JP4050982B2 - Screw tightening robot teaching device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a teaching apparatus for a screw tightening robot that inputs and sets various information for controlling the screw tightening robot provided for tightening a screw on a workpiece.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, screw tightening methods and screw tighteners shown in patent documents are known.
[0003]
[Patent Literature]
Japanese Patent No. 2805820 [0004]
[Problems to be solved by the invention]
2. Description of the Related Art In recent years, a screw tightening machine and method disclosed in Patent Literatures have been used to control the force with which a bit presses a screw during screw tightening (hereinafter referred to as thrust). In a screw tightening robot mounted on a known robot body using this type of screw tightening machine as a screw tightening tool, the screw tightening tool is pressed against the screw by the operation of the robot body during the screw tightening operation.
[0005]
A general robot operation can be defined by a coordinate setting with the origin as a reference. However, in the screw tightening robot that performs thrust control during the screw tightening operation by the operation of the robot main body as described above, the operation of the robot main body during the screw tightening operation cannot be simply defined by the coordinate setting. Parameters such as thrust to be generated and operation speed are required. Therefore, the teaching device of the screw tightening robot does not confuse the coordinate information for moving the screw tightening tool onto the screw tightening point of the workpiece and the control information at the time of screw tightening, and it is rational and easy to understand. A structure is required.
[0006]
[Means for Solving the Problems]
The present invention has been made in view of the above problems, and an object thereof is to provide a teaching device for a screw tightening robot having a rational and easy-to-understand teaching structure.
[0007]
In order to achieve the above object, the present invention provides a screw tightening tool in which a bit engageable with a screw to be tightened is directly connected to a rotation drive source to be rotatable, and the screw tightening tool is reciprocated in the axial direction. A screw tightening robot teaching device for setting a predetermined control parameter to a screw tightening robot comprising a robot main body having a plurality of movable parts that can be supported and moved to a predetermined position on a workpiece . The screw tightening operation information setting screen that controls the operation of the robot body during the tightening process can be displayed for each channel, and the setting items for specifying this screw tightening operation information channel and the screw tightening point of the workpiece are displayed. capable of displaying a setting screen of the coordinate information associated with the setting items of coordinate information of each of the movable portions of the robot body when moving operating the screwing tool Display means, and an input means for inputting a control parameter in said display unit to the setting screen displayed, the setting screen of the screwing operation information includes, in order from a distance from the work in the screw tightening process A thrust setting value that defines the thrust applied to the screw from the screw tightening tool in each of the fast feed section, the temporary tightening section, and the final tightening section that is set, and a movable position that supports the screw tightening tool at a position for switching these thrust setting values “Screw length”, which is the length under the screw neck, “Offset before work”, which is the distance from the tip of the screw to the workpiece surface, and a predetermined distance from the workpiece surface. characterized in that a distance a setting screen capable of setting the distance setting value with a "tightened switching point" indicating a switching position from the temporarily tightened thrust into the clamping thrust To.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 and 2, reference numeral 1 denotes a screw tightening robot teaching device (hereinafter referred to as teaching pendant 1), which is connected to a robot controller 2. A screw tightening robot 3 is connected to the robot controller 2.
[0010]
The teaching pendant 1 allows an operator to input various control parameters of the screw tightening robot 3 while checking the operation of the screw tightening robot 3 and the position of the screw tightening point on the workpiece at an arbitrary position around the screw tightening robot 3. Is configured to have a size and shape that can be carried by hand, and is connected to the robot controller 2 with a cable. As shown in FIGS. 1A and 1B, the teaching pendant 1 includes a color liquid crystal display 4 (hereinafter referred to as a liquid crystal screen 4) which is an example of display means, and a touch panel 5 which is an example of input means. The display panel 6 is configured by stacking the emergency stop switch 7, the deadman switch 8, the function selector key switch 9, various display lamps, and the like around the display panel 6. As is well known, the touch panel 5 performs area division corresponding to the image displayed on the liquid crystal screen 4, and functions as an information input key by touching a predetermined area with an input device such as a finger or a touch pen. It is.
[0011]
The teaching pendant 1 is shown as a block in FIG. As shown in FIG. 3, the liquid crystal screen 4 and the touch panel 5 are each connected to an arithmetic processing circuit 11, and the arithmetic processing circuit 11 is connected to the robot controller 2 via an interface 12. The emergency stop switch 7, deadman switch 8, and function selector key switch 9 are directly connected to the robot controller 2 and configured so that signals can be directly given to the control circuit of the robot controller 2.
[0012]
The robot controller 2 includes a control circuit, a motor drive circuit, a data storage medium, and the like, and controls the screw tightening robot 3 based on the operation program stored in advance and various data input from the teaching pendant 1. Composed.
[0013]
The screw tightening robot 3 is connected to a robot main body 13 configured by combining movable parts Y1, A1, and Z1 that can reciprocate in directions indicated by arrows in FIG. 4 and a movable part Z1 of the robot main body 13. It has a screw tightening tool T1 that can reciprocate integrally with the movable part Z1. The screw tightening tool T1 has a bit 14 that can be engaged with a head drive hole of the screw S, and this bit 14 is directly connected to an AC servo motor 15 that is an example of a rotational drive source without a buffer mechanism. It is configured to be connected. A catcher 16 for temporarily holding the screw S sent from the screw supply device F1 is disposed on the moving path of the bit 14.
[0014]
When the power is turned on, the teaching pendant 1 displays an initial menu screen 17 shown in FIG. Information for controlling the screw tightening robot 3 includes coordinate information for moving the screw tightening tool T1 onto the work screw tightening point with respect to the origin position, and the screw S at the work screw tightening point by the screw tightening tool T1. The teaching pendant 1 is configured so that these can be set in association with each other.
[0015]
That is, by selecting the teaching menu 18 on the initial menu screen 17 using the touch panel 5 and following the menu hierarchy (not shown), the liquid crystal screen 4 has a screw tightening point coordinate information setting screen shown in FIG. 19 is displayed. This setting screen 19 includes items 20, 21, 22 for setting each coordinate information of the movable parts Y1, A1, and Z1 necessary for positioning the screw tightening tool T1 at a predetermined position on the screw tightening point of the workpiece. Work information designation item 23 for designating what type of screw tightening is to be performed at the screw tightening point, and a plurality of screw tightening points P0 to P99 (100 points in total, P0 to P4 shown in the drawing) It is configured to be configurable.
[0016]
The work information designation item 23 includes a channel number setting item C1 of screw tightening operation information, which will be described in detail later, and a screw tightening operation type code setting item C2. The type code of the screw tightening work is assigned a predetermined value in advance according to the work form, such as a screw tightening work for supplying and tightening a screw to the catcher, or a work for additionally tightening a screw temporarily fixed to the work. .
[0017]
Further, the setting menu 24 of the initial menu screen 17 is selected by the touch panel 5 and the subsequent menu hierarchy (not shown) is followed, whereby the screw tightening operation information setting screen 25 shown in FIG. Is displayed. Here, information necessary for controlling the robot body 3 when the screws are tightened by the screw tightening tool T1 can be set. This information is roughly divided into a distance setting value 26, a thrust setting value 27, and a speed setting value 28.
[0018]
The distance setting value 26 includes items of a screw length 26a, a workpiece front offset 26b, a final fastening switching point 26c, a step offset 26d, and a height detection width 26e. The thrust set value 27 is composed of items of fast feed 27a, temporary tightening 27b, and final tightening 27c, and the speed set value 28 is composed of items of fast forward 28a and temporary tightening to final tightening 28b. By giving a set value to each of these items, in the operation program of the robot controller 2, as shown in FIG. 8, a predetermined passing point in the process of tightening the screw on the workpiece, a thrust between the main passing points, The speed between the main passing points can be determined individually.
[0019]
In the screw tightening operation, the movable portion Z1 is controlled according to the parameters determined by the operation program as described above. As a result, the thrust applied to the screw S from the screw tightening tool T1 and the axial movement speed of the screw tightening tool T1 are changed according to the moving position of the screw tightening tool T1. As a result, the thrust applied to the screw S can be switched to an optimum value at a critical point in the screwing process, and the screw S can be tightened accurately. The moving position of the screw tightening tool T1 can be determined from a signal of an encoder (not shown) provided in a servo motor (not shown) that is a drive source of the movable part Z1.
[0020]
The screw tightening operation information setting screen 24 is prepared for five channels. Therefore, it is possible to set screw tightening operation information for five types of screws. The setting screen corresponding to each channel can be switched by the screen switching buttons 29a and 29b. By setting this channel number in the work information designation item 23 of the coordinate information setting screen 19 together with the type code of the screw tightening work, in the operation program, the screw of which channel is set for each screw tightening point. By using the tightening operation information, it is possible to identify what type of screw tightening operation is performed when referring to the coordinate information, and to internally set this.
[0021]
【The invention's effect】
A teaching device for a screw tightening robot according to the present invention includes a setting screen for screw tightening operation information for controlling the operation of a robot body during a screw tightening process, and a robot when moving the screw tightening tool onto a screw tightening point of a workpiece. Display means capable of displaying each coordinate information setting screen for controlling the operation of the main body is provided. Accordingly, there is an advantage that the coordinate information and the screw tightening operation information are clearly separated on different screens, and the screw tightening robot can be taught accurately without causing confusion. Further, the teaching device for a screw tightening robot of the present invention can display a setting screen for screw tightening operation information for each of a plurality of channels. On the coordinate information setting screen, the channel for screw tightening operation information is associated with the coordinate information. Can be specified. For this reason, in addition to the above-described effects, it is possible to efficiently specify the screw tightening operation at each screw tightening point, and to obtain the effects of being able to rationally perform the teaching operation of the screw tightening robot. . As described above, according to the present invention, it is possible to provide a teaching device for a screw tightening robot having a rational and easy-to-understand teaching structure.
[Brief description of the drawings]
FIG. 1A is an enlarged front view of a main part of a teaching device for a screw tightening robot according to the present invention, and FIG. 1B is a side view thereof.
FIG. 2 is an overall perspective view of a screw tightening robot system including a screw tightening robot teaching apparatus according to the present invention.
FIG. 3 is a block explanatory diagram of a teaching device for a screw tightening robot according to the present invention.
FIG. 4 is an explanatory perspective view of a screw tightening robot.
FIG. 5 is an explanatory view showing one display screen of the teaching device for the screw tightening robot according to the present invention.
FIG. 6 is an explanatory view showing one display screen of the teaching device for the screw tightening robot according to the present invention.
FIG. 7 is an explanatory view showing one display screen of the teaching device of the screw tightening robot according to the present invention.
FIG. 8 is an explanatory diagram showing a predetermined passing point and a change point of thrust / speed when a screw is tightened on a workpiece.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Screw tightening robot teaching device 2 Robot controller 3 Screw tightening robot 4 Color liquid crystal display 5 Touch panel 6 Display panel 11 Arithmetic processing circuit 13 Robot main body 14 Bit 15 AC servo motor 19 Coordinate information setting screen 23 Work information designation item 25 Screw tightening Operation information setting screen Y1, A1, Z1 Movable part T1 Screw tightening tool F1 Screw supply device

Claims (1)

A screw tightening tool that can be rotated by directly connecting a bit that can be engaged with a screw to be tightened to a rotational drive source, and supports the screw tightening tool so as to be capable of reciprocating in the axial direction and at a predetermined position on the workpiece. A screw tightening robot teaching device for setting a predetermined control parameter in a screw tightening robot including a robot body having a plurality of movable parts capable of moving operation ,
The screw tightening operation information setting screen that controls the operation of the robot body during the screw tightening process can be displayed for each channel, and the setting items for specifying this screw tightening operation information channel and the screw tightening point of the workpiece Display means capable of displaying a coordinate information setting screen corresponding to coordinate information setting items of the respective movable parts of the robot body when moving the screw tightening tool upward;
Input means for inputting control parameters on each setting screen displayed on the display means,
The setting screen of the screw tightening operation information is
A thrust setting value that defines the thrust applied to the screw from the screw tightening tool in each of the fast feed section, the temporary tightening section, and the final tightening section set in order from the position away from the workpiece in the screw tightening process;
`` Screw length '', which is the length below the neck of the screw, to determine the position where these thrust setting values are switched based on the coordinate information of the movable part that supports the screw tightening tool, from the tip of the screw to the workpiece surface Distance setting value with “work front offset” that is the interval and “final tightening switching point” that indicates the switching position from the temporary tightening thrust to the final tightening thrust at a predetermined distance from the work surface.
A screw tightening robot teaching device, characterized in that the setting screen is a setting screen that can be set .

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