CN102950596A - Parallel connecting rod robot and movement teaching method thereof - Google Patents
Parallel connecting rod robot and movement teaching method thereof Download PDFInfo
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- CN102950596A CN102950596A CN2012103010307A CN201210301030A CN102950596A CN 102950596 A CN102950596 A CN 102950596A CN 2012103010307 A CN2012103010307 A CN 2012103010307A CN 201210301030 A CN201210301030 A CN 201210301030A CN 102950596 A CN102950596 A CN 102950596A
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Abstract
The present invention relates to a parallel connecting rod robot and a movement teaching method thereof. The direct teaching method is intuitive and easy to understand as a method of teaching, but the operation of a user is copied unchangeably, so sometimes parallel six-freedom robot cannot implement action are being copied. Users in order to determine whether the teaching action for can be implemented by parallel six-freedom robot movement, repeat teaching and reappearance, which often takes time. Parallel connecting rod of the present invention robot teaching methods made directly by the user at the movable plate parallel six-freedom robot action first teaching and teaching action, as described in parallel six-freedom robot based power sources more than allowed by the torque motor that allowed torque and/or described in the more than the speed of the motor is allowed to allowing speed, pre-determined decision value is allowed, allowed to determine value based on the stated, determine whether described by parallel six-freedom robot action implementation described the first teaching action.
Description
Technical field
The present invention relates to take the control of industry purposes as main robot.The invention particularly relates to the parallel link robot (parallel link robot) with following structure, this is configured to: by a plurality of arms, with stationary machines people's fixed head and be equipped with between the movable platen of the functional component such as end effector (end-effector) and link.
Background technology
As possessing by a plurality of arms with stationary machines people's fixed head and an example of the parallel link robot of the structure that links between the movable platen of the functional component such as end effector is installed, disclosed parallel link robot in the patent documentation 1 is arranged.Disclosed parallel link robot possesses as shown in figure 11 in the patent documentation 1: fixed head 2, and fixedly parallel link robot 1; Movable platen 3 is equipped with the functional component such as end effector 8; And arm 4 and bar section 7, will link between fixed head 2 and the movable platen 3.One end of arm 4 is installed on the fixed head 2, and 1 axle that constitutes around regulation rotates in the face of regulation.The two ends of bar section 7 connect by the bearing 9 that rotates freely in the space.One end of bar section 7 is connected with the other end of arm 4 by bearing 9, and the other end of bar section 7 is connected with movable platen 3 by bearing 9.And movable platen 3 is linked and constraint by arm 4 and bar section 7, and can be according to the position of arm 4 and bar section 7 and attitude and in the space its position of change or attitude.That is, by by motor 5 drive sources such as grade the position of rotation of arm 4 being controlled, can change position or the attitude of movable platen 3.
The movable platen 3 of the parallel link robot 1 that consists of does not like this have the weights such as drive source, is extremely light structure.Therefore, following teaching method has been proposed: by the user movable platen 3 is moved, thus position and the attitude of the movable platen 3 of teaching parallel link robot 1.
Patent documentation 1: Japanese kokai publication hei 6-270077 communique
But in the direct teaching method of parallel link robot as described above, although be visual and understandable teaching method, user's operation is by slavish copying, so the sometimes parallel link robot action that can't realize also is replicated.The user is the action that can be realized by parallel link robot for the action of confirming teaching, repeatedly carry out teaching and reproduction, thereby the action that can realize for the teaching parallel link robot, often wants spended time.
Summary of the invention
The object of the invention is to, as the action teaching method of parallel link robot, use visual and understandable direct teaching method, and can easily carry out action teaching to parallel link robot.
For reaching above-mentioned purpose, the action teaching method of parallel link robot of the present invention is, obtaining by the user directly makes the movable platen of parallel link robot move and the first teaching action of teaching, the rotating speed that the torque that allows based on a plurality of motors as the power source of described parallel link robot namely allows torque or described a plurality of motor to allow namely allows rotating speed, preset the permission decision content, based on described permission decision content, can judgement realize described the first teaching action by the action of described parallel link robot.
In addition, in order to reach above-mentioned purpose, parallel link robot of the present invention possesses: control part, the action teaching method of each described parallel link robot of execution technique scheme 1～9; And described movable platen.
The invention effect
According to parallel link robot of the present invention and action teaching method thereof, can effectively utilize visual and understandable this feature of direct teaching, and easily parallel link robot be carried out action teaching.
Description of drawings
Fig. 1 is the summary pie graph of the parallel link robot of embodiments of the present invention.
Fig. 2 is the figure that is illustrated in the picture signal that shows on the display part of present embodiment.
The flow chart of the flow process of the whether suitable processing of judging of teaching action when Fig. 3 is the loading of expression present embodiment.
Fig. 4 is the figure of a reference axis in the chart of teaching action of direct teaching of expression present embodiment.
The flow chart of the flow process of Fig. 5 whether suitable processing of judging of teaching action that to be expression carry out the teaching behind the editor of present embodiment action.
(a) is the figure of operating point of movable platen of the parallel link robot of expression present embodiment among Fig. 6, (b) is the figure of the signal of expression when the operating point of the movable platen of the parallel link robot of present embodiment is edited.
Fig. 7 is the figure of signal of the movable range mapping table of expression present embodiment.
Fig. 8 is the flow chart of the flow process of the whether suitable processing of judging of teaching action carried out of the teaching action of expression when the reproduction of present embodiment is confirmed.
Fig. 9 is the figure of a part that schematically shows the paper left side chart of Fig. 2.
Among Figure 10 (a) and (b) be the parallel link robot of present embodiment joint (joint) section want section's expanded view.
Figure 11 is the summary pie graph of parallel link robot in the past.
Description of reference numerals
1,100 parallel link robots; 2 fixed heads; 3 movable platens; 4 arms; 5 motors; The 5a encoder; 6 plates; 7 bar sections; 8 end effectors; 9 bearings; 10 control parts; 11 obtaining sections; 12 storage parts; 13 detection units; 14 preparing department; 15 editorial offices; 16 changing units; 17 reproduce confirmation unit; 18 reduction part; 19 operation control part; 20 input parts; 21 display parts; The 21a numerical information; 21b sets button; The 21c Action Button; 31 current location pointers (pointer); 32 action appointed areas; 33 starting points; 34 end point
The specific embodiment
Below, with reference to the description of drawings embodiments of the present invention.In addition, below the embodiment of explanation all illustrates a specific example of the present invention.The sequential scheduling of the allocation position of the numerical value that illustrates in the following embodiments, shape, inscape, inscape and connection form, step, step is an example of the present invention.In addition, in the following description, give same reference numerals for identical formation, and suitably description thereof is omitted.In addition, in order to should be readily appreciated that, accompanying drawing is simplified.
(embodiment)
Fig. 1 is the summary pie graph of the parallel link robot 100 of embodiments of the present invention.In Fig. 1, parallel link robot 100 links fixed head 2 and movable platen 3 by arm 4 and bar section 7.And, in parallel link robot 100, by controlling position or the attitude of this arm 4 and bar section 7, control the action of movable platen 3.
At this, in the fixed coordinate system in being set in the space of regulation, freely define position and the attitude of the movable platen 3 of parallel link robot 100, movable platen 3 need to have 6 frees degree (movable axis).The parallel link robot 100 of present embodiment uses 6 groups by 1 arm 4,1 bar section 7 and 1 group that motor 5 consists of, and according to per 1 group of rotation of controlling independently motor 5, can freely set thus position and the attitude of movable platen 3 in the space.That is, the position of movable platen 3 and attitude change according to the anglec of rotation of 6 arms 4.That is the value of the encoder 5a of the anglec of rotation that, the position of movable platen 3 and attitude can be by representing these 6 arms 4 is obtained.
One end of arm 4 is installed on the fixed head 2, and 1 axle that constitutes around regulation rotates in the face of regulation.The two ends of bar section 7 connect by bearing 9, and this bearing 9 is made of the universal joint that can rotate freely in the space (with reference to Figure 10).One end of bar section 7 is connected with the other end of arm 4 by bearing 9, and the other end of bar section 7 is connected with movable platen 3 by bearing 9.And the position of movable platen 3 and attitude are linked and constraint by arm 4 and bar section 7, can change in the space according to position and the attitude of arm 4 and bar section 7 thus.That is, the position of movable platen 3 and attitude can change by by drive sources such as motors 5 anglec of rotation of arm 4 being controlled.In addition, on movable platen 3, for example be equipped be used to the end effector 8 of controlling object.In addition, as long as bearing 9 can satisfy function required for the present invention, also can be by consisting of based on globe joint of ball-and-socket joint etc.
The movable platen 3 of the parallel link robot 100 of present embodiment does not have the weights such as drive source, is extremely light structure, is useful in the high speed motion that movable platen 3 is moved at high speed or direct teaching etc. therefore.In addition, " directly teaching " refers to following method: make it directly mobile by directly clutched movable platen 3 by the user, and record shown in this user's the hand and teach movement locus, thereby directly to the movement locus of parallel link robot teaching movable platen 3.
In addition, in the present embodiment, on one side can observe the material object of parallel link robot 100, Yi Bian position and the attitude of the movable platen 3 shown in the action of teaching are edited and are changed.Like this, in the present embodiment, while can observe in kind editor, want the data saved in the time of teaching can being deleted thus or with the attitude of numerical value management parallel link robot 100 etc., the operation that the direct teaching of realization by in the past is difficult to realize.
Each formation for the teaching action that realizes this parallel link robot 100 is controlled by control part 10.Control part 10 is such as realizing by the computer that is equipped with CPU and memory etc.Control part 10 has: obtaining section 11, storage part 12, detection unit 13, preparing department 14, editorial office 15, changing unit 16, reproduction confirmation unit 17, reduction part 18, operation control part 19.Control part 10 and input part 20 are connected with display part and are connected, the input that this input part 20 is accepted from the user, and this display part 21 is used for showing chart and the editing pictures thereof of the teaching action that expression is made by control part 10.Input part 20 is such as being made of the teaching equipment such as mouse or keyboard.Display part 21 is such as being made of monitors such as liquid crystal display or touch-screens.Display part 21 is in the situation of touch-screen, and this touch-screen also has the function as input part 20.
Obtaining section 11 obtain by the user movable platen 3 is moved and directly the movable platen 3 in the teaching of the teaching action at each time series coordinate figure constantly.Obtaining section 11 obtains 6 axial coordinates of movable platen 3 in the different a plurality of timings that predetermine (for example timing at 0.15s interval).At this moment, obtaining section 11 is in order to obtain 6 axial coordinates of movable platen 3, obtains the value shown in each encoder 5a of a plurality of motors 5 of this moment.That is, obtaining section 11 obtains the user to the teaching action of movable platen 3 teachings of parallel link robot 100.Specifically, obtaining section 11 obtains the θ x axle of attitude of the coordinate of the X-axis of position of expression movable platen 3 of different a plurality of timings and Y-axis and Z axis and expression movable platen 3 and the coordinate of θ y axle and θ z axle, as the teaching action of user to movable platen 3.In addition, obtaining section 11 obtain by the teaching action behind 15 editors of editorial office described later and when reproducing confirmation unit 17 and reproduce (with reference to aftermentioned.Hereinafter referred to as " when reproducing affirmation ".) teaching action, as the teaching action by user's teaching.At this, the user movable platen 3 is moved and directly the teaching of teaching action be an example of the first teaching action.
The teaching action that storage part 12 storages are obtained by obtaining section 11.That is, storage part 12 storage directly makes movable platen 3 move by the user and teaching action after the directly teaching of the teaching action, editor and reproduce teaching action when confirming.
In detection unit 13, for the teaching action that in obtaining section 11, obtains, take a decision as to whether the teaching action (hereinafter referred to as " whether the teaching action is suitably judged ") that parallel link robot 100 can reproduce.Whether carry out the teaching action in 3 kinds of situations of detection unit 13 when loading, when editing rear and reproduction affirmation suitably judges.At this, refer to the moment by the direct teaching of user during loading.Teaching action during loading is by being made of in the initial data that different a plurality of timings obtain encoder 5a when the user directly carries out teaching to movable platen 3.In addition, refer to behind the editor, after the desirable action of teaching motion editing for user's expectation that has obtained.In addition, refer to when reproduce confirming, for the teaching action behind the teaching action that obtains or the editor, make parallel link robot 100 actual reproductions and moment of confirming.Teaching action case when reproduce confirming is specified reproduction section and recovery time and the teaching action when reproducing with this reproduction section and recovery time in this way among the teaching action of wanting to confirm.At this, the user movable platen 3 is moved and directly after the teaching editor's teaching action be the example that the second teaching is moved.
Whether the teaching action that describes detection unit 13 in detail is suitably judged.The rotating speed that the torque that detection unit 13 allows based on a plurality of motors 5 as the power source of parallel link robot 100 namely allows torque and a plurality of motor 5 to allow namely allows rotating speed, and can judgement reproduce the teaching action of the parallel link robot 100 of being obtained by obtaining section 11.Specifically, when detection unit 13 is following take the permission torque as the permission torque a reference value of benchmark in whole torques of a plurality of motors 5, be judged to be parallel link robot 100 and can reproduce this teaching action, when some torques of a plurality of motors 5 surpass permission torque a reference value, be judged to be parallel link robot 100 and can't reproduce this teaching action.In addition, detection unit 13 is also in the situation that be assumed to reproduction teaching action in parallel link robot 100, at whole rotating speeds of a plurality of motors 5 for to allow rotating speed as the permission rotating speed a reference value of benchmark when following, be judged to be parallel link robot 100 and can reproduce this teaching action, when some rotating speeds of a plurality of motors 5 surpass permission rotating speed a reference value, be judged to be parallel link robot 100 and can't reproduce this teaching action.At this, can allow torque and allow rotating speed be for an example of judging the parallel link robot 100 actual permission decision contents that move.This permission decision content can preset and store, and also can calculate when action.In addition, at this, parallel link robot 100 can reproduce the teaching action and refer to, parallel link robot 100 can actually be carried out the teaching action, and the action of parallel link robot 100 can realize the teaching action.
The chart that the teaching that preparing department's 14 making expressions are obtained by obtaining section 11 is moved.This chart is the chart of the rheological parameters' change with time of the expression position of movable platen 3 and attitude, is the chart of the movement locus of expression teaching.Namely, preparing department 14 is based on the θ x axle of the attitude of the coordinate of the X-axis of the position of the expression movable platen 3 of different a plurality of timings and Y-axis and Z axis and expression movable platen 3 and the coordinate of θ y axle and θ z axle, makes expression as the teaching action of movable platen 3 and the chart of the movement locus of input.The chart of being made by preparing department 14 is stored in the storage part 12.
The operation from the user that editorial office 15 accepts by input part 20 inputs is edited the chart that is stored in the storage part 12 according to this operation.At this, the operation from the user by input part 20 input comprises, uses input part 20 to select the situation of button and in the situation of having selected button as the display part 21 of touch-screen at display part 21.Specifically, thereby editorial office 15, according to the operation change in-edit from the user edits chart for by the point (hereinafter referred to as " in-edit ") on the chart of the position of the expression movable platen 3 in moment of user's appointment and attitude.By the chart of teaching movement locus shown in the expression is edited, position and the attitude of each movable platen 3 constantly of teaching action are changed.The user for example by changing being presented at as the in-edit on the chart on the display of an example of display part 21 described later, edits the movement locus of movable platen 3 while can confirm chart.The seasonal effect in time series of each axle that the content that shows at display part 21 comprises 6 axial coordinates of the position that represent movable platen 3 and attitude at least moves the position (hereinafter referred to as " current location ") of movable platen 3 of coordinate figure or current parallel link robot 100.In addition, can be comprised at least by the editor's of editorial office 15 function the appending of action coordinate, delete, compress, stretching, smoothing.In addition, action the appending of coordinate, delete, compress, the details of stretching, smoothing puts down in writing in the back.
Teaching action shown in the chart behind the editor just carried out editor by 15 pairs of charts of editorial office after, is obtained by obtaining section 11.And, being assumed in the situation about in parallel link robot 100, reproducing by the teaching action shown in 15 editors' of editorial office the chart, detection unit 13 judges that can parallel link robot 100 reproduce this teaching action in the interval of regulation.The interval of the regulation here refers to, in the chart behind editor, will from be carved into than first o'clock of forward the first stipulated time of the in-edit that becomes edit object till the in-edit the first interval and from in-edit to than merging the interval that forms second the Second Region till constantly of in-edit by rear the second stipulated time.In addition, at this, for example can be used as on the chart of edit object point corresponding to different a plurality of timings of predetermining, be predetermined distance (for example timing at 0.15s interval) obtain the position of movable platen 3 and attitude the time the situation of value under, " the first stipulated time " reaches " the second stipulated time " is the stipulated time.In addition, detection unit 13 judges that also based in the movable range that calculates in advance and be stored in the parallel link robot 100 in the storage part 12 can parallel link robot 100 reproduce by the teaching action shown in 15 editors' of editorial office the chart.
Changing unit 16 is in the situation that be judged to be parallel link robot 100 by detection unit 13 and can't move, by being operated via input part 20 by the user, automatically the point (in-edit) on the chart behind the change editor is so that the rotating speed that comprises a plurality of motors 5 in the interval of regulation of in-edit is for allowing the following and torque of rotating speed for allowing below the torque.The interval of the regulation here is with from being carved into the interval till the in-edit at first o'clock and merging the interval that forms from the interval of in-edit to the second till constantly.At this, the control of automatically being changed in-edit by changing unit 16 is preferably, and carries out in the moment (for example the user removes the moment of the click of mouse) that the input from input part 20 of being undertaken by the user is interrupted.In addition, convey to the user in order to have changed this situation of in-edit by changing unit 16, the situation that for example is preferably change shows with the animation action on display part 21.
Reproduce confirmation unit 17 based on user's input, the recovery time of the time that the interval of the regulation in the teaching action of accepting to want to confirm and the time as than the regulation that obtains the teaching action interval the time are shorter.The interval of the regulation here refers to from being carved into the 4th interval between constantly at the 3rd o'clock.That is, reproduce that confirmation unit 17 is accepted the 3rd in the chart constantly and the 3rd the 4th after constantly constantly and than from being carved into for the 4th shorter recovery time of time till constantly at the 3rd o'clock.In addition, by the teaching action in the interval of reproducing the regulation that confirmation unit 17 accepts be the teaching action of the reproduction speed faster than 1 speed.And, obtain and be stored in the storage part 12 by obtaining section 11 by the teaching action in the interval of reproducing the regulation that confirmation unit 17 accepts.At this moment, reproduce in the situation that was carved into the teaching action shown in the 4th the chart till constantly from the 3rd o'clock being assumed in parallel link robot 100, detection unit 13 judges that can parallel link robots 100 reproduce this teaching and move within the recovery time.
Below, while explanation can be watched the action control of the parallel link robot 100 of present embodiment of editing in kind.
Fig. 2 is the figure that expression is presented at the picture signal on the display part 21.
In the picture left side (the paper left side of Fig. 2) of display part 21, the teaching movement locus of parallel link robot 100 is pressed each axle with the time series figure.The transverse axis of these each charts is time shafts, and the longitudinal axis is the coordinate figure of each axle.The position of current movable platen 3 and attitude are by 31 expressions of current location pointer.Current location pointer 31 can be by the input parts such as mouse 20 as the enterprising line operate of the display of display part 21.The coordinate of the movable platen 3 of parallel link robot 100 is managed with 6 axles (X-axis, Y-axis, Z axis, θ x axle, θ y axle, θ z axle).At this, current location shows with the image point coordinate (X-axis, Y-axis, Z axis) of the central authorities of current movable platen 3 and the rotation amount (θ x axle, θ y axle, θ z axle) around each axle of X-axis, Y-axis, Z axis of face that comprises the movable platen 3 of this image point.The parallel link robot 100 of present embodiment comes position and the attitude of movable platen 3 are carried out the numerical value management by the coordinate of this 6 axle.
Picture right side (the paper right side of Fig. 2) at display part 21 shows various numerical information 21a(currencys, change value), set button 21b(and append, delete, change to change value, compression etc.) and Action Button 21c(reproduces, pointwise reproduces, stops).These various numerical information 21a, set button 21b and Action Button 21c and select by the operation as the mouse of an example of input part 20, will send to control part 10 be used to the instruction of carrying out various settings shown in Figure 2 and action.In addition, in the parallel link robot 100 of present embodiment, selected in the situation of Action Button 21c, parallel link robot 100 is with the reproduction mode action, in the situation that beyond it, parallel link robot 100 moves with edit pattern.
The user can differently set with current location the action appointed area 32 of the edit object of the information that becomes movement locus by via input part 20 operation control parts 10.Action appointed area 32 comprises starting point 33 and end point 34, defines as the zone between these points.It is identical with end point 34 that starting point 33 need to be set as, perhaps the side more Zao than the moment of end point 34 (the paper left side of Fig. 2).
At this, append and refer to, in the action appointed area 32 of setting, with uniformly-spaced generate with action appointed area 32 in the function of point of operating point same coordinate of beginning.Want to change in the situation of coordinate of action point group of generation, the change function of the coordinate figure by " changing to the change value " described later changes to best coordinate figure.
In addition, deletion refers to, with the operating points deletion in the action appointed area 32 of setting, and the function that the action point group of the front and back of 32 interior operating points with deletion links in the action appointed area.
In addition, change to the change value and refer to, the coordinate figure of the action point group in the action appointed area 32 of setting is replaced into the coordinate figure of other setting, thereby with the function of coordinate figure change.The coordinate figure of setting in addition can be set by the user, and also can set based on pre-stored rule in storage part 12.
In addition, compression refers to, for the action point group in the action appointed area 32 of setting, rejects number based on the interval of other setting, with the corresponding actions point deletion, and the function that the action point group of the front and back of the operating point of deletion is linked.It is in 1 the situation, in action appointed area 32, to become the deletion object every 1 operating point that number is rejected at the interval, and the quantity of the action point group in the action appointed area 32 becomes half.It is in 2 the situation, in action appointed area 32, to become the deletion object every 2 operating points that number is rejected at the interval, and the quantity of the action point group in the action appointed area 32 becomes 2/3.
In addition, stretching refers to, the action point group in the action appointed area 32 of setting based on the generation number of other setting, appends the corresponding actions point, and the function that the action point group of the front and back of the operating point that appends is linked.Generate number and be in 1 the situation, in action appointed area 32, become every 1 operating point and to append object, the quantity of the action point group in the action appointed area 32 becomes 2 times.Generate number and be in 2 the situation, in action appointed area 32, become every 2 operating points and to append object, the quantity of the action point group in the action appointed area 32 becomes 3/2 times.
In addition, smoothing refers to following functions: for the action point group in the action appointed area 32 of setting, automatically change the coordinate figure of each operating point, so that the link between operating point links to each other sleekly.Specifically, smoothing refers to following functions: for operating point, based on general approximation method, use spline function etc. is carried out curve approximation, and the coordinate figure of change operating point is to become the point on this curve.
In addition, in the parallel link robot 100 of present embodiment, for the movement locus after confirming to edit, can carry out making function that movable platen 3 reproduces or reproduce the function that (コ マ send り) makes parallel link robot 100 actions and confirm in detail pointwise reproduction in the appointed area of movement locus with pointwise (frame) at each operating point in the appointed area of action appointed area 32 interior actual act.These functions are carried out by the control of control part 10.
At this, reproduce in the appointed area and refer to following action: set after the action appointed area 32, reproduce button (button that reproduces in the appointed area of Fig. 2) by user selection, thus movable platen 3 from current location at leisure traveling priority to position and the attitude shown in the beginning point of the action appointed area 32 of setting at chart, after arriving the beginning point, follow the tracks of successively the action point group in (trace, depict) action appointed area 32.Reproduce by carrying out in this appointed area, the user can be visual etc. by the action of the movable platen 3 of parallel link robot 100 is carried out, and directly confirms the teaching movement locus of the movable platen 3 of teaching.
In addition, the function of using in the reproduction that refers to reproduce is reproduced in pointwise in the appointed area in aforesaid appointed area.In in the appointed area, reproducing, if by user selection pointwise reproduce button (button of the pointwise reproduction appointed area of Fig. 2 in), the pause in action of movable platen 3 at first then.After, reproduce button whenever pressing pointwise, just follow the tracks of 1 operating point on the current location movement locus afterwards.Like this, follow the tracks of operating point by pointwise, the user can carefully directly confirm actual movement locus when reproduced is moved in the teaching of parallel link robot 100 teachings by visual grade.In addition, after pointwise is reproduced, by by user selection reproduction button, remove and suspend, can follow the tracks of continuously successively the current location action point group afterwards in the action appointed area 32.
Then, the whether suitable processing of judging of teaching action that (by the moment of the direct teaching of user) carries out when loading whether (teaching move suitably determination processing) is described.
The flow chart of the flow process of the whether suitable processing of judging of teaching action when Fig. 3 is the expression loading.Fig. 4 is the figure that a reference axis in the chart of teaching action of direct teaching is shown.That is, Fig. 4 is when movable platen 3 is carried out direct teaching, on the reference axis in 6 axial coordinates of the position that represents movable platen 3 and attitude, and the chart of expression rheological parameters' change with time.At this, use Fig. 3 and Fig. 4 explanation for the whether suitable processing of judging of teaching action of the teaching action of direct teaching.In addition, in reference axis of this explanation, but also can similarly process for other reference axis in 6 axial coordinates.
At first, the user carries out direct teaching to the movable platen 3 of parallel link robot 100, carries out the input of teaching movement locus.Specifically, the hand-held movable platen 3 of user and action that it is expected, obtained by this action and the value of the encoder 5a of a plurality of motors 5 of rheological parameters' change with time with the predetermined distance (for example 0.15s interval) that predetermines by obtaining section 11, thereby carry out the input (S11) of teaching movement locus.That is, at this, obtaining section 11 obtains step as the teaching action, obtains the teaching action to the movable platen 3 direct teachings of parallel link robot 100 by the user.Obtaining section 11 is by obtaining the expression position of movable platen 3 and 6 axial coordinates of attitude every predetermined distance like this, obtains moving point group P(n).This action point group P(n) is used for expression teaching action.In addition, in step S11, obtaining section 11 can obtain the teaching action that pre-enters, and obtaining section 11 also can obtain the teaching action that is stored in the storage part 12.
Then, for being obtained by obtaining section 11 and becoming the action point group P(n that the n of object is ordered), detection unit 13 calculates responsiveness S(n) (S12).In addition, at this, responsiveness S(n) be S(n)=(displacement of each axle)/Δ T.
Then, the maximum of confirming this S (n) is whether max { S(n) } is fit to first condition (S13).
At this, first condition refers to max { S(n) }≤(the permission rotating speed of motor).The permission rotating speed of motor refers to the rotation maximum speed that motor 5 allows.Namely, can detection unit 13 reproduce the judgement of teaching action as parallel link robot 100, at whole rotating speeds of a plurality of motors 5 for to allow rotating speed as the permission rotating speed a reference value (rotation maximum speed) of benchmark when following, be judged to be parallel link robot 100 and can reproduce this teaching action, when some rotating speeds of a plurality of motors 5 surpass permission rotating speed a reference value, be judged to be parallel link robot 100 and can't reproduce this teaching action.
Then, meet in the situation of first condition (S13: be), based on the motor torque T(n of a plurality of motors 5), by the Jacobian matrix computing, calculate the maximum motor torque max { T(n) } of each operating point (S14).
Then, confirm motor torque T(n) maximum be whether maximum motor torque max { T(n) } meets second condition (S15).
At this, second condition refers to max { T(n) }≤(the permission torque of motor) * a.Wherein, a is safety coefficient coefficient (0＜a≤1), and (the permission torque of motor) * a is the permission torque a reference value take the permission torque of motor as benchmark.Namely, can detection unit 13 reproduce the judgement of teaching action as parallel link robot 100, whole torques at a plurality of motors 5 are when allowing the torque a reference value following, be judged to be parallel link robot 100 and can reproduce this teaching action, when some torques of a plurality of motors 5 surpass permission torque a reference value, be judged to be parallel link robot 100 and can't reproduce this teaching action.
Setting first condition and second condition is in order to prevent the overload of motor 5.Motor 5 is carried out in the situation of violent action, and the load of motor 5 uprises and becomes overload, and in the poorest situation, SERVO CONTROL can be paralysed.Therefore, set first condition and second condition and prevent that the overload of a plurality of motors 5 from being effective.
As above such, detection unit 13 is in step S12～step S15, be assumed to and in parallel link robot 100, be reproduced in the situation that the teaching action obtains the teaching action that obtains in the step, based on as the permission torque of a plurality of motors 5 of the power source of parallel link robot 100 and allow rotating speed, judge that can parallel link robot 100 reproduce this teaching action.Like this, as the action determination step, judge that can parallel link robot 100 reproduce this teaching action.
Then, meeting in the situation of second condition (S15: be), will move point group P(n with this) the teaching action of expression stores (S16) in the storage part 12 into.
In addition, not meeting in either party situation of first condition and second condition the position that does not meet above-mentioned condition among (S13: no and/or S15: no), will move point group P(n) can export with distinguishing.At this, reporting an error with warning colors such as redness such as the scope that does not meet above-mentioned condition among the chart that will be presented on the display part shows etc., and notice is this situation of part (S17) that does not meet above-mentioned condition.At this, as the method for the demonstration that reports an error, except showing with warning color, can use with the warning tones report method of wrong this situation, the method for demonstration error messages etc. to occur.In addition, if with warning color to the demonstration that reports an error of incongruent scope, then can report to the user with wrong position has occured, so show effective especially as reporting an error.
After step S16 or step S17 finished, the teaching action when finishing to load is determination processing whether suitably.
Fig. 5 is the flow chart of the flow process of the whether suitable processing of judging of teaching action carried out of the teaching action of expression after to editor.Fig. 6 (a) is the figure of operating point of the movable platen of expression parallel link robot, and Fig. 6 (b) is the figure of the signal of expression when the operating point of the movable platen of parallel link robot is edited.
Handling process shown in Figure 5 is for the continuous operating point P(n-1 shown in Fig. 6 (a)), P(n), P(n+1) ... operating point P(n at conduct change object) change to P(n) ' time, (with reference to Fig. 6 (b)) is the flow process of processing as described below.In addition, in the present embodiment, from operating point P(n) to P(n) ' change, by input part on the picture that is shown on the display part 21 with operating point P(n) pull along the vertical direction and decontrol, thereby can carry out intuitively.In addition, operating point P(n) be changed be P(n) ' time, the preparing department 14 of control part 10 edits the chart of making in the chart production step for position that movable platen 3 is shown and the rheological parameters' change with time of attitude.
In Fig. 5, at first, editorial office 15 accepts the user to the operation of input part 20, according to this operation, the chart of making by the chart production step is edited (S21).Then, 11 pairs of obtaining sections have been edited operating point P(n by editorial office 15) this situation identifies (S22), obtains operating point P(n) moved by the teaching after edit.
Whether coordinate then, the P(n behind the detection unit 13 judgement editors) ' is (S23) in the movable range.That is, whether detection unit 13 is positioned at the movable range of predefined parallel link robot 100 based on the teaching action shown in the chart after editing, and judges that can parallel link robot 100 reproduce this teaching action.Specifically, the P(n after editing is judged in movable range mapping table and the teaching action of the movable range by the expression parallel link robot 100 that relatively predetermines) ' coordinate whether as in the movable range.The movable range mapping table is such as using 3D-CAD or simulator etc., obtains in advance the mapping table that scope that movable platen 3 can move forms.Fig. 7 represents the signal of this movable range mapping table.The zone (movable range) that the movable platen 3 of parallel link robot 100 can move is subject to the restriction of the machinery restrictions such as the length of arm 4 and bar section 7, the bending range of bearing 9.Can Fig. 7 represents for above-mentioned restriction, cuts apart according to each axle of X-axis, Y-axis, Z axis, θ x axle, θ y axle, θ z axle, judge respectively cutting apart intersection point and move, and be replaced into the matrix datas of 6 dimensions.In addition, the intersection point of cutting apart of each axle disperses, so become the P(n of object) ' with cut apart intersection point may not be consistent.Therefore, the value of obtaining and P(n) ' approach and be in initial point the outside cut apart intersection point, judge that whether this cut apart intersection point as in the movable range.Specifically, for example X-axis is split into ... ,-1,0,1,2,3 ..., P(n) ' the situation of X=0.7 under, X=1 is adopted as the X coordinate of cutting apart intersection point.Equally, each axle of the Y-axis beyond the X-axis, Z axis, θ x axle, θ y axle, θ z axle is obtained each axial coordinate value of cutting apart intersection point, and obtain whether the intersection point of cutting apart that is represented by these coordinate figures is in the movable range.
At this, in the situation that be judged to be P(n by detection unit 13) ' be movable range outer (S23: no), as the outer error messages of movable range, object-point reported an error with warning colors such as redness this situation (S26) outside user notification is movable range such as shows.
Relative therewith, be judged to be P(n by detection unit 13) ' be in the situation in the movable range (S23: be), next, judge P(n-1)～P(n) ' rotating speed and motor torque whether be allowed band interior (S24).This judgement is undertaken by the method identical with the content of carrying out in step S12～step S15 that illustrates with reference to aforesaid Fig. 3.That is, if establish P(n-1)～P(n) ' traveling time be Δ T, then S(n)=(displacement of each axle)/Δ T, judge whether it meets first condition.At this, first condition refers to max { S(n) }≤(the permission rotating speed of motor).
In addition, calculate the motor torque T(n of each operating point), and judge whether it meets second condition.At this, second condition refers to max { T(n) }≤(the permission torque of motor) * a.Wherein, a is safety coefficient coefficient (0＜a≤1).
In addition, be in the situation of starting point of action P(n), do not need the determination processing of step S24.
Be judged to be P(n-1 by detection unit 13)～P(n) ' rotating speed and motor torque be in the situation in the allowed band (S24: be), judge P(n) '～whether P(n+1) rotating speed and motor torque is in the allowed band (S25).This judgement is also same with step S24, judges by the method identical with the method that illustrates with reference to aforesaid Fig. 3.In addition, be in the situation of end point of action P(n), do not need the determination processing of step S25.In step S24 or step S25, be judged to be that the rotating speed of motor 5 and motor torque are difficult to realize and (S24: no or S25: no) in the situation about can't move, object-point is shown with warning colors such as redness, and the meaning of display action overload etc., thereby notice is to user (S27).
Namely, in the chart of detection unit 13 behind editor, be assumed in parallel link robot 100 P(n that reproduces from the in-edit that is compared to edit object) ' forward the first stipulated time first be P(n-1 constantly) to in-edit P(n) ' till the first interval (P(n-1)～P(n) '), and from in-edit P(n) ' to than in-edit P(n) ' by the second P(n+1 constantly of rear the second stipulated time) till Second Region (P(n) '～P(n+1)) shown in the situation of teaching action under, judge and connect robot 100 and can reproduce this teaching action.
Be judged to be P(n-1 by detection unit 13)～rotating speed of P(n) ' and P(n) '～P(n+1) and motor torque be in the situation in the allowed band (S24: be and S25: be), teaching action behind the editor is stored in the storage part 12, and be presented at (S28) on the display part 21.
After step S25, step S27 or step S28 finished, tenth skill is determination processing whether suitably.
The flow chart of the flow process of the whether suitable processing of judging of teaching action that the teaching action that Fig. 8 is expression when reproduce confirming is carried out.Fig. 9 is the figure of the operating point change signal of expression robot, the part of the paper left side chart of schematically illustrated Fig. 2.Use Fig. 8 and Fig. 9, illustrate make current location pointer 31 from starting point 33 to end point 34 situations about moving, this current location pointer 31 represents the current location of the movable platen 3 of parallel link robots 100.The part of the paper left side chart of the schematically illustrated Fig. 2 of Fig. 9.Below, use the only reference axis of the part of instruction sheets of Fig. 9, but also use same consideration method for other reference axis.
In Fig. 9, the current location of current location pointer 31 expression movable platens 3 is identical with current location pointer 31 among Fig. 2.The user is reproducing when confirming the starting point 33 of required movement appointed area 32 and end point 34 to being shown in the teaching action on the chart by the action appointed area 32 of user's appointment.More particularly, the user will specify the position of current location pointer 31 to be appointed as starting point 33 at first, current location pointer 31 be pulled along the time shaft left and right directions, and will pull the position of finishing and be appointed as end point 34, thus, can process to set action appointed area 32.That is, on the chart of expression teaching action, pull current location pointer 31 and in the interval (action appointed area 32) of wanting to reproduce, the starting position of towing is identified as starting point 33 the user, the end position of towing is identified as end point 34.Then, reproduction confirmation unit 17 is accepted the moment of the 3rd in the chart (starting point 33) and the 4th moment (end point 34) afterwards in the 3rd moment (starting point 33) and the shorter recovery time of time in ratio the 3rd moment (starting point 33) to the 4th moment (end point 34).At this moment recovery time is for the time till 34 from starting point 33 to end point, the time that towing current location pointer 31 is required.Like this, obtained by the teaching action (S31) shown in starting point 33, end point 34 and the recovery time of reproducing confirmation unit 17 acceptance by obtaining section 11.
Below, in the processing of step S32～step S35, carry out the processing same with step S12 illustrated in fig. 3～S15 by detection unit 13, so description thereof is omitted.
Then, meet in the situation of second condition (S35: be), make movable platen 3 actual act of parallel link robot 100, then with the position of the movable platen 3 of parallel link robot 100 and position and the attitude (S36) of the movable platen 3 that posture renewal is the moment shown in the current location pointer 31.
In addition, do not meet (S33: no or S35: no), have the situation of the excessive velocities of towing in any situation of first condition and second condition.That is, from starting point 33 to end point till 34 during recovery time shorter, and reproduction speed is too fast.In this case, the action of movable platen 3 can't realize textural, thus in order to meet the both sides of first condition and second condition, will be from starting point 33 to end point 34 recovery times of carrying out set longlyer, thereby reproduction speed is set to get slow (S37).That is, at this, the slow down reproduction speed of parallel link robot 100 of reduction part 18 allows below the rotating speed so that the rotating speed of a plurality of motor 5 becomes.
Step S36 or step S37 finish handling process shown in Figure 8 after finishing.
By carrying out the processing of handling process shown in Figure 8 described above, the current location pointer 31 that towing can be moved and make parallel link robot 100 actual act, the user can directly confirm by visual grade teaching movement locus and the content of edit of direct teaching.
In the teaching method of operating of the parallel link robot 100 of present embodiment, situation during for the loading just carried out after the direct teaching, the situation after the teaching action edited, will reproduce reproduction speed when confirming and set and to get the faster teaching action of these 3 kinds of situations of situation, can the movable platen 3 of judgement parallel link robot 100 move.In addition, permission rotating speed and permission torque based on motor 5 allows utilize whether satisfy first condition and second condition, judge that can parallel link robot 100 reproduce the teaching action.
Therefore, for when the loading that obtains at first teaching action, behind the editor who the teaching action has been carried out editor and reproduce such teaching action when having carried out change when obtaining first the teaching action or to the teaching action when confirming, can judge reliably and can be reproduced by parallel link robot 100.And result of determination is in the irreproducible situation, and in real time to the irreproducible meaning of user notification, at this moment the user for example edits to reproduce, and irreproducible teaching action can be reproduced.Thus, as the action teaching method of parallel link robot 100, when using visual and understandable direct teaching method, can easily carry out the action teaching of parallel link robot 100.
In addition, action teaching method according to the parallel link robot 100 of present embodiment, in the editor of operating point, judge that in advance can the operating point that become edit object move, in the situation that can move, the position of reality and the attitude of the movable platen 3 of parallel link robot 100 are changed, observe actual action and directly confirm the appropriate property of edited result on one side.Therefore, can carry out the visual and understandable operation that in direct teaching in the past, is difficult to realize, can enlarge its range of application, can go far towards the progress of the art and industry.
At this, the structure of the connector portions in the parallel link robot 100 of use Figure 10 (a) and (b) explanation present embodiment.
Figure 10 (a) be arm 4 and bar section 7 in the parallel link robot 100 of present embodiment connector portions want section's expanded view.Figure 10 (b) be the parallel link robot 100 king-rod sections 7 of present embodiment and movable platen 3 connector portions want section's expanded view.These connector portions are respectively universal joints.
Shown in Figure 10 (a), in the connector portions of arm 4 and bar section 7, each rotating shaft intersects with 1 axle, can rotate around 2 axles.In addition, the connector portions of arm 4 and bar section 7 bearing of rotation of in each axle, all having packed in inside.
Shown in Figure 10 (b), in the connector portions of bar section 7 and movable platen 3, each rotating shaft intersects with 1, can rotate around 3 axles.In addition, the connector portions of bar section 7 and movable platen 3 bearing of rotation of in each axle, all having packed in inside.The parallel link robot 100 of present embodiment can tilt 45 ° to all directions around being criss-cross 2 axles in the connector portions of bar section 7 and movable platen 3.
In addition, in the present embodiment, in the action teaching method of parallel link robot 100, also can be used as the operating point P(n of the pointer behind the editor) ' coordinate and actuating range and motor torque be in the outer situation of allowed band, with in the allowed band and the value that approaches as far as possible the pointer behind the editor be presented on the display part 21 as next candidate's operating point.By with in the allowed band and the value that approaches the pointer behind the editor be presented on the display part 21, when the user changes pointer, can auxiliary judgment till which kind of degree, can move.
In addition, in the present embodiment, in the step S24 of Fig. 5 and step S25, be judged to be the demonstration that reports an error in the situation of "No", but also can not report an error demonstration, and so that the operating point P(n behind the editor) ' become below the permission rotating speed and the following mode of permission torque, automatically change the operating point P(n after editing) '.In this case, calculated the operating point P(n that becomes behind the editor by detection unit 13) ' the operating point P(n that the rotating speed that rotating speed is following and motor torque is following and maximum is following and maximum motor torque is following) ' ', with the operating point P(n behind the editor) ' change to P(n) ' ', and be presented on the display part 21.
In addition, also can be, for the operating point P(n that is editing) ', in the situation that the above-mentioned parallel link robot 100 that is judged to be like that can't reproduce, changing unit 16 changes the position of the movable platen beyond the in-edit of expression in the edit session and the chart of attitude as the second change step, so that be assumed to take in-edit (operating point P(n) ') for the time range of benchmark be that the rotating speed of a plurality of motors of the teaching action shown in the chart behind the editor in the edit session scope when reproducing and torque become respectively and allow that rotating speed is following to be reached below the permission torque.Namely, will be take operating point P(n) ' be the operating point P(n-5 in for example edit session between 1s of benchmark)～P(n+5) point, can keep in-edit (operating point P(n) ') the mode of value change, and as P(n-5) '～P(n+5) ', and change P ' is ' and P(n+1) '～P(n+5) (n-5)～P(n-1) ' value, so that with P(n-5) '～P(n+5) ' and the rotating speed of a plurality of motors when reproducing and torque become respectively and allow rotating speed following and allow below the torque.More particularly, for not because adopt operating point P ' (n) to cause the action acute variation, and with P(n-5) value of '～P(n-1) ' and P(n+1) '～P(n+5) ' to from operating point P(n) to operating point P(n) ' the identical direction of editor's direction (namely, make operating point P(n) ' be upper direction in the upward direction situation about moving, be lower direction in the situation that downward direction moves) change, thereby change so that operating point P(n) ' can acute variation.
Industrial applicibility
The present invention can realize the simple operations that is difficult to realize in direct teaching in the past, so can be used in direct teaching to the movable platen of parallel link robot etc.
Claims (10)
1. the action teaching method of a parallel link robot, wherein,
Obtain the first teaching action, this first teaching action is by the user movable platen of parallel link robot to be moved and the teaching action of teaching,
The rotating speed that the torque that allows based on a plurality of motors as the power source of described parallel link robot namely allows torque or described a plurality of motor to allow namely allows rotating speed, preset the permission decision content, based on described permission decision content, can judgement realize described the first teaching action by the action of described parallel link robot.
2. the action teaching method of parallel link robot as claimed in claim 1, wherein,
Obtain the second teaching action, this second teaching action is the teaching action after the user edits described the first teaching action,
Based on described permission decision content, can judgement realize described the second teaching action by the action of described parallel link robot.
3. the action teaching method of parallel link robot as claimed in claim 1, wherein,
Described the first teaching action defines by chart, and this chart represents the operating point information of described movable platen based on the position of described movable platen and the rheological parameters' change with time of attitude with time shaft and reference axis.
4. the action teaching method of parallel link robot as claimed in claim 3, wherein,
For as the point on the described chart and expression by the position of the described movable platen in moment of user's appointment and the point of attitude, according to the position and the attitude that change the described movable platen shown in this point from described user's operation, thus described chart is edited,
In the chart behind editor, can judgement realize in the action of described parallel link robot that the operating point that comprises the in-edit that becomes edit object moves in the teaching shown in the interior interval.
5. the action teaching method of parallel link robot as claimed in claim 2, wherein,
Whether based on being in the movable range of precalculated described parallel link robot, can judgement realize described the second teaching action by the action of described parallel link robot.
6. the action teaching method of parallel link robot as claimed in claim 2, wherein,
Surpassing in the situation of described permission decision content based on comprising described the second teaching action of described in-edit at the chart in interior interval, change described in-edit, become below the described permission decision content so that comprise rotating speed or the torque of the described movable platen of described in-edit in interior interval.
7. the action teaching method of parallel link robot as claimed in claim 2, wherein,
Surpassing in the situation of described permission decision content based on comprising described the second teaching action of described in-edit at the chart in interior interval, change the operating point of the front and back of described in-edit.
8. the action teaching method of parallel link robot as claimed in claim 3, wherein,
In the situation that the user has set reproduction section and recovery time at described chart, based on described permission decision content, can judgement in described reproduction section realize described the first teaching action or described the second teaching action by the action of described parallel link robot with the described recovery time, in the situation that can't realize, prolong the described recovery time.
9. such as the action teaching method of each described parallel link robot in the claim 1～8, wherein,
Obtain the coordinate of X-axis, Y-axis and Z axis of position of the described movable platen of expression of different a plurality of timings and the coordinate that represents θ x axle, θ y axle and the θ z axle of the attitude of described movable platen, be used as described the first teaching action.
10. parallel link robot possesses:
Control part, enforcement of rights requires the action teaching method of each described parallel link robot in 1～8; And
Described movable platen.
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| JP181242/2011 | 2011-08-23 | ||
| JP2012155872A JP5479541B2 (en) | 2011-08-23 | 2012-07-11 | Parallel link robot and its operation teaching method |
| JP155872/2012 | 2012-07-11 |
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