JP3250300B2 - Control device for industrial manipulator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an industrial manipulator, which is designed to improve the turning performance of a slave arm.

[0002]

2. Description of the Related Art There are the following conventional modes for rotating an industrial manipulator from its base in a horizontal plane.

When the switch is turned on, the industrial manipulator turns at a constant speed.

[0004] By operating the joystick, the industrial manipulator turns. In this case, when the joystick is tilted, it turns at a constant speed regardless of the tilt angle,
There is a type that turns at a speed corresponding to the tilt angle of the joystick.

[0005] In an industrial robot composed of a slave arm and a master arm having a structure similar to the slave arm, by turning the master arm,
The slave arm turns. In this case, the angle at which the slave arm is swiveled is generally wide, while the swivel angle of the master arm is narrow.
(2) I do.

(1) The slave arm is turned at a turning angle obtained by multiplying the turning angle of the master arm by a predetermined magnification.

(2) A deadman switch is provided on the master arm, and the slave arm is turned only when the master arm is turned with the deadman switch turned on. In this case, the deadman switch is turned on, the master arm is turned in one direction (at this time, the slave arm is turned), and then the deadman switch is opened, and the master arm is turned in the opposite direction (this operation is repeated). When the slave arm does not turn), the operation of turning on the deadman switch again and turning the master arm in one direction (the slave arm turns at this time) is repeated (this operation is referred to as "index operation"). It can be turned over a wide range of angles.

[0008]

In the industrial manipulator, it is necessary to easily make the slave arm's hand approach or position with respect to the target in a short time. There is such a problem.

In turning using a switch, if the set turning speed is high, it is difficult to perform positioning with respect to the object, and if the set turning speed is low, turning takes a long time.

The type in which a joystick is used to turn at a constant speed has the same problem as the above-described switch.
In the case of using the joystick to turn at a speed corresponding to the tilt angle, the joystick must be stably held at a predetermined tilt angle when trying to turn at a constant low speed. The operation to do is difficult.

The index operation by the master arm is performed at one time because the space of the operation unit is limited and the angle at which the operator can move the arm of the operator to rotate the master arm is limited. The turning angle which can be turned is about 30 to 40 degrees, and when turning to a wider angle than that is required, the turning operation (index operation) of the master arm is required several times, which is complicated.

In view of the above prior art, the present invention makes it easy to turn quickly when the slave arm turns greatly, and to turn slowly when the slave arm approaches or grasps the object. An object of the present invention is to provide a control device for an industrial manipulator.

[0013]

According to a configuration of the present invention, which solves the above-mentioned problems, a swivel of a slave arm is provided with a driver's seat on which an operator sits and a master arm for sending an operation command to the slave arm. with the industrial manipulator for performing operations, said swivel deck includes a joystick lever, the dead in the master arm
An operation switch is Goldman switch, further issues a turning command to the slave arm to pivot the swivel slide at a speed joystick lever in accordance with the tilt angle when it is tilted when the operation switch is turned on, the operation When the master arm is turned while the switch is turned on, a control unit for issuing a turn command to the slave arm so as to turn the turntable following the turn is provided.

[0014]

According to the present invention, when the joystick lever is tilted with the operation switch turned on, the slave arm turns at a high speed in accordance with the tilt angle, and when the master arm turns with the operation switch turned on, the slave arm follows the master arm. The slave arm turns.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vertical articulated industrial manipulator and its control device according to an embodiment of the present invention will be described in detail below with reference to the drawings. The industrial manipulator of the embodiment is specifically designed and developed for performing a “casting-off operation” performed in a foundry. Here, the "casting-out operation" refers to sorting of entangled casting products, and further sorting and aligning products and gates.

FIG. 1 is an explanatory view showing a basic configuration of a slave arm extracted from the industrial manipulator of the present embodiment. As shown in FIG. 1, the swivel base 1 is configured to be rotatable in a horizontal plane by a one-axis motor (not shown) with respect to a base 3 installed on a floor 2.

The vertical arm 4 has its base end connected to the turntable 1.
And is fixed to a rotating shaft 5 which is rotated by a two-axis motor (not shown), and a tip of which is supported by the upper unit 7 and is rotated by a three-axis motor (not shown). It is rotatably mounted on the driving shaft 6. The vertical lever 8 is rotatably mounted at its base end to the swivel base 1 via a shaft 9 and at its distal end to the upper unit 7 via a shaft 10. That is, the swivel 1, the upper unit 7, the vertical arm 4, the vertical lever 8, the rotating shafts 5, 6 and the shafts 9, 10 form a four-node parallel link mechanism.

The horizontal arm 11 is fixed to the rotation shaft 6 in the middle thereof and is configured to be rotatable with respect to the upper unit 7. The counterweight 12 is fixed to the base end of the horizontal arm 11. Further, an L-shaped wrist 13 is rotatably attached to the distal end of the horizontal arm 11 via a shaft 14. The horizontal lever 15 has shafts 16 and 1 at both ends.
7 are rotatably mounted. At this time, axis 1
6 is rotatably attached to the distal end of a bracket 18 whose base end is vertically fixed to the upper unit 7, and the shaft 17 is rotatably attached to the distal end of the bracket 13 a of the wrist 13. That is, a four-node parallel link mechanism is formed by the rotating shaft 6, the shafts 14, 16, 17, the brackets 13a, 18, the horizontal arm 11, and the horizontal lever 15.

The hand section 19 has an upper end formed with a rotating shaft 20.
Is attached to the wrist 13 rotatably by means of a four-axis motor (not shown) via a shaft, and is hung down. The grip 19a is a distal end and a proximal end 19b.
The shaft motor (not shown) is configured to be rotatable in a horizontal plane in the illustrated state.

The slave arm operates in response to an operation of a master arm (details will be described later) by an operator to grasp an object by the gripping portion 19a and transport it to a predetermined position. Is as follows.

When the one-axis motor is driven, the turntable 1 is turned into the base 3
In a horizontal plane.

As a result of the rotation of the rotating shaft 5 by the driving of the two-axis motor, the parallel link mechanism including the vertical arm 4 operates and the vertical arm 4 and the vertical lever 8 rotate in the vertical plane.
The upper unit 7 moves in a vertical plane.

The rotation of the rotating shaft 6 by the driving of the three-axis motor causes the parallel link mechanism including the horizontal arm 11 to operate, thereby rotating the horizontal arm 11 and the horizontal lever 15 in the vertical plane. And the hand part 19 moves in a vertical plane. At this time, the brackets 13a and 18 are parallel,
Moreover, since the bracket 18 is vertical, the bracket 1
Similarly, 3a is always vertical. That is, the posture of the wrist 13 is always kept constant.

The rotation shaft 20 is rotated by driving the four-axis motor, and the hand unit 19 is rotated in a vertical plane. In addition, the gripper 19a rotates in a horizontal plane by driving the five-axis motor.

The gripper 19a is moved from a predetermined position to a predetermined position by the movement of each part by the driving of the one-axis to five-axis motors.

FIG. 2 is a right side view showing the industrial manipulator according to the present embodiment having the slave arm shown in FIG. 1,
FIG. 3 is a rear view, and FIG. 4 is a plan view. 2 to 4, the same parts as those in FIG. 1 are denoted by the same reference numerals, and redundant description will be omitted.

As shown in FIGS. 2 to 4, the swivel 1 is provided with a driver's seat 21, a master arm 22, and a joystick lever 23. A one-axis motor for rotating the swivel base 1 is housed in the base 3. A two-axis motor 24 for rotating the vertical arm 4 is provided on the swivel 1 via a support 25. 3-axis motor 26 for rotating the horizontal arm 11
Are disposed in the upper unit 7. A four-axis motor 27 that rotates the hand unit 19 in a vertical plane is disposed so as to protrude horizontally from the wrist unit 13. The five-axis motor 28 that rotates the grip 19a in a horizontal plane is disposed so as to protrude perpendicularly to the wrist 13.

The swivel table which is rotated by the one-axis to five-axis motors described above.
1, vertical arm 4, horizontal arm 11, hand unit 19 and
The center of rotation of the grip 19a is shown in FIGS.
O₁, O _Two, O_Three, O_Four, O_FiveIndicated by During each of these rotations
Heart O₁~ O_FiveHas a potentiometer to detect the rotation angle.
Data is provided.

The master arm 22 is formed in a shape similar to the slave arm, and is controlled by an operator operating the master arm 22 so that the slave arm becomes similar to the master arm. The joystick lever 23 allows the operator to tilt the joystick lever to the left and right to enlarge the swivel table 1 and to turn the joystick lever 23 in the left and right direction at a high speed. The master arm 22 is disposed on the right side of the driver's seat 21 so that the operator of the driver's seat 21 operates with the right hand, and the joystick lever 23 is disposed on the left side of the driver's seat 21 so that the operator operates with the left hand.

FIG. 5 is a right side view showing the extracted and enlarged master arm 22 of the industrial manipulator shown in FIG. 2, FIG. 6 is a rear view thereof, and FIG. 7 is a plan view thereof.

As shown in FIG. 5 to FIG. 7, the master arm 22 is formed by forming the parts corresponding to the respective constituent parts of the slave arm in a similar shape while maintaining the same coupling relationship as the slave arm. That is, the length of the arm and the lever is similar to the slave arm, and the joint rotation range is configured to be equal to that of the slave arm.

In FIG. 5 to FIG. 7, reference numeral 33 denotes a swivel unit corresponding to the swivel table 1, 34 denotes a vertical arm corresponding to the vertical arm 4,
5, 36, 39, 40, 44, 46, 47, and 50 are axes respectively corresponding to the rotating shafts 5, 6, and 20 and the shafts 9, 10, 14, 16, and 17, and 37 is an upper part corresponding to the upper unit 7. A unit, 38 is a vertical lever corresponding to the vertical lever 8, 41 is a horizontal arm corresponding to the horizontal arm 11, 42
Is a counter weight corresponding to the counter weight 12,
43 is a wrist part corresponding to the wrist part 13, 43a is a bracket corresponding to the bracket 13a, 45 is a horizontal lever 15
, A bracket 48 corresponding to the bracket 18.

The operation unit 51 is connected to the wrist 43 via the shaft 50.
Is mounted so as to be rotatable in a vertical plane. At the top of the operation unit 51, a hand operation unit 51a that rotates in a horizontal plane is provided. By rotating the hand operation unit 51a, the hand unit 1 is turned by the 5-axis motor 28 (see FIG. 2).
9 is rotated. Hand open / close switch 52, operation switch (deadman switch) 5 provided on operation unit 51
3 can open and close the gripping portion 19a of the hand portion 19 (see FIG. 2) by the operation, and can start the control operation of the slave arm.

At this time, the swivel unit 33 applies water to the swivel base 1.
It is arranged rotatably in the plane. Vertical arm 34, vertical
The straight lever 38, the horizontal arm 41, the horizontal lever 45 and the operation
The working unit 51 is rotating the shafts 35, 39, 36, 46, 50
It is configured so that it can rotate in a vertical plane as a center. This
In FIG. 5, each rotation center at the time of₆, O₇, O₈,
O ₉, O_TenIt is shown with the reference numeral. Also, the shafts 40, 44,
Each center of 47 is indicated by O in FIG. ₁₁, O₁₂, O₁₃With the sign of
Shown.

The amount of rotation of each part of the master arm 22 is determined by the potentiometers 54, 55, 5 provided for each axis.
6, 57 and 58. Thus, these 1
The 1-axis motor, 2-axis motor 24, 3-axis motor 26, 4-axis motor 27 and 5-axis motor 28 (see FIG. 2) of the slave arm are driven via the control unit based on the detection signals of the 5-axis potentiometers 54 to 58. It is configured as follows.

The tension spring 59 has both ends at the turning portion 3.
3 and the upper unit 37, so that the vertical arm 34 and the vertical lever 38 are held in a vertical state in a normal state (when not operated). The counterweight 42 is fixed to the base end of the horizontal arm 41, and is configured to normally hold the horizontal arm 41 in a horizontal state, which is a basic posture. Further, torsion springs (not shown) are interposed in the turning part 33 and the operating part 51, respectively, so that the turning part 33 and the hand operating part 5 can resist the operating force of each part.
The turning unit 33 and the hand operating unit 51a are rotated in a horizontal plane around their rotation axes so that 1a returns to the home position, and the operating unit 51 is turned so that the operating unit 51 returns to the home position. It is configured to rotate in a vertical plane around the axis.

Thus, the operation unit 5 of the master arm 22
After performing a predetermined operation while holding the hand 1 with the hand 60, the parts are returned to the origin position by releasing the hand 60, and the basic posture is maintained.

FIG. 8 is a right side view showing the joystick lever portion of the industrial manipulator shown in FIG. 2 in an extracted and enlarged manner. As shown in the figure, the joystick lever 23 is fixed to the upper end of a support column 61 erected on the swivel 1 so that the lever portion 23a is tilted left and right to perform a predetermined operation.

In the above embodiment, the operator sits on the driver's seat 21 and operates the master arm 22 or the joystick lever 23. That is, the control unit (to be described later) is obtained by tilting the joystick lever 23 back and forth while pressing the operation switch 53 of the master arm 22.
As a result, the turntable 1 is large and quickly rotates in the horizontal plane.

On the other hand, when the operator grips the operating part 51 of the master arm 22 and turns the turning part 33, the turning amount at this time is detected by the one-axis potentiometer 54, and as a result, the turning amount is set to one through the control part. The shaft motor is driven to turn the swivel base 1 according to the amount of rotation of the swivel unit 33.
A control device for performing such turning control will be described later.

Similarly, the vertical arm 34, the horizontal arm 41, the operation unit 51, and the hand operation unit 51a are similarly turned and operated by the operator's operation, so that the amount of rotation at this time is controlled by the 2-axis to 5-axis potentiometer 55, 56, 57,
As a result of the detection at 58, the 2-axis to 5-axis motors 24, 26, 27, 28 are driven via the control unit,
4. Horizontal arm 41, operation unit 51, and hand operation unit 51
The vertical arm 4, the horizontal arm 11, the hand unit 19, and the gripping unit 19a are respectively rotated according to the amount of rotation of “a”.

Next, in the control section of the industrial manipulator according to the embodiment, a portion related to the turning control is shown in FIG. 9 which is a block diagram and FIG. 10 which is a flowchart showing the turning control operation.
This will be described with reference to FIG.

As shown in FIG. 9, is a potentiometer PT1 for detecting the pivoting of one axis of the slave arm swing angle signal A _S having a value corresponding to the turning angle of the swivel base 1 is output,
A potentiometer 54 for detecting the pivoting of one axis of the master arm rotation angle signal A _M having a value corresponding to the turning angle of the turning portion 33 is outputted, the operation signal S when the switch is turned on is outputted from the operation switch 53, the joystick The lever 23 outputs a turning speed command signal V having a value corresponding to the tilt angle of the lever. These signals A _S , A _M , S, V are converted into digital signals by an analog / digital converter A / D and sent to the computer CPU.

The computer CPU has an operation switch 53
Is input and the operation signal S is input,
A one-axis motor drive signal D for driving the one-axis motor M1 of the slave arm is output. When the operation signal S is not input, the one-axis motor drive signal D is not output (step 1 in FIG. 10), and a stop command is issued. Output (step 2).

The computer CPU has an operation switch 53
Is turned on, the potentiometer PT1,
The voltage values of the potentiometer 54 and the joystick lever 23 are read (step 3), and the turning angle signal A _S ,
A _M and a turning speed command signal V are obtained (step 4). Further, dead zone processing is performed on the turning speed command signal V (step 5). That is, when the lever portion 23a of the joystick lever 23 is tilted back and forth, calculation is performed to obtain left and right turning speed command signals V _R and V _L as shown in FIG. That is,
When tilting the lever portion 23a forward from the vertical position,
Give the right turning speed command signal V _R having a value corresponding to the tilt angle exceeds a predetermined angle (e.g. 10 degrees), when going tilted rearward lever portion 23a from the vertical position, the tilt angle exceeds a predetermined angle A left turning speed command signal _VL having a value corresponding thereto is obtained, and a calculation process is performed such that the value of the turning speed command signal V becomes zero even if the lever 23a is moved by a predetermined angle in the front-rear direction from the vertical position.

[0046] When there is a turning speed command signal V (V _R or V _L) (step 6), the pivoting speed command signal V
A one-axis motor drive signal D having a value and a polarity according to the value and the direction is calculated and output (steps 7 and 8). This one-axis motor drive signal D is a digital / analog converter D / A
And is sent to the servo driver SD. The servo driver SD sends power of a value corresponding to the one-axis motor drive signal D to the one-axis motor M1 of the slave arm. Therefore, the turntable 1 of the slave arm turns at a speed corresponding to the tilt angle of the joystick lever 23. In addition, if the inclination angle of the joystick lever 23 is increased, the turntable 1 can be turned at an extremely high speed. The turning direction can be selected only by changing the tilt direction (left and right) of the joystick lever 23.

[0047] When there is no turning velocity command signal V in step 6, it is determined whether there is a difference between the turning angle signal A _M of the slave side rotation angle signal A _S and the master side (Step 9), this is when there is a difference A one-axis motor drive signal D having a value corresponding to the difference is calculated and output (Step 10,
8). The one-axis motor drive signal D is converted into an analog signal by a digital-to-analog converter D / A, and the servo driver SD outputs power of a value corresponding to the one-axis motor drive signal D.
It is sent to the one-axis motor M1 of the slave arm. For this reason, it is suitable when the swivel base 1 of the slave arm turns in response to the turning operation of the master arm 22 and moves at a low speed with good positional accuracy.

In step 9, the turning angle signals A _S , A
_If there is no difference in _M , a stop command is output (step 2).

After all, when making a large turn, the joystick lever 23 is turned on with the operation switch 53 turned on.
Is tilted, and the fine turning operation near the object is performed by turning the master arm 22 with the operation switch 53 turned on. When the slave arm is not turned, the operation switch 53 may be opened, and if the joystick lever 23
Is tilted or the master arm 22 is turned, the slave arm does not turn.

[0050]

According to the present invention, the slave arm can be turned at a high speed at a wide angle by tilting the joystick, and the position of the slave arm can be accurately controlled by following the turning operation of the master arm. The slave arm can be turned, so that the manipulator can be turned more easily.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a basic configuration of a vertical multi-joint industrial manipulator according to an embodiment of the present invention, in which slave arms are extracted.

FIG. 2 is a right side view having the industrial manipulator according to the embodiment having the slave arm shown in FIG. 1;

FIG. 3 is a rear view of FIG. 2;

FIG. 4 is a plan view of FIG. 2;

5 is a right side view showing the master arm of the industrial manipulator shown in FIG. 2 in an extracted and enlarged manner.

FIG. 6 is a rear view of FIG. 5;

FIG. 7 is a plan view of FIG. 5;

8 is a right side view showing the joystick lever portion of the industrial manipulator shown in FIG. 2 in an extracted and enlarged manner.

FIG. 9 is a block diagram showing a control device of the industrial manipulator according to the embodiment of the present invention.

FIG. 10 is a flowchart showing a method of turning control of the embodiment.

FIG. 11 is a characteristic diagram illustrating dead zone processing of a joystick lever.

[Explanation of symbols]

 Reference Signs List 1 swivel base 2 floor surface 3 base 4 vertical arm 5 rotation axis 6 rotation axis 7 upper unit 8 vertical lever 9 axis 10 axis 11 horizontal arm 12 counter weight 13 wrist part 13a bracket 14 axis 15 horizontal lever 16 axis 17 axis Reference Signs List 18 bracket 19 hand part 19a grip part 19b base end part 20 rotation axis 21 driver's seat 22 master arm 23 joystick lever 33 turning part 34 vertical arm 35 rotation axis 36 rotation axis 37 upper unit 38 vertical lever 39 axis 40 axis 41 Horizontal arm 42 Counter weight 43 Wrist 43a Bracket 44 Axis 45 Horizontal lever 46 Axis 47 Axis 48 Bracket 53 Operation switch 54 Potentiometer CPU Computer A / D Analog / Digital converter D / A Digital / Analog converter SD Servo Driver M1 Single axis motor PT1 Potentiometer

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 3/00-3/04 B25J 9/10-9/22 B25J 13/00-13/8 B25J 19 / 02-19/06

Claims (1)

(57) [Claims] 1. An industrial manipulator having a driver seat on which an operator sits and a master arm for sending an operation command to the slave arm on a swivel of the slave arm, wherein the joystick is mounted on the swivel. A lever, and an operation switch, which is a deadman switch, provided on the master arm. Further, when the joystick lever is tilted while the operation switch is turned on, the turntable is rotated at a speed corresponding to a tilt angle. A turn command is issued to the slave arm so as to turn, and when the master arm is turned while the operation switch is turned on, a turn command is issued to the slave arm so as to turn the turntable following the turn. A control device for an industrial manipulator, comprising a control unit.