JPS6091404A - Industrial robbot - Google Patents

Abstract

PURPOSE:To improve the workng efficiency of an industrial robot by reading the external input data at a specific time point during execution of the memory contents stored previously and selecting a program to be executed out of the memory contents. CONSTITUTION:The ten-key 11 on a teaching board 10 is operated to feed a program number P1 and then sets at an area (a) of a memory counter 18 from a memory 17 via a CPU16. Then the CPU16 delivers a command to a robot main body 13 when a start button 14 is pushed. Thus the robot 13 starts its working. When an instruction IN is given for read-in of the external input data, the CPU16 gives an instruction to a gate 20 and sets the external input data Pm on a terminal 21 to a register 22. Thus it is possible to change automatically the working contents of the robot 13 despite a change of an object to be processed since the contents of another program are executed if the data Pm is previously changed.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an industrial robot K that operates based on a pre-stored program.

Conventionally, this type of industrial robot has, for example, a teaching panel "5" equipped with a numeric keypad 1, display items 2, a start button 3, and a stop button 4 on the front as shown in Figure @1, and a control device 6.
It consists of a four-bot main body 7, and by inputting the program number on the numeric keypad 1 on the teaching panel 5 and pressing the start button 3, the control device is activated! The robot main body 7 is widely used by executing a program corresponding to the program number stored in the program number 6.

However, in the conventional industrial robot configured as described above, when the working conditions etc. change, the operation of the robot body 7 cannot be easily changed by commands from other control devices. , the program number must be entered into the lathe 1 each time the workpiece is different, and the program number must also be entered into the industrial robot (K) by operating the numeric keypad 1 on the teaching panel 5, which is very time-consuming. It has the disadvantage that it is cumbersome.

In view of the above-mentioned circumstances, the present invention provides an industrial robot that can quickly change its operation in response to changes in external input data when working conditions etc. change, and can significantly improve work efficiency. The system reads external input data and selects a program to be executed from among the memory contents based on the external input data at a specific time while the pre-stored memory contents are being executed.

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2 is a schematic diagram of an industrial robot that is an embodiment of the present invention.

In FIG. 2, 10 is a teaching board, and this teaching board 10
On the front of the is a number pad 1 for entering the program number.
1 and display F! that displays various data. 1IS 12, a start button 14 for starting the robot body 13, and a stop button 15 for stopping the movement of the robot body 13. When the operator of this teaching panel 10Fi inputs a program number using the numeric keypad 11, this program number is supplied to the CPU (central processing unit 16).
Various programs PH, Pm, . . . Pms, . Further, 18 is a program counter that holds the address of the next instruction to be read, and is a stack in which the contents of the 19 program counter 18 are saved in response to a command from the CPU 16. Furthermore, 20 is a gate, and this gate 20 is configured to set external input data inputted to a terminal 21 in a register 22 according to a command from the CPU 16. and,
The external input data stored in the register 22 of the CPU
It is configured to be stored in the program counter 18 according to the command of I6.

Next, the operation of the above-mentioned industrial robot will be explained.

First, when the operator operates the numeric keypad 11 of the teaching panel 10 and inputs a program number (program number P1 in this embodiment), this program number P1 is input to the CPU 16.
It is set in area a of the program counter 18 via. When the operator presses the start button 14 on the teaching panel 10, 0 is set in area b of the program counter 18, and the CPU 16 decodes the command at address 0 of the program P1 based on the contents of area a1b of the program counter 18. .

In this embodiment, as shown in FIG.
Since this is a MOVET command that controls the operation of the robot, the CPU 16 outputs a command to the robot body 13 based on this command, and area b of the program counter 18 is updated to 1. As a result, the robot body 13 has MO
Starts operation according to the VEI command. Robot body 13
When the CPU completes its operation according to the MOVEI command, the CPU 16
decodes the instruction at address 1 of program P based on the contents of area hsb of program counter 18, and area b of program counter 18 is updated to 2. Then, the instruction at address 1 of program P is 12tgJ
As shown in the figure, this is an IN command for reading the input data of the Kfi section, so a command is issued to the CPU lt gate 20, and the external input data of the terminal 21 is set in the register 22 (in this embodiment, the external input data is assumed to be Pm). ).

Next, the CPU 16 decodes the instruction at address 2 of program P based on the contents of area a%b of program counter 18, and area b of program counter 18 is updated to 3. As shown in Figure 2, the instruction at address 2 of program P is a CALL command that calls another program.
This is a command, and based on this command, the CPU 16 saves the contents of the program counter 18 to the stack 19.

Therefore, P is stored in area a of the stack 19, and 3 is stored in area b. Furthermore, CPU16
moves the contents Pm of the register 22 to area a of the program counter 18 and sets area b to 0. and,
When the CPU 16 decodes the instruction at address 0 of the program Pm based on the contents of the program counter 18, it updates area b of the program counter 18 to 1.

The command at address 0 of the program pm is the MOVE2 command that controls the operation of the robot body 13 as shown in FIG. operate on the basis of Subsequently, the CPU 16 sequentially executes the instructions of the program Pm, and upon decoding the RET instruction, which is an instruction to return to the original program at address k, the stack 19
(area a is Pl, area b is 3) is returned to the program counter 18. Next, the (':') PU 16 decodes the MOVE4 command based on the contents of the program counter 18 and outputs the command to the robot body 13, so the robot body 13 operates based on the MOVE4 command.

The CPU 16 sequentially executes the instructions of the program P, and
Instruction to jump to address 1 at address JMr'-1
When the instruction is decoded, the contents of area b of the program counter 18, which is l+1, is changed to 1. And C.P.
U16 again decodes the instruction at address 1 of program P1,
1/Set the external input data of the terminal 21 in the register 22. Therefore, if the external input data of the terminal 21 is changed, another program content will be executed, so if the work conditions change, such as a change in the workpiece, the external input data can be changed accordingly. The operation contents will be changed automatically.

In the above embodiment, when the CPU 16 executes a CALL instruction, the contents of the register 22 are moved to area a of the program counter 18, but they may also be moved to area b. In this case, the same program You can jump to any address within.

Furthermore, after jumping and executing a program from that address, if a RET command is provided at the end of the program, it is possible to return to the original address (address 3 of program P in FIG. 2).

As described above, according to the present invention, external input data is read at a specific time while pre-stored memory contents are being executed, and a program to be executed is selected from among the memory contents based on the external input data. For example, if the work conditions change, for example, the workpiece changes and the gripping position changes and the robot has to change its operation, or if one pallet is full and another When it is necessary to set a robot on a certain pallet, the robot's operation can be automatically changed by changing external input data.

Therefore, work efficiency can be greatly improved.

[Brief explanation of drawings]

Figure 1 is a schematic configuration diagram showing a conventional industrial robot, Figure 2
The figure is a block diagram showing the configuration of an embodiment of the present invention. 13... Robot body, 16... CPU
(program address reverse rotation means), 17... memory, 18... program counter (program address selection means), 22... register (storage section), P1
~Pm...Program. Figure 1

Claims (1)

[Claims] In an industrial robot that controls a robot body by executing memory contents stored in advance in a control device, the control device includes a storage unit that temporarily stores external input data specifying a program to be executed, and the memory contents. A program address selection means is provided for reading external input data stored in the storage unit at a specific time during execution and selecting a program to be executed from among the contents of the memory based on the external input data. Industrial robots.