At least one storage device; and At least one processor, in, During direct teaching, the storage device stores the robot's position and pose information in each first cycle. During direct teaching, the storage device stores external signal information, including the on / off signals of the external peripheral devices. The processor reads the position and pose information stored in the storage device each first cycle and outputs a signal for controlling the position and pose of the robot. The processor reads the external signal information stored in the storage device and outputs a signal for controlling the external peripheral device in a manner that enables the external peripheral device to interact with the robot.

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