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 robot control device is specified, the data supply device comprising: an input unit that allows a user to specify a data file listing a variety of operating commands in a prescribed order; a receiving unit that receives a signal from the control device containing information relating to the number of operating commands that can be transmitted to the control device; a supply processor that retrieves the operating commands from the specified data file and, based on the signal received from the receiving unit, determines whether the operating commands can be transmitted to the control device;and a transmission unit which, when it is determined that the operating commands can be transmitted, transmits the operating commands retrieved from the supply processor to the control device in the prescribed sequence, repeating the retrieval of the operating commands, the reception of the signal, the determination of transmissibility and the transmission of the operating commands.

Description

{Technical field}

[0001] The present disclosure relates to data supply devices, robot systems, data supply methods, control methods for robots, data supply programs and control programs. {General state of the art}

[0002] There are known robot systems that operate robots according to robot programs (see, e.g., patent literature 1). In a robot system disclosed in patent literature 1, data from a robot program, relating to a series of operations, are stored in a memory area in a robot control device. The robot's control device then reads the data from the memory area sequentially in order to execute the robot program and thus operate the robot. {List of oppositions}{Patent literature}

[0003] [PTL 1] Unexamined Japanese patent application, publication no. 2019-81204 {Brief description of the invention}{Technical problem}

[0004] Robot controllers have a limited data capacity that can be stored in memory. If a robot program's data includes a very large number of learning points or similar elements that exceed the memory limit—for example, if a series of operations comprises hundreds of thousands or millions of learning points—it becomes impossible to store the data in the robot controller and teach the robot the sequence of operations. Therefore, it is desirable to be able to handle a robot program with a very large number of learning points or similar elements without exceeding the capacity of a single robot controller. {Solution to the problem}

[0005] One aspect of the present invention consists of a data supply device connected to a control device for a robot, the data supply device comprising: a data retrieval unit that retrieves a plurality of operating commands from a data file in which the operating commands are listed in a prescribed order; a receiving unit that receives a signal from the control device comprising information relating to a number of the operating commands that can be transmitted to the control device; a determining unit that determines, based on the signal received from the receiving unit, whether the operating commands can be transmitted to the control device or not;and a transmission unit which, in response to the determination unit determining that the operating commands can be transmitted, transmits the operating commands retrieved from the data retrieval unit to the control device in sequence, with the retrieval of the operating commands, the reception of the signal, the determination of transmissibility and the transmission of the operating commands being repeated. {Brief description of the drawings} { Fig. 1] Fig. Figure 1 is an overall configuration diagram showing a robot system according to one embodiment of the present disclosure. { Fig. 2] Fig. 2 is a block diagram showing a data supply device made of Fig. 1 shows. { Fig. 3] Fig. Figure 3 is a flowchart to illustrate a data supply procedure according to an embodiment of the present disclosure. {Description of the embodiments}

[0006] A data supply device, a robot system, a data supply method, a robot control method, a data supply program and a control program according to an embodiment of the present disclosure are described below with reference to the drawings.

[0007] As in Fig. As shown in Figure 1, a robot system 1 according to this embodiment comprises a robot 3, a control device 5 for the robot 3 and a data supply device 7 which supplies data to the control device 5.

[0008] Robot 3, for example, is a six-axis vertically articulated robot. Robot 3 could be any type of robot, such as a vertically articulated robot with a different number of axes than six, or a horizontally articulated robot.

[0009] The robot 3 comprises: a base 11 installed on a floor F; a rotating body 13 rotatable about a first axis A with respect to the base 11; a first arm 15 rotatable about a horizontal second axis B with respect to the rotating body 13, the second axis B being perpendicular to the first axis A; a second arm 17 rotatable about a third axis C with respect to the first arm 15, the third axis C being parallel to the second axis B; and a wrist 19 rotatable with respect to the second arm 17.

[0010] The base 11, the rotating body 13, the first arm 15, the second arm 17, and the wrist 19 each have a built-in servomotor (not shown) to rotate the respective part about its axis of rotation. A tool S, for example, is attached to the distal end of the wrist 19.

[0011] A robot coordinate system CR is defined for robot 3. The origin of the robot coordinate system CR is located in the center of base 11, and a Z-axis is aligned parallel to the vertical direction.

[0012] A tool coordinate system CT is defined for tool S. The tool coordinate system CT defines 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 is the working point of tool S.

[0013] The control device 5 comprises at least one control processor 21 and one control memory (memory) 23, including a read-only memory (RAM), a random access memory (ROM), a hard disk drive (HDD), etc.

[0014] The control memory 23 stores data from operating commands transmitted by the data supply device 7. The control memory 23 can, for example, store a maximum of eight operating commands at once.

[0015] Furthermore, the control memory 23 stores a control program for operating the robot 3. A control procedure for the robot 3 is implemented by the control processor 21 reading the control program stored in the control memory 23 and then executing the control program.

[0016] When the control device 5 is activated, the control processor 21 sends a stored information signal (signal) to the data supply device 7, the stored information signal comprising information indicating the number of operating commands that can be transmitted to the control device 5. Since operating commands are not stored in the control memory 23 immediately after the activation of the control device 5, the stored information signal that is first transmitted after activation includes, for example, information indicating that the number of operating commands that can be transmitted to the control device 5 is eight.

[0017] Furthermore, the control processor 21 operates the robot 3 by successively reading and executing the operating commands stored in the control memory 23. The control processor 21 compares the position and orientation of the tool S with a position and orientation defined by the tool coordinate system CT by, for example, operating the rotary body 13, the first arm 15, the second arm 17, and the wrist 19 in the robot coordinate system CR. Accordingly, the tool S is located in the respective position and orientation in the robot coordinate system CR.

[0018] Furthermore, each time the control processor 21 executes an operating instruction stored in the control memory 23, it deletes the executed operating instruction from the control memory 23 and transmits a new stored information signal to the data supply device 7. At this time, the control processor 21 increments by one the information contained in the new stored information signal that specifies the number of operating instructions that can be transmitted to the control device 5. Specifically, the control processor 21 transmits a new stored information signal with information indicating that the number of operating instructions that can be transmitted is one.

[0019] Next, the data supply device 7 is implemented by a computer, such as a personal computer. The data supply device 7 comprises: at least one supply processor (data retrieval unit, destination unit, and conversion unit) 31, such as a central processing unit; a supply memory 33, comprising RAM, ROM, a hard disk, etc.; a display unit 35, which displays various types of information; and an input unit 37, such as a mouse, a keyboard, and a touchpad. The data supply device 7 further comprises: a receiver 39, which receives stored information signals from the control device 5; and a transmission unit 41, which transmits operating commands to the control device 5.

[0020] The supply memory 33 stores a data file. The data file contains, for example, information such as... Fig. Figure 2 shows a variety of operating commands for approaching target positions of the tool center position of the tool S attached to the wrist 19 of the robot 3, listed in a variety of lines.

[0021] Each operating command contains, for example, position information X, Y, and Z and orientation information P, W, and R of the robot 3's tool coordinate system CT, as well as the tool's operating speed (mm / s). X, Y, and Z each denote the movement amounts (mm) of the origin of the tool coordinate system CT along the X-axis, Y-axis, and Z-axis directions in the robot coordinate system CR. W, P, and R also denote the rotation angles (degrees) of the tool coordinate system CT around the X-axis, Y-axis, and Z-axis of the robot coordinate system. Each operating command is assigned an ID, such as 1, 2, 3, ..., as an identification number according to the order of listing in the data file. For example, 1 is assigned to the operating command in the first line, 2 to the operating command in the second line, ..., and N to the operating command in the nth line.

[0022] A user can, for example, check the data file stored in the supply memory 33 on the display unit 35. The user can specify any data file in the supply memory 33 via the input unit 37.

[0023] Furthermore, a data supply program is stored in the supply memory 33. A data supply procedure is implemented by the supply processor 31 reading the data supply program stored in the supply memory 33 and then executing the data supply program.

[0024] Specifically, the supply processor 31 determines, based on a stored information signal received by the receiver 39 from the control device 5, whether it is possible to transmit operating commands to the control device 5. For example, if a stored information signal indicating that the number of operating commands that can be transmitted to the control device 5 is one or more has been transmitted by the control device, the supply processor 31 determines that a transmission is possible. Conversely, the supply processor 31 determines that a transmission is not possible if no new stored information signal has been transmitted by the control device 5. In this case, after a prescribed waiting period, the supply processor 31 again determines whether a transmission is possible or not.

[0025] Furthermore, the supply processor 31 retrieves operating commands in ascending order of IDs, according to the number of IDs contained in the stored information signal in the data file specified by the user, which correspond to the number that can be transmitted to the control device 5.

[0026] The power supply processor 31 can, if necessary, convert the retrieved operating commands into a format that can be executed by the control device 5. This makes it possible to use data files containing operating commands specified in formats other than those executable by the control device 5. For example, an operating command format includes the unit of measurement for the robot 3's operating speed.

[0027] When the supply processor 31 has determined that the transmission of operating instructions is possible, the supply processor 31 causes the transmission unit 41 to transmit the retrieved operating instructions to the control device 5 in the order in which the operating instructions are listed in the data file, i.e. in the order of the IDs.

[0028] Furthermore, the supply processor 31 repeatedly retrieves operating commands from a data file and determines whether or not transmission of the operating commands is possible, and instructs the transmission unit 41 to repeat the transmission of operating commands to the control device 5. Stored information signals transmitted by the control device 5 are repeatedly received by the receiving unit 39.

[0029] The robot 3, the control device 5, and the data supply device 7 can be directly connected to each other via connection interfaces (not shown). Alternatively, the robot 3, the control device 5, and the data supply device 7 can include communication units (not shown) for mutual communication and be connected to each other via a network such as a local area network (LAN) or the internet (not shown).

[0030] The operation of the data supply device 7, the robot system 1, the data supply procedure, the robot control procedure, the data supply program, and the control program according to this embodiment, configured as described above, is described below with reference to a flowchart in Fig. 3 described.

[0031] In order to operate the robot 3 using the data supply device 7 according to this embodiment, both the control device 5 and the data supply device 7 for the robot 3 are first activated.

[0032] When the control device 5 is activated, the control processor 21 transmits a stored information signal to the data supply device 7. The stored information signal includes information indicating, for example, that the number of operating commands that can be transmitted to the control device 5 is eight. The stored information signal transmitted by the control device 5 is received by the receiver unit 39 of the data supply device 7.

[0033] At the data supply device 7, the user specifies a desired data file via the input unit 37 while checking data files on the display unit 35 (step S1). The supply processor 31 can display information on the display unit 35 prompting the user to specify a data file.

[0034] Subsequently, the supply processor 31 determines, based on the stored information signal received by the receiver unit 39, whether it is possible to transmit operating commands to the control device 5 (step S2). In this case, the processor 31 determines that it is possible to transmit eight operating commands.

[0035] The supply processor 31 then retrieves operating instructions with IDs 1 to 8 from the first to eighth lines of the user-specified data file (step S3). The supply processor 31 then converts each of the retrieved operating instructions into a format that can be executed by the control device 5 (step S4).

[0036] The supply processor 31 then instructs the transmission unit 41 to transmit the operating commands with IDs 1 to 8, whose format has been converted, to the control device 5 in the order of the IDs (step S5). The operating commands transmitted by the transmission unit 41 are stored in the control memory 23 of the control device 5.

[0037] In the control device 5 for the robot 3, the control processor 21 operates the robot 3 by executing the operating instructions stored in the control memory 23 sequentially according to their ID numbers. Furthermore, each time it executes an operating instruction stored in the control memory 23, the control processor 21 deletes the executed operating instruction from the control memory 23 and transmits a new stored information signal to the data supply device 7. This new stored information signal includes information indicating that the number of operating instructions that can be transmitted to the control device 5 is one. Subsequently, the control memory 23 stores an operating instruction transmitted by the data supply device 7, and the control processor 21 executes and deletes the stored operating instruction and transmits a new stored information signal.

[0038] In the data supply device 7, the supply processor 31 then determines whether the last transmitted operating instruction with ID 8 is the operating instruction in the last line of the data file or not (step S6). If, in this case, an operating instruction is contained in the ninth line of the data file, the process returns to step S2, since the last transmitted operating instruction is not the operating instruction in the last line.

[0039] Returning to step S2, the supply processor 31 determines, based on a new stored information signal transmitted by the control device 5, whether it is possible to transmit operating commands to the control device 5. If a new stored information signal containing information indicating that the number of operating commands that can be transmitted to the control device 5 is one has been transmitted by the control device 5, the supply processor 31 determines that it is possible to transmit one operating command.

[0040] The supply processor 31 then retrieves the operating command from the next line of the data file, in this case the driving command with ID 9 in the ninth line (step S3). The supply processor 31 then converts the retrieved operating command into a format that can be executed by the control device 5 (step S4) and then instructs the transmission unit 41 to transmit the operating command to the control device 5 (step S5). The operating command transmitted by the transmission unit 41 is stored in the control memory 23 of the control device 5.

[0041] The supply processor 31 then determines whether the last transmitted operating instruction with ID 9 is the operating instruction in the last line of the data file or not (step S6). If, in this case, an operating instruction is contained in the tenth line of the data file, the process returns to step S2, since the last transmitted operating instruction is not the operating instruction in the last line.

[0042] The data supply processor 31 then repeats steps S2 to S6 until the operating command in the last line of the data file has been transmitted. The operation of the data supply device 7 is terminated when the operating command in the last line of the data file has been transmitted.

[0043] The operation of the control device 5 is also terminated when all operating commands in the data file supplied by the data supply device 7 have been executed by the control processor 21.

[0044] As described above, in this embodiment, the data supply device 7, the robot system 1, the data supply procedure, the robot control procedure, the data supply program, and the control program, while repeatedly retrieving operating commands from a data file, determining whether it is possible to transmit operating commands, and transmitting operating commands to the control device 5, provides operating commands to the control device 5 in a prescribed sequence when it is determined that transmission to the control device 5 of the robot 3 is possible. This makes it possible to teach the robot 3 individual operating commands in a prescribed sequence, even if the total number of operating commands listed in a data file exceeds the number that can be stored in the control device 5 of the robot 3.Therefore, it is possible to run a robot program with a very large number of operating commands without exceeding the number of tasks that can be handled by the control device 5 of the robot 3.

[0045] In this embodiment, a data file can contain operating commands specified in a format that can be executed by a numerical control (NC) device. In this case, the power supply processor 31 converts the operating commands into a format that can be executed by the control device 5. This makes it possible to operate the robot 3 also with an NC program output by a computer-aided manufacturing (CAM) system.

[0046] Although this embodiment was described in connection with an example where a numerical value indicating the number of operating commands that can be transmitted to the control device 5 is contained in a stored information signal, alternatively, the ID associated with an executed operating command can also be contained in a stored information signal. Since the ID of each operating command supplied to the control device 5 is known in the supply processor 31, checking the ID contained in a stored information signal allows it to recognize that the operating command has been executed and deleted, and that it is possible to transmit an operating command to the control device 5.

[0047] Although this embodiment was described in connection with an example where each operating command includes position information, orientation information, and an operating speed, there is no limitation to this, and other information, such as information about linear interpolation, multi-axis interpolation, and circular interpolation, may be included depending on the content of the robot program.

[0048] Although this embodiment was described in connection with an example in which the control device 5 can simultaneously store eight operating commands in the control memory 23, the arrangement can also be designed such that a different number of operating commands than eight operating commands can be stored simultaneously.

[0049] Even if, in this embodiment, it is further assumed that the data supply device 7 transmits operating commands to the control device 5 not immediately after activation, but sequentially, a plurality of operating commands can alternatively be transmitted each time. Even if, furthermore, it is assumed that the control processor 21 transmits a new stored information signal to the data supply device 7 each time an operating command has been executed, the control processor 21 can alternatively also transmit a stored information signal to the data supply device 7 each time a plurality of operating commands have been executed. In this case, the arrangement should be such that the information contained in a stored information signal, which specifies the number of transmittable operating commands, corresponds to the number of executed operating commands.

[0050] Even if, in this embodiment, it is further assumed that the data supply device 7 retrieves operating commands from a data file when it is determined that it is possible to transmit operating commands to the control device 5, the data supply device 7 can alternatively also determine whether it is possible to transmit operating commands to the control device 5 after it has retrieved operating commands from a data file.

[0051] Although this embodiment was further described in connection with an example in which the data supply device 7 converts the format of operating commands, the format conversion step can be omitted if operating commands in a data file are already specified in a format that can be executed by the control device 5.

[0052] Even if, in this embodiment, it is further assumed that the data supply device 7 comprises the supply memory 33, which stores a data file, the supply memory 33 can also be contained in an external device, e.g., a server, which is communicatively connected to the data supply device 7 via a network, e.g., a LAN or the Internet. Furthermore, instead of the supply memory 33, an external storage medium connected to the data supply device 7, such as flash memory or a hard disk, can also be used.

[0053] Even though one embodiment of the present disclosure has been described in detail above, the present disclosure is not limited to the embodiment described above. The embodiment described above permits various types of additions, substitutions, modifications, partial omissions, etc., within the scope that does not deviate from the core of the invention or within the scope that does not deviate from the idea and the basic concept of the present invention as it results from the content specified in the claims and their equivalents. The sequence of the individual operations and the sequence of the individual processing steps in the embodiment described above are to be understood as examples and do not constitute a limitation of the examples.

[0054] With regard to the embodiment and modifications described above, the following annexes are further disclosed. (Annex 1)

[0055] Data supply device connected to a control device for a robot, the data supply device comprising: a data retrieval unit that retrieves a large number of operating commands from a data file in which the operating commands are listed in a prescribed order; a receiving unit that receives a signal from the control device, which includes information about a number of operating commands that can be transmitted to the control device; a determining unit that, based on the signal received from the receiving unit, determines whether the operating commands can be transmitted to the control device or not; and a transmission unit which, in response to the determination unit determining that the operating commands can be transmitted, transmits the operating commands retrieved from the data retrieval unit to the control device in the correct sequence, where the retrieval of the operating commands, the reception of the signal, the determination of the transmissibility and the transmission of the operating commands are repeated. (Annex 2)

[0056] Data supply device according to Annex 1, comprising a conversion unit that converts the operating commands retrieved by the data retrieval unit into a format executable by the control device. (Annex 3)

[0057] Data supply device according to Annex 2, wherein the data file includes an operating command specified in a format that can be executed by an NC device. (Annex 4)

[0058] Robot system, comprehensive: the robot; the control device; and the data supply device according to one of Annexes 1 to 3, the control device controls the robot by executing the individual operating commands transmitted by the transmission unit one after the other. (Annex 5)

[0059] Robot system according to Annex 4, wherein the control device includes a memory that can temporarily store at least one of the operating commands, and when one of the operating commands is executed, the control device deletes the executed operating command from the memory and increases by one any information contained in the signal relating to the number. (Annex 6)

[0060] Data supply method for providing a control device for a robot with operating commands, comprising: Retrieving a large number of operating commands from a data file in which the operating commands are listed in a prescribed order; Receiving a signal from the control device that includes information about a number of operating commands that can be transmitted to the control device for the robot; Determine whether the operating commands can be transmitted to the control device or not, based on the received signal; In response to determining that the operating commands can be transmitted, transmitting the retrieved operating commands to the control device according to the sequence, where the retrieval of the operating commands, the reception of the signal, the determination of the transmissibility and the transmission of the operating commands are repeated. (Annex 7)

[0061] Control method for a robot, wherein the robot is operated by the control device executing the operating commands supplied using a data supply method according to Annex 6. (Annex 8)

[0062] Data supply program for supplying a control device for a robot with operating commands, wherein the program causes a computer to execute the following: Retrieving a large number of operating commands from a data file in which the operating commands are listed in a prescribed order; Determine whether or not the operating commands can be transmitted to the robot's control device, based on a signal that includes information about the number of operating commands that can be transmitted to the control device, with the signal being transmitted by the control device; In response to determining that the operating commands can be transmitted, transmitting the retrieved operating commands to the control device in the sequence; and Repeating the retrieval of the operating commands, the reception of the signal, the determination of the transmissibility and the transmission of the operating commands. (Annex 9)

[0063] Control program for operating the robot by causing the control device to execute the operating commands supplied as a result of the execution of a data supply program according to Annex 8. {Reference symbol list} 1 robot system 3 robots 5 Control device 7 Data supply device 31 Supply processor (data retrieval unit, destination unit, conversion unit) 39 receiving unit 41 transmission unit QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2019-81204

[0003]

Claims

[1] Data supply device connected to a control device for a robot, the data supply device comprising: a data retrieval unit that retrieves a large number of operating commands from a data file in which the operating commands are listed in a prescribed order; a receiving unit that receives a signal from the control device, which includes information about a number of operating commands that can be transmitted to the control device; a determining unit that, based on the signal received from the receiving unit, determines whether the operating commands can be transmitted to the control device or not; and a transmission unit which, in response to the determination unit determining that the operating commands can be transmitted, transmits the operating commands retrieved from the data retrieval unit to the control device in the correct sequence, where the retrieval of the operating commands, the reception of the signal, the determination of the transmissibility and the transmission of the operating commands are repeated. [2] Data supply device according to claim 1, comprising a conversion unit which converts the operating commands retrieved by the data retrieval unit into a format executable by the control device. [3] Data supply device according to claim 2, wherein the data file comprises an operating command specified in a format that can be executed by an NC device. [4] Robot system, comprising: the robot; the control device; and the data supply device according to one of claims 1 to 3, the control device controls the robot by executing the individual operating commands transmitted by the transmission unit one after the other. [5] Robot system according to claim 4, wherein the control device comprises a memory that can temporarily store at least one of the operating commands, and when one of the operating commands is executed, the control device deletes the executed operating command from the memory and increases by one any information contained in the signal relating to the number. [6] Data supply method for supplying a control device for a robot with operating commands, comprising: Retrieving a large number of operating commands from a data file in which the operating commands are listed in a prescribed order; Receiving a signal from the control device that includes information about a number of operating commands that can be transmitted to the control device for the robot; Determine whether the operating commands can be transmitted to the control device or not, based on the received signal; In response to determining that the operating commands can be transmitted, transmitting the retrieved operating commands to the control device according to the sequence, where the retrieval of the operating commands, the reception of the signal, the determination of the transmissibility and the transmission of the operating commands are repeated. [7] Control method for a robot, wherein the robot is operated by the control device executing the operating commands supplied using a data supply method according to claim 6. [8] Data supply program for supplying a control device for a robot with operating commands, wherein the program causes a computer to execute the following: Retrieving a large number of operating commands from a data file in which the operating commands are listed in a prescribed order; Determine whether or not the operating commands can be transmitted to the robot's control device, based on a signal that includes information about the number of operating commands that can be transmitted to the control device, with the signal being transmitted by the control device; In response to determining that the operating commands can be transmitted, transmitting the retrieved operating commands to the control device in the sequence; and Repeating the retrieval of the operating commands, the reception of the signal, the determination of the transmissibility and the transmission of the operating commands. [9] Control program for operating the robot by causing the control device to execute the operating commands supplied as a result of the execution of a data supply program according to claim 8.

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