JPH0423105A - Industrial robot - Google Patents

Abstract

PURPOSE:To omit the teaching jobs at the single surface side for such a job where the position attitudes of the work tools are opposite to each other centering on a work by providing a control arithmetic part which calculates the new data from the teaching data for such a work tool that has a position attitude opposite to the position attitude of a worker obtained by the taught data. CONSTITUTION:A control arithmetic part 2b of a robot controller 2 owns a new data generating function to generate the new data which decides the position attitude of a work tool 3 set by the taught data after moving the tool 3 in parallel to its turning direction and inverting the direction from the taught data. For instance, only an action given to an outer surface 4a of a work 4 is taught and the distance between the work tools opposite to each other centering on the work 4 is inputted with a key switch 2a. Then the new data generating function is actuated for generation of the attitude data needed for the action given to an inner surface 4b. Thus the jobs are attained for both sides of the work 4 with use of the teaching data on the single side of the work 4. Then the teaching time can be halved.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a teach-and-reproduce type industrial robot, and relates to an industrial robot that can be easily taught to perform similar work on the inner and outer surfaces of a workpiece. .

"Conventional technology" In recent years, teaching/reproduction type industrial robots have been developed as automatic machines that perform tasks such as painting and welding in place of humans. Used in various fields.

Therefore, in this type of industrial robot, teaching work on the inner and outer surfaces of a workpiece, even when the position and posture of the work tool for each surface is faced with the workpiece in between, has traditionally been taught separately. I was going.

For example, when painting both sides of a board with a certain thickness, the painting cans, which are working tools, were either placed opposite each other with the workpiece in between, or the teaching work was generally done separately for each side. .

"Problems to be Solved by the Invention" For this reason, conventional industrial robots have had the following problems when performing the above-mentioned tasks.

(1) Teaching takes time.

(2) Since the teaching quality of the inner and outer surfaces cannot be made the same, there is a difference in the coating quality between the inner and outer surfaces.

In addition, if it is an industrial robot equipped with a conventionally known mirror image conversion function, it can be used only when the inner and outer surfaces of the workpiece are parallel planes and the direction of the work tool is orthogonal to these planes.
With this conversion function that uses a workpiece as a mirror, it is possible to convert the teaching data of one surface to the other and omit the teaching of the other surface. However, for example, if the inner and outer surfaces of the workpiece are curved surfaces, this conversion is invalid, and teaching operations must be performed separately, which generally causes the above-mentioned problem.

The present invention has been made in view of the above-mentioned conventional problems, and for work on the inner and outer surfaces of a workpiece, in which the positions and postures of the respective work tools face each other across the workpiece, only one side of the workpiece can be used. The purpose of this invention is to provide an industrial robot that can eliminate teaching work.

[Means for Solving the Problems] The industrial robot of the present invention is a teaching and reproducing type industrial robot that moves a mounted working tool and works based on data that determines the position and orientation of the working tool. a control calculation unit that calculates new data regarding the work tool in a position and orientation opposite to the position and orientation of the work tool based on the taught data, from the data; The apparatus is characterized by comprising a setting means for setting the distance to the position of the tool in the control calculation section.

1. With the above configuration, the teaching operation is performed on one side of the workpiece, and the distance between the opposing working tools is inputted as the setting value of the setting means when working on each side of the workpiece. For example, you can have the worker work on both sides of the workpiece.

In other words, if the distance is set in this way, the new data obtained by the control calculation section will be data about the work on the other side, so this new data can be applied without performing the teaching work on the other side. You can also work on the other side based on this.

"Example" An example of the present invention will be described below with reference to FIGS. 1 to 5.

1 and 2 are diagrams showing a painting robot for carrying out the present invention, respectively, and FIG. 1 is an overall configuration diagram;
FIG. 2 is a block diagram showing the configuration of the robot controller.

In FIG. 1, the reference numeral 1 indicates the robot body. The robot body 1 has three main axes and a wrist part 1.
It is an articulated robot with 6 degrees of freedom and 3 axes at a, which is controlled by a robot controller 2 and has a wrist part 1.
The working tool 3 (in this case, a painting gun) attached to the tip of a can be directed in any direction and moved to any position within its operating range.

Moreover, what is indicated by the reference numeral 4 in FIG. 1 is a plate-shaped workpiece having an outer surface 4a and an inner surface 4b.

This workpiece 4 has a constant distance between the outer surface 4a and the inner surface 4b (that is, the thickness is constant), and the position and posture of the work tool 3 are adjusted relative to each other during painting work on each surface. It is good if it is.

Further, in FIG. 1, reference numeral 5 indicates the outer surface 4 of the workpiece 4.
It shows the target position of the work tool 3 when painting a.

In this industrial mouth hot, for example, PTP
According to the remote teaching method based on this method, the posture data of the robot body l that determines the position and posture of the work tool 3 with respect to each target position 5 are sequentially stored in the robot controller 2 to create an operation program (that is, to create a motion program so that the teaching is performed). It has become).

Here, the posture data refers to each joint angle θ of the robot body 1.
,,θ2. θ3. θ4. θ5. This is the value of θ8.

Since the o-bot body l is a 6-axis articulated robot,
The position and posture of the work tool 3 mounted on the wrist 1a are determined by these six joint angles.

Note that, hereinafter, these joint angles for six axes will be collectively expressed as a vector as follows.

o=Le,,e,,e3. e,, e'z θ 10 Hot controller 2, as shown in FIG. and a control calculation section 2b consisting of an operation control controller 6 and a coordinate transformation controller 9.

The motion controller 6 controls the flow of signals within the robot controller 2, and the motion controller 6 is configured to set the distance 11iL and the direction of reversal in the new data generation function, which will be described later, using the Keysui Nochi 2a (setting means). It is now possible to do so.

The servo controller 7 controls the position of the servo system for six axes. The memory 8 stores taught posture data.

The controller 9 uses the robot base coordinate system (x R, y R) from the joint angle θ of the robot.

ZR) A calculation is performed to obtain a coordinate transformation matrix T that determines the position and orientation of the work tool 3 as seen from lO, or the reverse calculation is performed.

Here, this coordinate transformation matrix T will be explained with reference to FIG.

The robot base coordinate system 10 is a rectangular coordinate system fixed to the -5-base portion 1c of the robot body 1. In Fig. 3, the reference numeral 11 is located at the origin or the tip of the work tool 3 (the nozzle opening of the painting can), and the direction of the X axis is the direction of the work tool 3 (
The tool coordinate system corresponds to the nozzle direction of the empty bag can, and as the work tool 3 moves, the robot base coordinate system 1
It is a moving coordinate system that moves within 0.

Also, in FIG. 3, what is indicated by the symbol u+V+W is a unit vector provided on each axis of the tool coordinate system 11, which is indicated by the symbol P.
Ili[vector] represents the origin of the tool coordinate system 11 when viewed from the robot base coordinate system 10.

When the coordinate system or unit vector is expressed in this way, the coordinate transformation matrix T from the tool coordinate system 11 to the robot coordinate system 10 is a 4-by-4 matrix as shown in the following formula (■). become.

In this Roho-noto for seniors, when teaching work is performed using the teaching method described above, the Roho-2 and 1-
・When the main body l moves and the joint angle changes to 0, this joint angle 0 is detected at each axis angle by a position detector (angle detector) provided for controlling the position of the motor of the robot main body l, and a position foot signal is generated. It is input to the servo controller 7 as e.

At this time, the position feedback signal θ is read by the motion controller 6, numbered and stored in the memory 8, and thereby the motion program consisting of the numbered posture data is configured in the memory 8. It is now possible to do so.

Hereinafter, at the jth time after starting teaching, the motion control controller 6
The joint angles e read in are respectively expressed as e(j) as the third posture data. If you express it like this,
In the teaching work, the memory 8 stores a plurality of 0(j)
Or, it is stored as a numbered posture data group and constitutes an operation program.

In addition, this industrial robot performs a reproduction operation based on the posture data 0(j) taught as described above, so that the work tool 3 moves along a trajectory corresponding to this posture data. The robot body operates.

That is, during playback, the data of e(j) is sequentially read from the operation controller 6 or the memory 8 according to the points and numbers, and the output corresponding to 0(J) (Ti 5θ,
(position command) is output to the servo controller 7. Then, the current joint angle of the robot body l with respect to the position command e is 0. The servo controller 7 supplies current to the motor of the robot body 1 so that the robot body 1 is servo-controlled.

Then, from the data e(j) taught as described above, the control calculation unit 2b consisting of the motion control controller 6 and the coordinate transformation controller 9 calculates the position and orientation of the work tool 3 according to this data. It has a new data generation function that generates new data for determining the position and orientation of the work tool that has been translated in parallel in the direction in which No. 3 faces and further reversed in direction.

That is, the distance of the parallel movement and the direction of the reversal are set by the key switch 2a, and when a command to activate the new data generation function is input again by the key switch 2a, as shown in FIG. Then, the operation controller 6 performs the following steps 81 to S13.

[Step Sl] The distance and the direction of reversal ("horizontal reversal" or "vertical reversal") set by the key switch 2a are read, and the process proceeds to step S2.

[Step S2] The value of the reversal flag f, which is an internal binary variable indicating the direction of reversal, is set to °00, and the process proceeds to step S3.

[Step S3] If the direction of inversion read in step S1 is "vertical inversion", step S4 is executed; otherwise, the process proceeds to step S5.

"Step S41: Set the value of the reversal flag f to "1°" and proceed to step S5.

[Step S5] Increment the posture data number j from "1" to J snd by 1, repeat steps 6 to 13, and end the process. Here, J end is the number of the last taught attitude data.

[Step S6 j-th posture data e(j) stored in the memory 8
Read out and proceed to step S7.

[Step S7] The data read out in step S6 is input to the coordinate transformation controller 9 as the joint angle θ, a coordinate transformation matrix T for the data is calculated, and the process proceeds to step S8. (Here, it is assumed that the coordinate transformation matrix T is expressed by the above formula 0.) [Step S8] If the value of the null rotation flag f is "0", the process proceeds to step S9, and the value of f is determined as " 1”, step 8. Proceed to section 10.

[Step S9] From the components u, y, and w of the coordinate transformation matrix T calculated in step S7, unit vectors u', y are calculated using the following formula (■).
, w are determined, and the process proceeds to step Sll.

(u'+v +w')=(u, v, w)"""■
[Step 510''J From the components U, V, and W of the coordinate transformation matrix T calculated in step S7, the unit vector u,
v', w are determined and the process proceeds to step Sll.

(υ +v IW') = (-υr V r-W )・
...■ [Step S6] According to the following formula (■), a displacement vector P' is determined from the component P of the coordinate transformation matrix T calculated in step S7, and the process proceeds to step S12.

P' = P + L ・ υ ・
...■ "Step S12" The coordinate transformation matrix T'w after transformation expressed by the following formula ■,
Pi [input to the transformation controller 9, calculate posture data θ' for this coordinate transformation matrix T',
Proceed to step S13.

[Step S13] The attitude data θ' obtained in step S12 is stored in the memory 8 as another program data θ'(J).

As shown in FIG. 3 or 4, the other posture data 0'(j) obtained through the processing of steps 81 to 513 is expressed relative to the tool coordinate system 11 based on the taught posture data 0(j) As a result, the origin moves in the X-axis direction by the distance, and corresponds to the tool coordinate system 12 in which the direction of the X-axis is reversed. If the direction of reversal is set to "horizontal direction," the reversal is performed around the Z-axis, and when the direction of reversal is set to "vertical direction," the reversal is performed around the Y-axis. be exposed.

In other words, according to this new data generation function, either another posture data e' (J) that determines the position and posture of the work implement that is opposite to the taught position and posture of the work implement, or the taught posture data e(j> It will be generated by calculation from .

For this reason, for example, only the movement on the outer surface 4a of the workpiece 4 is taught, and the distance between the outer surface 4a and the inner surface 4b of the work tool facing each other with the workpiece 4 in between is inputted as the ML, and the new data generation function is operated. If so, posture data for the movement on the inner surface 4b is generated.

Therefore, according to the industrial application of this embodiment, both surfaces of the workpiece 4 can be coated by teaching data for either the outer surface 4a or the inner surface 4b of the workpiece 4, and the following effects can be achieved. Ru.

(1) The time required for teaching can be cut in half.

(2) The coating quality on the inner and outer surfaces can be made uniform.

(3) Since it is only necessary to teach with high precision the surface depth that is easy to teach among the inner and outer surfaces, the teaching quality, that is, the painting quality as a whole is improved.

In the above embodiment, the distance or the direction of reversal is set using the switch 2a that is independent of the motion controller 6, but the switch 2a provided in the motion controller 6 is not limited to this. It may also be done by. Further, these pieces of information may be registered in the motion controller 6 as preliminary constants.

Further, in the above embodiment, the new data may be stored in a new area in the memory 8, and the original posture data may be saved or updated and registered in the same area as the original posture data.

Furthermore, when painting the other side that has not been taught without registering the new data (B' (j) in the memory 8, the new data generation function is activated in real time to generate the new data f3' (j). It is also possible to obtain the command value one by one and directly output the command value 0 and binding 2 so that the work on the other side can be performed.In addition to the above-mentioned effect, this method reduces the number of teaching data to be memorized by half. , it is also possible to save the capacity of the memory 8.

! JJ Bundle of the Invention According to the industrial rotor and hoop of the present invention, it is possible to work on both sides of the workpiece by using the teaching data for either the outer surface or the inner surface of the workpiece, so the following effects can be achieved. Ru.

(1) The time spent teaching can be cut in half.

(2) The coating quality on the inner and outer surfaces can be made uniform.

(3) Since it is only necessary to teach with high precision the surface depth that is easy to teach among the inner and outer surfaces, the teaching quality, that is, the painting quality as a whole is improved.

[Brief explanation of drawings]

Figures 1 to 5 are diagrams showing an embodiment of the present invention. Figure 1 is an overall configuration diagram of an industrial robot, Figure 2 is a configuration diagram of a robot controller, and Figure 3 is a diagram showing an overall configuration of an industrial robot. and FIG. 4 are conceptual diagrams showing the operation of the present invention and the relationship between the four-pole system, and FIG. 5 is diagrams PA and D showing the operation of the control calculation section. 2. a b 3. 4. Rohonoto main body, Rohonoto controller, - Setting means (key switch) - Control calculation unit work tool work.

Claims (1)

[Scope of Claims] A teaching and reproducing type industrial robot that moves and works a mounted working tool based on data that determines the position and orientation of the working tool, comprising: a control calculation unit that calculates new data regarding the work implement in a position and orientation opposite to the position and orientation from the data; and a control calculation unit that calculates the distance between the position of the work implement according to the data and the position of the work implement according to the new data. An industrial robot characterized by comprising: a setting means for setting.