FI83176B - FOERFARANDE FOER STYRNING AV ROERELSER HOS EN ROBOT OCH EN STYCKEMANIPULATOR UNDER EN ROBOTCELLS INLAERNINGSSKEDE. - Google Patents

FOERFARANDE FOER STYRNING AV ROERELSER HOS EN ROBOT OCH EN STYCKEMANIPULATOR UNDER EN ROBOTCELLS INLAERNINGSSKEDE. Download PDF

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Publication number
FI83176B
FI83176B FI894306A FI894306A FI83176B FI 83176 B FI83176 B FI 83176B FI 894306 A FI894306 A FI 894306A FI 894306 A FI894306 A FI 894306A FI 83176 B FI83176 B FI 83176B
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Prior art keywords
robot
point
tool
piece
coordinate system
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FI894306A
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Finnish (fi)
Swedish (sv)
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FI83176C (en
FI894306A0 (en
Inventor
Ilpo Haipus
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Aitec Oy
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Priority to FI894306A priority Critical patent/FI83176C/en
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Priority to PCT/FI1990/000192 priority patent/WO1991004522A1/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39101—Cooperation with one or more rotating workpiece holders, manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39134—Teach point, move workpiece, follow point with tip, place tip on next point
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Description

1 831761 83176

Menetelmä robotin ja kappalemanipulaattorin liikkeiden ohjaamiseksi robottisolun opetusvaiheen aikana Tämän keksinnön kohteena on menetelmä robotin ja 5 kappalemanipulaattorin (kääntöpöydän) liikkeiden ohjaamiseksi synkronoidusti robottisolun opetusvaiheen aikana.The present invention relates to a method for synchronously controlling the movements of a robot and a piece manipulator (turntable) during a robot cell training phase.

Nykyisissä järjestelmissä robotti ja kääntöpöytä voidaan ajaa synkroonissa toistettaessa opetettua ohjel-marataa, jolloin aikaansaadaan hallittu rataliike suhtees-10 sa kääntöpöydällä olevaan kappaleeseen. Järjestelmät tekevät mahdolliseksi monimutkaiset liikeradat verrattuna järjestelmiin, joista synkronointi puuttuu.In current systems, the robot and turntable can be run synchronously while repeating a taught program path, providing controlled path movement relative to the turntable on the turntable. The systems allow for complex trajectories compared to systems that lack synchronization.

Yleinen ongelma tällaisen robottijärjestelmän (solun) opetuksessa on se, että robotti on ennen jokaista 15 manipulaattorin liikevaihetta yleensä ajettava riittävän kauas kääntöpöydästä törmäysvaaran välttämiseksi, jonka jälkeen kappale käännetään haluttuun asentoon kääntöpöydän avulla, jonka jälkeen työkalun kärkipiste on ajettava kohdepisteeseen ja piste talletetettava ohjausjärjestel-20 män muistiin. Vrt. esim. US-patentti 4,836,742. Tämä toistuu opetusvaiheen aikana usein, joten opetus on hidasta verrattuna järjestelmään, jossa ei ole kääntöpöytää. Opetus on myös hankalaa, jos joudutaan opettamaan pisteitä ahtaissa paikoissa. Hitsausrobottisolu, joka muodostuu 25 esim. 5..6 vapausasteen robotista sekä 1..2 vapausasteen kappalemanipulaattorista (kääntöpöytä), on tässä suhteessa tyypillinen esimerkki.A common problem in teaching such a robotic system (cell) is that the robot must generally be driven far enough from the turntable before each turn of the manipulator to avoid the risk of collision, after which the part is turned to the desired position by the turntable, then the tool tip is driven to the target memory. See. e.g., U.S. Patent 4,836,742. This is repeated frequently during the teaching phase, so teaching is slow compared to a system without a turntable. Teaching is also tricky if you have to teach points in tight spaces. A welding robot cell consisting of 25 e.g. 5..6 degree of degree robots and 1..2 degrees of freedom piece manipulator (turntable) is a typical example in this respect.

Esitettävä keksintö pyrkii ratkaisemaan ongelmat jotka liittyvät robotin ja kääntöpöydän liikkeiden hal-30 Untaan pisteopetuksen aikana. Tämän aikaansaamiseksi keksinnön mukaiselle menetelmälle on tunnusomaista seuraavat vaiheet: - ohjataan toista solun komponenttia, robottia tai kappa-lemanipulaattoria, seuraavan opetettavan pisteen edellyt-35 tämään asentoon, samalla kun toinen komponentti synkronoidusti seuraa toista siten, että robotin työkalun ja työ- 2 83176 kappaleen keskinäinen positio pysyy muuttumattomana; - ohjataan toista solun komponenttia, robottia tai kappa-lemanipulaattoria, ensimmäiseksi opetetun pisteen positiosta seuraavaan pisteeseen vastaten toisen komponentin 5 asentoa ja talletetaan ko. pisteen koordinaatit muistiin; - toistetaan näitä vaiheita kunnes opetettavien liikeratojen kaikki tarvittavat pisteet on käyty läpi.The present invention seeks to solve the problems associated with the movement of robot and turntable movements during point teaching. To achieve this, the method according to the invention is characterized by the following steps: - controlling the second cell component, robot or body manipulator, to the position required by the next point to be taught, while the second component synchronously follows the other so that the robot tool and the workpiece 2 83176 the position remains unchanged; - controlling the second cell component, robot or body manipulator, from the position of the first taught point to the next point corresponding to the position of the second component 5 and storing said point coordinates to memory; - repeat these steps until all the necessary points of the trajectories to be taught have been covered.

Keksinnön muille edullisille sovellutusmuodoille on tun-10 nusomaista se, mitä jäljempänä olevissa patenttivaatimuksissa on esitetty.Other preferred embodiments of the invention are characterized by what is set forth in the claims below.

Keksintöä selostetaan seuraavassa tarkemmin esimerkin avulla viittamalla oheisiin piirustuksiin, joissaThe invention will now be described in more detail by way of example with reference to the accompanying drawings, in which

Kuvio 1 esittää perspektiivikuvaa robottisolusta, 15 Kuvio 2 esittää kuvion 1 mukaisen robottisolun yk sinkertaistettua mallia.Figure 1 shows a perspective view of a robot cell. Figure 2 shows a simplified model of the robot cell of Figure 1.

Kuvio 3 esittää robottisolun ohjaujärjestelmän lohkokaaviota,Figure 3 shows a block diagram of a robot cell control system,

Kuvio 4 esittää robottisolun eri komponenttien toi-20 mintaa opetuksessa.Figure 4 shows the operation of the various components of the robot cell in teaching.

Keksinnön mukaisen menetelmän järkevä käyttö edellyttää, että robottisolu muodostuu vähintäin 3 vapausasteen robotista, vähintäin 1 vapausasteen kääntöpöydästä sekä niitä ohjaavasta ohjausyksiköstä.The rational use of the method according to the invention requires that the robot cell consists of a robot with at least 3 degrees of freedom, a turntable of at least 1 degree of freedom and a control unit controlling them.

25 Kuvio 1 esittää erästä järjestelmää, jolla keksin nön mukainen opetuksen aikainen synkronointi voidaan toteuttaa. Kuvatussa järjestelyssä työstettävä kappale kiinnitetään kääntöpöytään 1 ja tarvittava työkalu robottiin 2, tai päinvastoin. Seuraavassa esimerkissä työstettävä 30 kappale kiinnitetään kääntöpyötään ja työkalu, hitsauspol-tin 3, kiinnitetään robotin työkalulaippaan.Figure 1 shows a system with which the in-service synchronization according to the invention can be implemented. In the described arrangement, the workpiece is fixed to the turntable 1 and the necessary tool to the robot 2, or vice versa. In the following example, the workpiece 30 to be machined is attached to its turntable and the tool, the welding torch 3, is attached to the tool flange of the robot.

Robotin ja kääntöpöydän nivelet voivat olla esim. kiertotyyppisiä niveliä tai lineaariniveliä. Tässä robotti 2 on kuuden vapausasteen nivelmekanismi, jonka kaikki 35 nivelet ovat kiertoniveliä. Nivelten kiertoakselit on mer- 3 83176 kitty Jl,32,J3,34,J5, J6. Kääntöpöydässä 2 on kaksi kiertyvää niveltä, joiden akselit on merkitty J7 (kääntö) ja J8 (kierto). Jokaisessa nivelessä on tunnetun tekniikan mukaisesti moottori jota voidaan ajaa vastaavan nivelser-5 von kautta. Nivelen asennon lukemista varten moottoreissa on absoluuttienkooderit, joiden signaalit on kytketty vastaavaan nivelservoon. Näitä itsestään selviä komponentteja ei kuvioon 1 ole piirretty.The joints of the robot and the turntable can be, for example, rotary-type joints or linear joints. Here, the robot 2 is a six-degree-of-freedom joint mechanism with all 35 joints being swivel joints. The axes of rotation of the joints are 3 83176 kitty J1, 32, J3,34, J5, J6. The turntable 2 has two rotating joints, the axes of which are marked J7 (turn) and J8 (turn). According to the prior art, each joint has a motor which can be driven via a corresponding joint-5 von. To read the position of the joint, the motors have absolute encoders whose signals are connected to the corresponding joint servo. These obvious components are not drawn in Figure 1.

Kuvio 2 esittää pelkistettyä mallia kuvan 1 järjes-10 telmästä. Kääntöpöydän asentoa kuvaa suorakulmainen koordinaatisto T, robotin kiinnitysalustassa on suorakulmainen koordinaatisto W ja työkalun kärjessä suorakulmainen koordinaatisto P. Koordinatiston T asennon määräävät kääntö-pöydän akseleiden nivelkulmat.Figure 2 shows a reduced model of the system of Figure 1. The position of the turntable is described by a rectangular coordinate system T, the robot mounting base has a rectangular coordinate system W and the tool tip a rectangular coordinate system P. The position of the coordinate system T is determined by the articulation angles of the turntable axes.

15 Robotin 2 koordinaatiston W suunta on valittu si ten, että z-akseli on nivelen Jl suuntainen, y-akselin suunta on nivelen J2 suuntainen, kun Jl:n nivelkulma = 0, ja x-akseli on kohtisuorassa em. akseleita vastaan. W-koordinaatiston origo on Jl ja J2 akseleiden leikkauspis-20 teessä B.The direction W of the coordinate system of the robot 2 is selected such that the z-axis is parallel to the joint J1, the y-axis is parallel to the joint J2 when the joint angle of J1 = 0, and the x-axis is perpendicular to the above axes. The origin of the W coordinate system is at the intersection B of the axes J1 and J2.

Kääntöpöydän 1 koordinaatiston z-akseli osoittaa J8:n suuntaan (= Jl:n suunta), ja x-akseli on J7:n ja W-koordinaatiston x-akselin suuntainen silloin, kun J8 on 0-kulmassa. T-koordinaatiston origo sijaitsee J7 ja J8 ak-25 seleiden leikkauspisteessä A (vrt. kuvio 1).The z-axis of the coordinate system of the turntable 1 points in the direction of J8 (= direction of J1), and the x-axis is parallel to the x-axis of J7 and the W-coordinate system when J8 is at an angle of 0. The origin of the T-coordinate system is located at the intersection A of the J7 and J8 ak-25 selels (cf. Fig. 1).

Työkalukoordinaatiston P paikka ja orientaatio suhteessa W-koordinaatistoon riippuvat robotin nivelkulmista J1...J6, työkalukoordinaatiston origo sijaitsee työkalun kärkipisteessä.The position and orientation of the tool coordinate system P in relation to the W coordinate system depend on the joint angles J1 ... J6 of the robot, the origin of the tool coordinate system is located at the tool tip.

30 Keksinnön mukainen liikeradan opetus tapahtuu piste pisteeltä ajamalla työkalun kärkipiste 4 ensin käsiohjai-mella haluttuun pisteeseen. Sen jälkeen käyttäjä voi muuttaa työkalun ja kappaleen välistä orientaatiota ajamalla kääntöpöydän niveliä synkroonissa robotin kanssa. Näin 35 voidaan hakea esim. hitsauksessa oikea poltinkulma hitsat- 4 83176 tavaan kappaleeseen nähden ilman robotin ajoa edestakaisin turvaetäisyydelle, koska työkalun orientaatio pysyy synkronoinnin takia vakiona W-koordinaatiston suhteen).The training of the trajectory according to the invention takes place point by point by first moving the tool tip point 4 to the desired point with a hand control. The user can then change the orientation between the tool and the workpiece by running the turntable joints in synchronism with the robot. In this way, for example, in welding, the correct torch angle with respect to the part to be welded can be obtained without driving the robot back and forth to the safety distance, since the orientation of the tool remains constant with respect to the W coordinate system due to synchronization.

Ajettaessa kääntöpöytää synkronoidusti robotin 5 kanssa tapahtuu liikeratalaskenta T-koordinatiston suhteen W-koordinaatiston sijaan. Ohjausjärjestelmän laskentayksikkö suorittaa tarvittavat muunnosoperaatiot W-koordinaa-tistosta T-koordinaatistoon ja päinvastoin. Ajettaessa kääntöpöydän niveliä opetusvaiheen aikana ohjausyksikkö 10 huolehtii siitä, että työkalun kärkipisteen paikka suhteessa kääntöpöydällä olevaan kappaleeseen ei muutu. Työkalun orientaatio on mahdollista pitää vakiona joko T-koordinaatiston suhteen, jolloin työkalu pysyy täsmälleen samassa asennossa kappaleeseen nähden kääntöpöydän niveliä 15 ajettaessa, tai W-koordinatiston suhteen, jolloin työkalun kärki pysyy samassa paikassa suhteessa kappaleeseen.When running the turntable in synchronism with the robot 5, the trajectory is calculated with respect to the T-coordinate system instead of the W-coordinate system. The calculation unit of the control system performs the necessary conversion operations from the W coordinate system to the T coordinate system and vice versa. When driving the turntable joints during the training phase, the control unit 10 ensures that the position of the tool tip relative to the workpiece on the turntable does not change. It is possible to keep the orientation of the tool constant either with respect to the T-coordinate system, whereby the tool remains in exactly the same position with respect to the workpiece when driving the turntable 15, or with respect to the W-coordinate system, whereby the tool tip remains in the same position with respect to the workpiece.

Synkronoitujen opetuslrikkeiden laskenta etenee laskentajakson aikana seuraavasti.The calculation of the synchronized tutorials proceeds during the calculation period as follows.

- lasketaan robotin nivelkulmien perusteella työ-20 kalun paikka Pw W-koordinaatistossa tai käytetään hyväksi edellisen laskentajakson aikana laskettua työkalun paikkaa - muunnetaan piste Pw W-koordinaatistosta T-koordinaatistoon (piste Pt) 25 - lisätään kääntöpöydän nivelkulmiin ajonopeuden edellyttämä muutoskulma - lasketaan pisteen Pt paikka W-koordinaatistossa käyttäen uusia kääntöpöydän nivelkulmia (piste Pw2) - lasketaan uudet nivelkulmat robotille pisteen Pw2 30 perusteella- calculate the position of the tool-20 in the Pw W coordinate system on the basis of the robot's articulation angles or use the tool position calculated during the previous calculation period - convert the point Pw from the W coordinate system to the T-coordinate system (point Pt) 25 - add the change angle P In the W coordinate system using new swivel table articulation angles (point Pw2) - new articulation angles for the robot are calculated based on point Pw2 30

Laskentajakson pituus on vakio ja tyypillisesti muutamia kymmeniä millisekunteja.The length of the calculation period is constant and typically a few tens of milliseconds.

Suoritettaessa synkronoituja opetusliikkeitä laskee ohjausyksikkö kunkin laskentajakson aikana työkalun sen 35 hetkisen aseman Pw W-koordinaatistossa. Piste P voidaan 5 83176 esittää transformaatiomatriisin muodossa P * ( nx ox ax px ) ( ny oy ay py ) 5 ( nz oz az pz ) ( 0 0 0 1 ) missä vektori (px,py,pz) osoittaa pisteen origon paikkaa vektori (nx,ny,nz) - työkalukoordinatiston x-akseli 10 pisteessä P, vektori (ox,oy,oz) = työkalukoordinaatiston y-akseli pisteessä P, vektori (ax,ay,az) = työkalukoordinaatiston z-akseli pisteessä P.When performing synchronized training movements, the control unit calculates the tool in its P-W coordinate system at its current position during each calculation period. The point P can be represented by the transformation matrix P * (nx ox ax px) (ny oy ay py) 5 (n 0 oz az pz) (0 0 0 1) where the vector (px, py, pz) indicates the position of the origin of the point vector ( nx, ny, nz) - x-axis of the tool coordinate system at 10 P, vector (ox, oy, oz) = y-axis of the tool coordinate system at P, vector (ax, ay, az) = z-axis of the tool coordinate system at P.

15 Pisteen Pw muunnos W koordinaatistosta T koordinaa tistoon pisteeksi Pt tapahtuu kertomalla Pw T-koodinaatis-ton paikkaa ja orientaatiota kuvaavan transformaatiomatriisin T käänteismatriisilla Τ' 20 Pt = T'*Pw T-matriisi voidaan helposti määrätä tunnettaessa T-koordi-naatiston origon sijainti W-koordinaatistossa sekä kääntö-pöydän akseleiden nivelkulmat J7,J8.15 The transformation of the point Pw from the W coordinate system T to the coordinate system Pt takes place by multiplying the transformation matrix T describing the position and orientation of the Pw T coordinate system by the inverse matrix Τ '20 Pt = T' * Pw The T matrix can be easily determined by knowing the origin in the coordinate system and the articulation angles J7, J8 of the rotary table axes.

25 T * ( C8 -S8 0 px ) ( C7*S8 C7*C8 -S7 py ) ( S7*S8 S7*C8 C7 pz ) 30 missä C7 = cos(J7) C8 * cos(J8) 57 = sin(J7) 58 * sin(J8) vektori (px,py,pz) = T-koordinaatiston origon si-35 jainti W-koordinaatistossa.25 T * (C8 -S8 0 px) (C7 * S8 C7 * C8 -S7 py) (S7 * S8 S7 * C8 C7 pz) 30 where C7 = cos (J7) C8 * cos (J8) 57 = sin (J7 ) 58 * sin (J8) vector (px, py, pz) = position si-35 of the origin of the T coordinate system in the W coordinate system.

6 831766 83176

Pisteen Pt muunnos takaisin W-koordinaatistoon saadaan seuraavastiThe transformation of the point Pt back into the W coordinate system is obtained as follows

Pw2 = T*Pt 5Pw2 = T * Pt 5

Jos työkalun orientaatio halutaan pitää vakiona W-koordinaatistoon nähden käytetään lasketun pisteen Pw2 paikka-vektoria (px,py,pz), ja pisteeseen Pw orientaatiovektorei-ta laskettaessa robotin nivelkulmia J1...J6. Jos työkalun 10 orientaatio halutaan pitää vakiona T-koordinaatiston suhteen voidaan robotin nivelkulmat J1..J6 laskea suoraan Pw2 pisteestä.If the orientation of the tool is to be kept constant with respect to the W coordinate system, the position vector of the calculated point Pw2 (px, py, pz) is used, and for the point Pw the orientation vectors J1 ... J6 are calculated when calculating the orientation vectors. If the orientation of the tool 10 is to be kept constant with respect to the T-coordinate system, the joint angles J1..J6 of the robot can be calculated directly from the point Pw2.

Kuvio 3 esittää robottisolun ohjausjärjestelmää, jolla pystytään ajamaan sekä robottia että kääntöpöytää 15 samanaikaisesti. Se muodostuu laskentayksiköstä 5 ja sen työmuistista 6, jotka yhdessä muodostavat katkoviivoin rajatun tietokonelaitteiston 4, käsiohjauspaneelista 7 sekä nivelservoista 8, jotka on kytketty robotin ja käänt-öpöydän vastaaviin moottoreihin 9 sekä enkoodereihin 10. 20 Nivelservot 8 ohjaavat kukin omaa niveltään J1 ... J8 laskentayksiköltä 5 tulevien ohjeiden mukaan. Laskentayksikkö voi esim. käskeä tiettyä nivelservoa 8 ajamaan haluttuun enkooderilukemaan.Figure 3 shows a robot cell control system capable of driving both the robot and the turntable 15 simultaneously. It consists of a computing unit 5 and its working memory 6, which together form a dashed computer hardware 4, a manual control panel 7 and articulated servos 8 connected to the respective motors 9 and encoders 10 of the robot and the turntable. according to the instructions from unit 5. The calculation unit can, for example, instruct a certain articulated servo 8 to drive to the desired encoder reading.

Kuvio 4 esittää tilannetta käytännössä. Siinä on 25 vasemmalla esitetty robotin 2 varsi, johon on kiinnitetty hitsauspoltin 3. Kääntöpöytään 1 on jigillä tms. avulla kiinnitetty mielivaltainen työkappale, jota ei ole piirretty. Työkappaleen piste P1 on juuri opetettu robottiso-lulle ajamalla käsin hitsauspoltin 3 sopivaan asemaan 30 kääntöpöytään 1 nähden. Oikealla on tilanne, jossa kääntö-pöytä 1 on käännetty kuvion 2 J7-akselin suhteen tietyn määrän seuraavaksi opetettavaa pistettä varten. Tällöin robotin 2 varsi seuraa keksinnön mukaisen synkronoinnin takia kääntöpöydän 1 liikettä automaattisesti pisteeseen 35 P2, jossa hitsauspolttimen 3 kärjen asema on muuttumaton 7 83176 työkappaleeseen (ei piirretty) nähden. Kuten yllä on todettu, voidaan opetukseen myös sisällyttää sen, että myös työkalun orientaatio työkappaleeseen nähden pysyy vakiona. Nyt uusi piste P3 voidaan opettaa järjestelmälle ajamalla 5 robotilla hitsauspoltinta 3 uuteen kohteeseen, mahdollisesti polttimen 3 asentoa muuttaen, kuviossa esitettyyn pisteeseen P3. Näin jatketaan, kunnes halutun liikeradan aikaansaamiseksi kaikki tarvittavat pisteet P1 ... Pn on opetettu.Figure 4 shows the situation in practice. It has 25 the arms of a robot 2 shown on the left, to which a welding torch 3 is attached. An arbitrary workpiece, which is not drawn, is attached to the turntable 1 by means of a jig or the like. The workpiece point P1 has just been taught to the robot cell by manually driving the welding torch 3 to a suitable position 30 relative to the turntable 1. On the right is a situation where the turntable 1 is turned relative to the J7 axis of Fig. 2 for a certain number of points to be taught next. In this case, due to the synchronization according to the invention, the arm of the robot 2 automatically follows the movement of the turntable 1 to the point 35 P2, where the position of the tip of the welding torch 3 is unchanged with respect to the workpiece (not drawn). As stated above, it can also be included in the teaching that the orientation of the tool relative to the workpiece also remains constant. Now the new point P3 can be taught to the system by driving the robot 5 the welding torch 3 to a new target, possibly changing the position of the torch 3, to the point P3 shown in the figure. This is continued until all the necessary points P1 ... Pn to achieve the desired trajectory have been taught.

10 Alan ammattimiehelle on selvää, että keksinnön eri sovellutusmuodot eivät rajoitu yllä esitettyihin esimerkkeihin, vaan että ne voivat vaihdella jäljempänä olevien patenttivaatimusten puitteissa.It will be apparent to those skilled in the art that the various embodiments of the invention are not limited to the examples set forth above, but may vary within the scope of the claims below.

Claims (3)

1. Förfarande för styrning av rörelser hos en robot och en styckemanipulator under en robotcells inlär- 5 ningsskede, i vilket förfarande robotcellen lärs rörelse-banor för arbetsskeden för bearbetning av ett stycke ge-nom styrning av robotens (2) verktyg (3) tili olika punkter i stycket och genom att registrera punkternas koordinater i följande steg: 10 a) robotens verktyg (3) förs tili en första punkt (Pl), som skall bearbetas, i det vid styckemanipulatorn (1) fästa arbetsstycket; b) den första punktens koordinater lagras i minnet (6) av robotcellens styrsystem; 15 kännetecknat av följande steg: c) den ena komponenten i cellen, roboten (2) eller styckemanipulatorn (1) styrs i den position som nästa punkt (P3), som skall inläras, förutsätter, samtidigt som den andra komponenten synkront följer den ena sä, att den in- 20 terna positionen mellan robotens verktyg och arbetsstycket förblir oförändrad; d) den ena komponenten i cellen, roboten (2) eller styckemanipulatorn (1), styrs frän positionen för den första inlärda punkten (Pl) tili följande punkt (P3), 25 vilken komponents position motsvarar den andra komponen-tens position och koordinaterna av den ifrägavarande punkten lagras i minnet; e) stegen c-d upprepas tills alla tillbörliga punkter i rörelsebanorna, som skall inläras, har genom- 30 gätts.A method for controlling the movements of a robot and a piece manipulator during the learning phase of a robot cell, in which method the robot cell is taught movement paths for the working stage for processing a piece by controlling the tool (3) of the robot (2). various points in the piece and by registering the coordinates of the points in the following steps: a) the tool (3) of the robot is moved to a first point (P1) to be processed in the workpiece fixed to the piece manipulator (1); b) storing the coordinates of the first point in the memory (6) of the robot cell control system; Characterized by the following steps: c) one component of the cell, robot (2) or piece manipulator (1) is guided in the position that the next point (P3) to be learned assumes, while the other component synchronously follows one of the components. , that the internal position between the robot's tool and the workpiece remains unchanged; d) one component of the cell, robot (2) or piece manipulator (1), is controlled from the position of the first learned point (P1) to the following point (P3), which component position corresponds to the position of the other component and the coordinates of the point in question is stored in memory; e) steps c-d are repeated until all the appropriate points in the paths to be learned have been completed. 2. Förfarande enligt patentkravet 1, kännetecknat därav, att vid inlärningen styrs huvudsak-ligen styckemanipulatorn (1) att svänga arbetsstycket i lämplig position för nästa punkt, som skall inläras, och 35 att i inlärningsskedet är huvudsakligen roboten (2) synkro- “ 83176 niserad med styckemanipulatorns rörelser.Method according to Claim 1, characterized in that during learning, the piece manipulator (1) is mainly guided to pivot the workpiece into the appropriate position for the next point to be learned, and that in the learning stage the robot (2) is essentially synchronous. nized with the movements of the piece manipulator. 3. Förfarande enligt patentkravet 1, känne-t e c k n a t därav, att vid inlärningen styrs huvudsak-ligen roboten (2) och dess verktyg (3) att föra stycket 5 till koordinaterna av nästa punkt, som skall inläras, och att i inlärningsskedet är huvudsakligen styckemanipulatorn (1) synkroniserad med robotens rörelser.3. A method according to claim 1, characterized in that during learning, the robot (2) and its tool (3) are guided mainly to move the piece 5 to the coordinates of the next point to be learned, and that in the learning stage it is mainly the piece manipulator (1) synchronized with the robot's movements.
FI894306A 1989-09-12 1989-09-12 A method for controlling the movements of a robot and a piece manipulator during the learning phase of a robot cell FI83176C (en)

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PCT/FI1990/000192 WO1991004522A1 (en) 1989-09-12 1990-08-09 Synchronized teaching of a robot cell

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FI894306A FI83176C (en) 1989-09-12 1989-09-12 A method for controlling the movements of a robot and a piece manipulator during the learning phase of a robot cell

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