JP2000288966A - Industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To separate a manipulator from control of a running device and to shorten a cycle time. SOLUTION: This robot comprises a running device; a manipulator mounted on the running device; and a robot controller 2 to control operation of the running device and the manipulator. The robot controller comprises a memory 21 to store position data of a plurality of teaching points; a computing part 22 to computer the operation track of the tip part of a manipulator based on position data of the stored teaching points; and a control part 23 to coptrol drive of the manipulator and the running device so as to move the tip part of the manipulator along the computer operation track. A running computing track computing part 22A to compute the track of the running device and a manipulator track computing part 22B to compute the track of the manipulator are independently situated at the computing part 22A.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to an industrial robot for performing a predetermined operation on a workpiece.

[0002]

2. Description of the Related Art In an automatic painting line, for example, a painting robot having a configuration in which a six-axis manipulator is mounted on a traveling carriage of a traveling device is installed so that the painting manipulator can travel in a workpiece conveying direction. Has become. Then, the painting manipulator performs the painting work while traveling in the workpiece conveying direction by the traveling device while the workpiece passes through the painting area.

[0003] The painting manipulator mounted on the traveling carriage of the traveling device moves along the guide rail together with the traveling carriage. For example, in a painting line for painting the body of an automobile, a painting robot that operates according to the transport speed of the body is employed to streamline the painting process. Here, conventionally, there are two types of control methods using only the manipulator, one of which is control for performing deceleration at each teaching point (teaching point) (hereinafter, referred to as fine control), and the other is the teaching point (teaching point). (Point), a start point and an end point are determined, acceleration and deceleration are performed only at the start point and the end point, and control is performed at a constant speed near the teaching point between the points (hereinafter, referred to as coarse control). The coarse control has an advantage that the time tact at the time of coating can be shortened and the coating quality can be improved as compared with the fine control.

In a conventional painting robot of a type in which a manipulator is mounted on a traveling device, a trajectory calculation using the traveling device and the manipulator as seven axes is performed by one.
Had been performed by two arithmetic units. In this case, in order to move the heavy manipulator, it is necessary to operate the traveling device with precise control for decelerating each teaching position from the viewpoint of rigidity and strength, so that the entire painting robot was operated with precise control. .

[0005]

In the above-mentioned conventional painting robot, since the traveling device is operated by the fine control, the calculation unit for performing the trajectory calculation performs the trajectory calculation for the fine control.
Since the painting robot was operated only by fine control, it was not possible to meet the demand for shortening the tact time during painting.

An object of the present invention is to provide an industrial robot capable of shortening the tact time and improving the productivity in consideration of the above circumstances.

[0007]

SUMMARY OF THE INVENTION The present invention provides a traveling device for moving a traveling vehicle in a specific axial direction, and a jig mounted on the traveling vehicle of the traveling device and provided at a tip end portion with respect to a work. A manipulator for performing predetermined work by
A controller for controlling the operation of the traveling device and the manipulator, wherein the controller calculates a motion trajectory of the distal end of the manipulator based on each position data of the teaching point stored therein; and A control unit that drives and controls the manipulator and the traveling device to move the distal end of the manipulator along, in the industrial robot, the computing unit, a traveling device trajectory computing unit that computes the trajectory of the traveling device, A manipulator trajectory calculation unit for calculating the trajectory of the manipulator,
It is characterized by being provided independently of each other.

According to the present invention, the trajectory calculation of the traveling device and the trajectory computation of the manipulator can be performed separately, so that the traveling device can be operated by fine control and the manipulator can be operated by coarse control. That is, in the operation of the manipulator, since the acceleration / deceleration control for each teaching point can be eliminated, the tact time can be reduced, and when the manipulator passes through the middle teaching point, it is operated at a uniform speed. Uniform coating can be performed.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram illustrating a configuration of a painting robot according to the embodiment. In the figure, 1 is a robot body, 2
Is a robot controller. The robot controller 2 receives instruction data from a teaching input device (not shown) and supplies an operation command signal to each movable section of the robot body 1. At the same time, various signals are exchanged with the robot body 1 to monitor the state of the robot body 1 and control its operation.

The robot body 1 has a specific axis (here,
A traveling device 4 for moving the traveling vehicle 4a in a direction (direction of arrow A) of this axis as a "complementary shaft"; and a predetermined painting operation is carried out on the workpiece mounted on the traveling vehicle 4a of the traveling device 4 And a coating manipulator 5. The traveling device 4 includes a traveling drive mechanism (not shown), and is driven based on an operation command signal from the robot controller 2.

The painting manipulator 5 is a main part of the painting robot, and is fixed to the upper surface of the traveling carriage 4a via a fixed base 6, and reference numerals 7 to 1 in FIG.
6 is constituted by components such as a turning base, a motor, and an arm. Hereinafter, each of these components will be described.

Reference numeral 7 denotes a revolving base mounted on the upper surface of the fixed base 6. The first inside of the turning base 7 is
A motor (not shown) for a shaft movable portion is provided, which is driven based on an operation command signal supplied from the robot controller 2, and the driving force causes the turning base 7 to move relative to the fixed base 6 with an arrow in the figure. It rotates in the B direction.

A second movable section motor 8 is attached to the upper left portion of the turning base 7 in the figure, and one end (rear end) of a first arm 9 is connected to the output shaft side.
Then, the motor 8 for the second movable portion is driven based on the operation command signal supplied from the robot controller 2, whereby the first arm 9 rotates in the direction of arrow C in the figure.

On the other hand, the other end of the first arm 9 (forward end)
, A third movable section motor 10 is attached, and one end of a second arm 11 is connected to the output shaft side. Then, similarly to the above, the third movable portion motor 10 is driven based on the operation command signal, and the second arm 11 is turned in the direction of arrow D in the drawing.

The second arm 11 has a wrist motor case 1 on the side of the connection (rear end) with the third movable section motor 10.
2 is attached, and a first wrist unit 13 is provided on the forward end side.
The second wrist unit 14 and the third wrist unit 15 are attached.

Here, in the motor case 12 for the wrist,
The fourth, fifth and sixth motors for the movable section are housed (not shown). Further, the first wrist unit 13, the second wrist unit 14, and the third wrist unit 15 are sequentially attached via connecting shafts that can rotate in the directions of arrows E, F, and G in the drawing. Further, in the second arm 11, the driving force of the fourth movable unit motor is set to the first
A transmission mechanism for transmitting to the wrist unit 13, a transmission mechanism for transmitting the driving force of the fifth movable unit motor to the second wrist unit 14 as a rotational force in the F direction, and a transmission mechanism for transmitting the driving force of the sixth movable unit motor in the G direction. And a transmission mechanism for transmitting the rotational force to the third wrist unit 15.

In the configuration of the wrist portion as described above, the fourth, fifth, and sixth motors for the movable portion are driven based on the operation command signal supplied from the robot controller 2 in the same manner as described above. The unit 13, the second wrist unit 14, and the third wrist unit 15 are E, F,
It turns in the G direction.

Reference numeral 16 denotes a bracket attached to the tip of the third wrist unit 15 so that a paint gun (not shown) for spraying paint through the bracket 16 is attached to the tip of the wrist of the manipulator 5. Has become. The manipulator 5 uses this coating gun to spray paint from a gun tip at a position determined by the rotation angles B, C, D, E, F, and G of the above-mentioned movable parts, and to paint a work (not shown). I do.

On the other hand, the robot controller 2 includes a memory 21 for storing control programs for the traveling device 4 and the manipulator 5, teaching data (including position data of a plurality of teaching points), various control parameters, and the like.
A computing unit 22 for performing various arithmetic processing based on the programs and the instruction data and signals received from the traveling device 4 and the manipulator 5; and a control unit for controlling the operation of the traveling device 4 and the manipulator 5 based on the computed data. 23
And

More specifically, the calculating section 22 calculates the motion trajectory of the distal end of the manipulator 5 based on the stored position data of the teaching points, and the control section 23 calculates the motion trajectory along the calculated motion trajectory. The drive of the manipulator 5 and the traveling device 4 is controlled so as to move the distal end of the manipulator 5.

In this case, the calculating unit 22 includes a supplementary axis trajectory calculating unit (a running device trajectory calculating unit) for calculating the trajectory of the running device 4.
22A and a manipulator trajectory calculation unit 22B that calculates the trajectory of the manipulator 5 are provided independently of each other, so that the traveling device 4 and the manipulator 5 can be operated along independently calculated trajectories. Has become. Here, the traveling device 4 is operated under fine control,
The manipulator 5 can be operated by fine control or coarse control.

That is, the auxiliary axis trajectory calculation unit 22A can calculate a trajectory (trajectory in fine control) that operates between the teaching points by acceleration / deceleration control regardless of the trajectory of the manipulator 5, and calculates the trajectory of the manipulator Part 22B
In this case, it is possible to calculate the trajectory (trajectory in the coarse control) passing through the teaching point on the way regardless of the trajectory of the traveling device 4.

FIG. 5 shows a case in which the operation is performed by the fine control, that is, the acceleration / deceleration control is performed and the teaching point P
FIG. 9 is a characteristic diagram illustrating a speed change when a setting of stopping at 2 is performed. In this case, when moving in P1 → P2 → P3,
Always perform acceleration / deceleration control before and after each teaching point.

FIG. 6 shows a case where the operation is performed under the coarse control.
That is, it is a characteristic diagram showing a speed change in a case where the setting is made such that the teaching point P2 does not stop after passing. In this case, when the vehicle moves from P1 to P2 to P3, the vehicle does not stop at the teaching point P2 but passes near P2, so that the acceleration / deceleration control before and after that point is not performed. Therefore, the tact time can be reduced by the amount that the acceleration / deceleration control is not performed.

Next, the flow of processing will be described with reference to the flowcharts of FIGS. FIG. 3 shows a main routine.
In this flow, when started, the teaching data is read in step S1, and the trajectory calculation is performed in the next step S2.

Next, in step S3, it is confirmed whether or not the reproducing operation is to be performed. If the reproducing operation is to be performed, the reproducing operation is performed to realize the trajectory calculated in step S4. If the operation is not performed again, the process returns to the first step S1.

After the reproduction operation is performed in step S4, the end of the reproduction operation is confirmed in the next step S5, and the reproduction operation is continued until the end signal is output. When the end signal is output, the end of the program is confirmed in step S6, and when the end signal is output, the process ends. If there is no signal indicating the end of the program, the process returns to the first step S1.

Here, as step S2 of the trajectory calculation,
The subroutine of FIG. 4 is prepared. In this routine, the calculation of the trajectory of the auxiliary shaft is started in step S21, and the acceleration / deceleration data between the teaching points is calculated in step S22. Also, in the next step S23, the trajectory calculation of the manipulator is started, and in step S24, it is checked whether or not to perform the acceleration / deceleration control of the manipulator. If the acceleration / deceleration control of the manipulator is to be performed, step S25
After calculating the acceleration / deceleration between the teaching points, the process returns to the main routine. When the acceleration / deceleration control of the manipulator is not performed, the calculation for passing between the teaching points is performed in step S26, and then the process returns to the main routine.

As described above, for the operation control of the manipulator 5, it is possible to select whether to perform fine control or coarse control. When the manipulator 5 is roughly controlled, the moving speed between the teaching points can be increased, and the tact time can be reduced.

[0030]

As described above, according to the present invention,
Since the traveling device trajectory calculation unit and the manipulator calculation unit are provided independently, control of the manipulator and the traveling device can be separated, and the manipulator can be operated by coarse control, thereby shortening the tact time at the time of predetermined work on the workpiece. Thus, productivity can be improved and uniform coating can be performed.

[Brief description of the drawings]

FIG. 1 is a side view showing an overall configuration of a painting robot according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a controller of the painting robot.

FIG. 3 is a flowchart showing control contents executed by the controller.

FIG. 4 is a flowchart showing a subroutine for trajectory calculation in FIG. 3;

FIG. 5 is a characteristic diagram showing a speed change when acceleration / deceleration control is performed when passing through an intermediate teaching point.

FIG. 6 is a characteristic diagram showing a speed change when acceleration / deceleration control is not performed when passing through an intermediate teaching point.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Robot main body 2 Robot controller 4 Traveling device 5 Manipulator 21 Memory 22 Computing part 22A Complementary axis trajectory computing part (Traveling device trajectory computing part) 22B Manipulator trajectory computing part 23 Control part

Claims (1)

[Claims] 1. A traveling device for moving a traveling vehicle in a specific axial direction, and a manipulator mounted on the traveling vehicle of the traveling device and performing a predetermined operation by a jig provided at a tip end portion with respect to a work. And a controller for controlling the operations of the traveling device and the manipulator, wherein the controller calculates a motion trajectory of the distal end of the manipulator based on each position data of the teaching points stored in the controller, and a calculated operation A control unit that drives and controls the manipulator and the traveling device so as to move the distal end of the manipulator along the trajectory; a traveling device trajectory computing unit that computes a trajectory of the traveling device in the computing unit And a manipulator trajectory calculation unit for calculating the trajectory of the manipulator are provided independently of each other. Robots.