JP7198568B2 - articulated robot - Google Patents

Description

The present specification relates to articulated robots.

In general, an articulated robot is adjusted to the origin of the axis. As a form of origin adjustment, Patent Document 1 discloses a method in which an operator selects an axis to be adjusted first. Furthermore, it is disclosed that the operator operates the operation unit according to the contents displayed on the display unit and the articulated robot moves according to the operation until the origin adjustment is completed after the selection. It is

JP 2006-289588 A

In the articulated robot described in the above-mentioned Patent Document 1, there is a problem that the origin adjustment cannot be performed with good reproducibility because many operations are performed by the operator when adjusting the origin of the axis.

In view of such circumstances, the present specification discloses an articulated robot capable of performing axis origin adjustment with high reproducibility.

The present specification is an articulated robot comprising a plurality of axes, a plurality of driving devices for respectively driving the plurality of axes, and a control device for performing an origin establishment operation for establishing the origins of the plurality of axes. The controller displays a pre-start posture, which is a posture of the articulated robot before starting the origin establishment operation, on a display device after the operator issues an instruction to start the origin establishment operation, and then , transforming the posture of the multi-joint robot by driving and controlling each of the driving devices in accordance with the operator's input to the input device for transforming the posture of the multi-joint robot to the pre-start posture ; Disclosed is an articulated robot that performs the origin establishment operation.

According to the present disclosure, it is possible to automatically set the order of the axes for which origin adjustment is to be performed, and thus automatically perform origin adjustment for all axes. Therefore, the articulated robot can adjust the origin of the axis with high reproducibility.

1 is a front view showing a processing system 10 to which an articulated robot is applied; FIG. FIG. 2 is a side view showing the lathe module 30A shown in FIG. 1; FIG. 3 is a side view showing the drill mill module 30B shown in FIG. 1; FIG. 4 is a side view showing an articulated robot 60; FIG. 11 is a side view showing a posture of the multi-joint robot 60 before starting a grasping portion; 2 is a plan view showing an articulated robot 60; FIG. FIG. 4 is a bottom perspective view showing a portion of the articulated robot 60; FIG. 3 is an upper perspective view showing a portion of a travel section 61 of the articulated robot 60; FIG. 4 is an upper perspective view mainly showing a first arm 71 and a second arm 73 of the articulated robot 60; FIG. 4 is an upper perspective view mainly showing a second arm 73 and a grasping portion 75 of the articulated robot 60; 2 is a block diagram showing an articulated robot 60; FIG. 11 is a flow chart showing a program executed by the control device 80 shown in FIG. 10; FIG. 11 is a side view showing a pre-start posture of the articulated robot 60; 11 is a flow chart showing a program (X-axis origin establishment) executed by the control device 80 shown in FIG. 10; 11 is a flow chart showing a program (D-axis origin establishment) executed by the control device 80 shown in FIG. 10; 11 is a flow chart showing a program (A-axis origin establishment) executed by the control device 80 shown in FIG. 10; FIG. 11 is a side view showing the posture of the articulated robot 60 before the second arm is started; 11 is a flow chart showing a program (B-axis origin establishment) executed by the control device 80 shown in FIG. 10; 11 is a flow chart showing a program (C-axis origin establishment) executed by the control device 80 shown in FIG. 10;

(processing system)
An example of a processing system to which an articulated robot is applied will be described below. As shown in FIG. 1, the machining system 10 includes a plurality of bases 20, a plurality of (10 in this embodiment) work machine modules 30 (processing devices) provided on the bases 20, and an articulated robot (hereinafter referred to as , sometimes referred to as a robot) 60. In the following description, "back and forth", "left and right", and "up and down" with respect to the processing system 10 are treated as front and back, left and right, and up and down when the processing system 10 is viewed from the front side.

There are multiple types of work machine modules 30, including a lathe module 30A, a drilling module 30B, a pre-machining stock module 30C, a post-machining stock module 30D, an inspection module 30E, and a temporary placement module 30F.

(lathe module)
The lathe module 30A is a modularized lathe. A lathe is a machine tool that rotates a workpiece W, which is an object to be processed, and processes it with a fixed cutting tool 43a. The lathe module 30A has a movable bed 41, a headstock 42, a tool table 43, a tool table moving device 44, a machining chamber 45, a traveling chamber 46, and a module control device 47, as shown in FIG.

The movable bed 41 moves in the front-rear direction on rails (not shown) provided on the base 20 via a plurality of wheels 41a. The headstock 42 holds the workpiece W rotatably. The headstock 42 rotatably supports a main spindle 42a arranged horizontally along the front-rear direction. A chuck 42b for gripping the workpiece W is provided at the tip of the spindle 42a. The main shaft 42a is rotationally driven by a servomotor 42d via a rotation transmission mechanism 42c.

The tool rest 43 is a device that feeds the cutting tool 43a. The tool rest 43 is a so-called turret-type tool rest, and includes a tool holding portion 43b to which a plurality of cutting tools 43a for cutting the workpiece W are mounted, and a tool holding portion 43b that is rotatably supported and positioned at a predetermined cutting position. It has a rotation drive part 43c that can be positioned and fixed.

The tool table moving device 44 is a device that moves the tool table 43 and the cutting tool 43a along the vertical direction (Y-axis direction) and the front-back direction (Z-axis direction). The tool rest moving device 44 has a Y-axis driving device 44a for moving the tool rest 43 along the Y-axis direction and a Z-axis driving device 44b for moving the tool rest 43 along the Z-axis direction.

The Y-axis driving device 44a includes a Y-axis slider 44a1 slidably attached to a column 48 provided on the movable bed 41 along the vertical direction, and a servo motor 44a2 for moving the Y-axis slider 44a1. have. The Z-axis driving device 44b has a Z-axis slider 44b1 slidably attached to the Y-axis slider 44a1 along the front-rear direction, and a servo motor 44b2 for moving the Z-axis slider 44b1. .

The machining chamber 45 is a room (space) for machining the workpiece W, and accommodates a chuck 42b and a tool table 43 (a cutting tool 43a, a tool holding portion 43b, and a rotation driving portion 43c). ing. The processing chamber 45 is partitioned by a front wall 45a, a ceiling wall 45b, left and right walls, and a rear wall (all not shown). The front wall 45a is formed with an inlet/outlet 45a1 through which the work W is entered/exited. The inlet/outlet 45a1 is opened and closed by a shutter 45c driven by a motor (not shown).

The travel room 46 is a room (space) provided facing the inlet/outlet 45 a 1 of the processing room 45 . The travel room 46 is defined by the front wall 45 a and the front panel 31 . A robot 60 , which will be described later, can run in the running room 46 . The module control device 47 is a device that drives the rotation drive section 43c, the tool table moving device 44, and the like.

(Dori Mill module)
The drilling module 30B is a modularized machining center that performs drilling, milling, and the like. A machining center is a machine tool that presses a rotating tool (rotary tool) against a fixed workpiece W to process the workpiece. The drilling module 30B has a movable bed 51, a spindle head 52, a spindle head moving device 53, a work table 54, a machining chamber 55, a traveling chamber 56, and a module control device 57, as shown in FIG.

The movable bed 51 moves in the front-rear direction on rails (not shown) provided on the base 20 via a plurality of wheels 51a. The spindle head 52 rotatably supports a spindle 52a. A cutting tool 52b (for example, a drill, an end mill, etc.) for cutting the workpiece W can be attached to the tip (lower end) of the spindle 52a. The main shaft 52a is rotationally driven by a servomotor 52c.

The spindle head moving device 53 is a device for moving the spindle head 52 and the cutting tool 52b along the vertical direction (Y-axis direction) and the front-rear and lateral directions (XZ-axis direction). The spindle head moving device 53 has a Y-axis driving device 53a that moves the spindle head 52 along the Y-axis direction, and an XZ-axis driving device 53b that moves the spindle head 52 along the XZ-axis direction. doing. The XZ-axis driving device 53b is attached to a body 58 provided on the movable bed 51 so as to be slidable along the front-rear and left-right directions. The Y-axis driving device 53a is attached to the XZ-axis driving device 53b so as to be vertically slidable.

The work table 54 holds the work W fixedly. The work table 54 is fixed to a work table rotating device 54 a provided on the front surface of the main body 58 . The worktable rotating device 54a is driven to rotate about an axis extending in the front-rear direction. As a result, the workpiece W can be machined with the cutting tool 52b in an inclined state. In addition, the work table 54 may be fixed directly to the front surface of the main body 58 .

The machining chamber 55 is a room (space) for machining the workpiece W, and houses a spindle 52a, a cutting tool 52b, a work table 54, and a work table rotating device 54a. The processing chamber 55 is partitioned by a front wall 55a, a ceiling wall 55b, left and right walls, and a rear wall (all not shown). The front wall 55a is formed with an inlet/outlet 55a1 through which the work W is entered/exited. The inlet/outlet 55a1 is opened and closed by a shutter 55c driven by a motor (not shown).

The travel room 56 is a room (space) provided facing the inlet/outlet 55 a 1 of the processing room 55 . The travel room 56 is defined by the front wall 55 a and the front panel 31 . A robot 60 , which will be described later, can run in the running room 56 . Adjacent running chambers 46 (or 56) form a continuous space over the entire length of the processing system 10 in the side-by-side installation direction. The module control device 57 is a device that drives the spindle 52a (servo motor 52c), the spindle head moving device 53, and the like.

The pre-machining stock module 30C is a module (work loading module) that loads a work into the processing system 10 . The post-machining stock module 30</b>D is a module that stores a finished product that has undergone a series of machining operations on the work performed by the machining system 10 .

The inspection module 30E inspects a work (for example, a work after machining). The temporary placement module 30</b>F is for temporarily placing a workpiece during a series of machining processes by the machining system 10 . The inspection module 30E and the temporary placement module 30F have running chambers (not shown) like the lathe module 30A and the drilling module 30B.

(robot)
The robot 60 can run, and has a running portion 61 , a body portion 62 and a movement restricting portion 65 .

(running part)
The traveling portion 61 can travel in the left-right direction (the direction in which the working machine modules 30 are arranged side by side: the X-axis direction) in the traveling chambers 46 and 56 . As shown mainly in FIG. 4, the traveling portion 61 has a traveling drive shaft (hereinafter also referred to as X-axis) 61c for linearly moving the traveling portion main body 61a along the left-right direction by a traveling drive device 61b. have. A slider 61c2 of a travel drive shaft 61c is attached to the back of the travel portion main body 61a. The traveling drive shaft 61c is composed of a rail 61c1 provided on the front side surface of the base 20 and extending along the horizontal direction (left-right direction), and a plurality of sliders 61c2 slidably engaging the rail 61c1. there is

A travel drive device 61b is provided on the travel portion main body 61a. The traveling drive device 61b includes a servomotor 61b1, a driving force transmission mechanism (not shown), a pinion 61b2, a rack 61b3, and the like. The pinion 61b2 is rotated by the rotational output of the servomotor 61b1. The pinion 61b2 meshes with the rack 61b3. The rack 61b3 is provided on the front side surface of the base 20 and extends along the horizontal direction (horizontal direction).

The servomotor 61b1 is connected to a robot control device 80 (see FIG. 10, hereinafter sometimes referred to as the control device 80). The servomotor 61b1 is rotationally driven according to an instruction from the control device 80, and the pinion 61b2 rolls on the rack 61b3. Thereby, the traveling portion main body 61a can travel in the traveling chambers 46 and 56 along the left-right direction. The servomotor 61b1 also incorporates a current sensor 61b4 (see FIG. 10) for detecting the current flowing through the servomotor 61b1. The servomotor 61b1 incorporates a position sensor (eg, resolver, encoder) 61b5 (see FIG. 10) for detecting the position (eg, rotation angle) of the servomotor 61b1. The detection results of the current sensor 61b4 and the position sensor 61b5 are transmitted to the control device 80. FIG.

(main body)
4 and 5, the main body portion 62 mainly comprises a turning table (table) 63 and an arm portion 64 provided on the turning table 63. As shown in FIGS.

(swivel table)
As shown in FIG. 5, the swivel table 63 includes a table drive shaft (hereinafter also referred to as D-axis) 63a provided on the swivel table 63, and a table drive device 63b for rotating the table drive shaft 63a. have. The table driving device 63b is provided in the traveling portion main body 61a. The table drive device 63b includes a gear (not shown) provided on the table drive shaft 63a, a pinion (not shown) meshing with the gear, a servomotor 63b1, and a driving force transmission mechanism for transmitting the output of the servomotor 63b1 to the pinion. (not shown).

The servomotor 63b1 is connected to a control device 80 (see FIG. 10). The servomotor 63b1 is rotationally driven according to an instruction from the control device 80, and the pinion rotates the table drive shaft 63a. Thereby, the turning table 63 is rotatable around the rotation axis of the table driving shaft 63a. The servomotor 63b1 also incorporates a current sensor 63b2 (see FIG. 10) for detecting the current flowing through the servomotor 63b1. The servomotor 63b1, like the servomotor 61b1, incorporates a position sensor 63b3 (see FIG. 10) for detecting the position of the servomotor 63b1. The detection results of the current sensor 63b2 and the position sensor 63b3 are transmitted to the control device 80. FIG.

The turning table 63 is provided with a reversing device 66 for reversing the workpiece W. As shown in FIG. The reversing device 66 can reverse the work W received from the gripping section 75 and transfer the reversed work W to the gripping section 75 .

(Arm part)
The arm portion 64 is a so-called serial link type arm in which drive shafts (or arms) are arranged in series. 4 and 5, the arm portion 64 includes a first arm 71, a first arm drive shaft (hereinafter also referred to as A-axis) 72, a second arm 73, a second arm drive shaft ( 74, a gripper 75, and a gripper drive shaft (hereinafter also referred to as a C-axis) 76.

As shown mainly in FIGS. 4 and 5, the first arm 71 is shaped like a rod and is rotatably connected to the swivel table 63 via the first arm drive shaft 72 . Specifically, the first arm drive shaft 72 is rotatably supported by a support member 63c provided on the swivel table 63. As shown in FIG. The base end of the first arm 71 is fixed to the first arm drive shaft 72 . The first arm drive shaft 72 is rotationally driven by a first arm drive device 71b. The first arm drive device 71b includes a servomotor 71b1 provided on the support member 63c, a driving force transmission mechanism (not shown) that transmits the output of the servomotor 71b1 to the first arm drive shaft 72, and the like.

The servomotor 71b1 is connected to the control device 80 . The servo motor 71 b 1 is rotationally driven according to an instruction from the control device 80 to rotate the first arm drive shaft 72 . Thereby, the first arm 71 is rotatable around the rotation axis of the first arm drive shaft 72 . The servomotor 71b1 also incorporates a current sensor 71b2 (see FIG. 10) for detecting the current flowing through the servomotor 71b1. The servomotor 71b1 incorporates a position sensor 71b3 (see FIG. 10) for detecting the position of the servomotor 71b1, similarly to the servomotor 61b1. The detection results of the current sensor 71b2 and the position sensor 71b3 are transmitted to the control device 80. FIG.

As shown mainly in FIGS. 4 and 5, the second arm 73 is shaped like a rod and is rotatably connected to the first arm 71 via a second arm drive shaft 74 . Specifically, the second arm drive shaft 74 is rotatably supported by the tip of the first arm 71 . The base end of the second arm 73 is fixed to the second arm drive shaft 74 . The second arm drive shaft 74 is rotationally driven by a second arm drive device 73b. The second arm driving device 73b includes a servomotor 73b1 provided on the first arm 71, a driving force transmission mechanism (not shown) that transmits the output of the servomotor 73b1 to the second arm driving shaft 74, and the like.

The servomotor 73b1 is connected to the controller 80 . The servomotor 73b1 is rotationally driven according to an instruction from the control device 80 to rotate the second arm drive shaft 74. As shown in FIG. Thereby, the second arm 73 is rotatable around the rotation axis of the second arm drive shaft 74 . The servomotor 73b1 also incorporates a current sensor 73b2 (see FIG. 10) for detecting the current flowing through the servomotor 73b1. The servomotor 73b1 incorporates a position sensor 73b3 (see FIG. 10) for detecting the position of the servomotor 73b1, similarly to the servomotor 61b1. The detection results of the current sensor 73b2 and the position sensor 73b3 are transmitted to the control device 80. FIG.

As mainly shown in FIGS. 4 and 5 , the gripper 75 is rotatably connected to the second arm 73 via a gripper drive shaft 76 . Specifically, the grip portion drive shaft 76 is rotatably supported by the distal end portion of the second arm 73 . A grip portion main body 75 a of the grip portion 75 is fixed to the grip portion drive shaft 76 . The gripping portion driving shaft 76 is rotationally driven by a gripping portion driving device 75b. The gripping portion driving device 75b includes a servomotor 75b1 provided on the second arm 73, a driving force transmission mechanism 75b2 that transmits the output of the servomotor 75b1 to the gripping portion driving shaft 76, and the like. A chuck 75c for gripping the workpiece W can be detachably attached to the gripping portion main body 75a.

The servomotor 75b1 is connected to the control device 80 . The servomotor 75b1 is rotationally driven according to an instruction from the control device 80 to rotate the gripper drive shaft 76. As shown in FIG. Thereby, the grip portion main body 75 a and the grip portion 75 are rotatable around the rotation axis of the grip portion drive shaft 76 . The servomotor 75b1 also incorporates a current sensor 75b3 (see FIG. 10) for detecting the current flowing through the servomotor 75b1. The servomotor 75b1 incorporates a position sensor 75b4 (see FIG. 10) for detecting the position of the servomotor 75b1, similarly to the servomotor 61b1. The detection results of the current sensor 75b3 and the position sensor 75b4 are transmitted to the control device 80. FIG.

(Movement regulation department)
The movement restricting portion 65 includes a traveling movement restricting portion (hereinafter also referred to as a first movement restricting portion) 65a (see FIGS. 5 and 7), a table movement restricting portion (hereinafter also referred to as a second movement restricting portion) 65b (see FIG. 6 and 7), a first arm movement restricting portion (hereinafter also referred to as a third movement restricting portion) 65c (see FIG. 6), and a second arm movement restricting portion (hereinafter also referred to as a fourth movement restricting portion) 65d. (see FIG. 8), and a grip portion movement restricting portion (hereinafter also referred to as a fifth movement restricting portion) 65e (see FIG. 9). The movement restricting section restricts movement of the corresponding axis.

The first movement restricting portion 65a restricts movement of the traveling drive shaft 61c. The first movement restricting portion 65a is for positioning the traveling drive device 61b (that is, the servomotor 61b1) at the origin position. As shown in FIG. 5, the first movement restricting portion 65a is composed of an engaging portion 65a1 and an engaged portion 65a2 that are in contact with each other. As shown in FIG. 7, the engaging portion 65a1 is provided at the right end of the rear side portion of the traveling portion main body 61a. As shown in FIG. 5, when a plurality of bases 20 are arranged, the engaged portion 65a2 is provided on the front surface of the rightmost base 20 . The position at which the engaging portion 65a1 and the engaged portion 65a2 are in contact is the physical origin position of the traveling portion 61 and the traveling drive device 61b. When the traveling unit 61 is positioned at the origin position, the current position (for example, the current rotation angle) of the servomotor 61b1 (travel drive device 61b) at that time can be set as the origin position of the servomotor 61b1.

The second movement restricting portion 65b restricts movement of the table drive shaft 63a. The second movement restricting portion 65b is for positioning the table driving device 63b (that is, the servomotor 63b1) at the origin position. The second movement restricting portion 65b is composed of an engaging portion 65b1 (see FIG. 6) and an engaged portion 65b2 (see FIG. 7) that are in contact with each other. The engaging portion 65b1 is provided at the lower portion of the turning table 63. As shown in FIG. A pair of engaged portions 65b2 are provided on the upper portion of the traveling portion main body 61a. The position at which the engaging portion 65b1 and the engaged portion 65b2 (either one of the pair) abut is the physical origin position of the turning table 63 and the table driving device 63b. When the turning table 63 is positioned at the origin position, the current position (for example, current rotation angle) of the servomotor 63b1 (table driving device 63b) at that time can be set as the origin position of the servomotor 63b1.

The third movement restricting portion 65 c restricts movement of the first arm drive shaft 72 . The third movement restricting portion 65c is for positioning the first arm driving device 71b (that is, the servomotor 71b1) at the origin position. As shown in FIG. 6, the third movement restricting portion 65c is composed of an engaging portion 65c1 and an engaged portion 65c2 that contact each other. The engaging portion 65c1 is provided at the base of the first arm 71. As shown in FIG. The engaged portion 65c2 is provided on the upper portion of the support member 63c. The position at which the engaging portion 65c1 and the engaged portion 65c2 are in contact is the physical origin position of the first arm 71 and the first arm driving device 71b. When the first arm 71 is positioned at the origin position, the current position (for example, current rotation angle) of the servomotor 71b1 (first arm driving device 71b) at that time can be set as the origin position of the servomotor 71b1.

The fourth movement restricting portion 65 d restricts movement of the second arm drive shaft 74 . The fourth movement restricting portion 65d is for positioning the second arm driving device 73b (that is, the servomotor 73b1) at the origin position. As shown in FIG. 8, the fourth movement restricting portion 65d is composed of an engaging portion 65d1 and an engaged portion 65d2 that contact each other. The engaging portion 65d1 is provided at the base of the second arm 73. As shown in FIG. The engaged portion 65 d 2 is provided at the tip of the first arm 71 . The position at which the engaging portion 65d1 and the engaged portion 65d2 abut is the physical origin position of the second arm 73 and thus the second arm driving device 73b (see FIG. 5). When the second arm 73 is positioned at the origin position, the current position (for example, current rotation angle) of the servomotor 73b1 (second arm driving device 73b) at that time can be set as the origin position of the servomotor 73b1.

The fifth movement restricting portion 65e restricts movement of the gripping portion drive shaft 76. As shown in FIG. The fifth movement restricting portion 65e is for positioning the grip portion driving device 75b (that is, the servomotor 75b1) at the origin position. As shown in FIG. 9, the fifth movement restricting portion 65e is composed of an engaging portion 65e1 and an engaged portion 65e2 that are in contact with each other. The engaging portion 65e1 is provided on one side surface portion of the grip portion main body 75a. The engaged portion 65e2 is provided on a jig 65e3 (origin adjustment jig) that is detachably attached to the tip of the second arm 73 . The jig 65e3 is attached to the second arm 73 when setting the origin position, and is not attached during normal operation. The position at which the engaging portion 65e1 and the engaged portion 65e2 abut is the physical origin position of the gripping portion main body 75a and the gripping portion driving device 75b. When the gripper main body 75a is positioned at the origin position, the current position (for example, current rotation angle) of the servomotor 75b1 (gripper driving device 75b) at that time can be set as the origin position of the servomotor 75b1.

(input device, display device, etc.)
The processing system 10 also has an input device 11 , a display device 12 and a storage device 13 . The input device 11 is provided on the front surface of the work machine module 30 as shown in FIG. The display device 12, as shown in FIG. 1, is provided on the front surface of the work machine module 30, and is used to display information of the machining system 10, such as operating conditions, to the operator. The storage device 13 stores the updated origin positions of the A-axis 72, B-axis 74, C-axis 76, D-axis 63a and X-axis 61c.

(robot controller)
The control device 80 drives each of the driving devices 61b, 63b, 71b, 73b, and 75b in each of the driving devices 61b, 63b, 71b, 73b, and 75b to bring the movement restricting portions 65a to 65e into contact with each other. , origin setting processing (origin establishment operation), which is processing for setting the origin positions of the driving devices 61b, 63b, 71b, 73b, and 75b. A dedicated device may be provided for the control device 80 , but the module control devices 47 and 57 of the work machine module 30 may also be used (substitute).

As shown in FIG. 10, the control device 80 includes an input device 11, a display device 12, a storage device 13, servo motors 61b1, 63b1, 71b1, 73b1, 75b1, current sensors 61b4, 63b2, 71b2, 73b2, 75b3, and each position sensor 61b5, 63b3, 71b3, 73b3, 75b4.

The control device 80 has a microcomputer (not shown), and the microcomputer has an input/output interface, a CPU, a RAM and a ROM (all not shown) connected via a bus. The CPU executes various programs to acquire the detection results of the current sensors 61b4, 63b2, 71b2, 73b2, 75b3 and the position sensors 61b5, 63b3, 71b3, 73b3, 75b4 and the input results of the input device 11, It controls the display device 12 and the servo motors 61b1, 63b1, 71b1, 73b1, and 75b1. The RAM temporarily stores variables necessary for executing the program, and the ROM stores the program.

(Origin establishment operation)
Further, the origin establishment operation of each driving device by the control device 80 described above will be described with reference to the flow chart shown in FIG.

The controller 80 implements the flowchart shown in FIG. In step S102, control device 80 determines whether or not the origin establishment operation is started. Specifically, the control device 80 starts the origin establishment operation when, for example, an operator presses a start switch (not shown) for starting the origin establishment operation, that is, when there is an instruction to start the origin establishment operation. and judge. The controller 80 needs to set the origin of the robot 60 when the above-described robot 60 stops due to an abnormal condition such as a power failure, or when the processing system 10 is newly installed.

Control device 80 repeats the process of step S102 when the operator does not issue an instruction to start the origin establishment operation ("NO" in step S102). When the operator issues an instruction to start the origin establishment operation ("YES" in step S102), the control device 80 displays the pre-start posture of the robot 60 on the display device 12 (step S104).

The pre-start posture is the posture of the robot 60 before starting the origin establishment operation. This pre-start posture is a predetermined posture. For example, as shown in FIG. 12, the pre-start posture is preferably a posture of the arm portion 64 in which the arm portion 64 is within the range of the outline of the swivel table 63 . That is, it is a posture in which the arm portion 64 is accommodated within the width range of the swivel table 63 when viewed from the side. Specifically, it is preferable that the A axis is in the range from -10 degrees to 10 degrees (predetermined range), and the B axis is in the range from 10 degrees to 0 degrees (predetermined range). In particular, it is preferable that the A axis is −10 degrees (predetermined angle) and the B axis is 10 degrees (predetermined angle).

The operator operates the input device 11 so that the posture of the robot 60 becomes the pre-start posture while referring to the pre-start posture displayed on the display device 12 . For example, the operator sets the second arm 73 in the pre-start posture (that is, the B-axis The input device 11 is operated so as to assume an attitude equivalent to 10 degrees in the coordinate system. At this time, the position (angle; angle of the C-axis) of the gripping portion 75, that is, the gripping portion drive shaft 76, does not need to be determined in particular. Further, the position (distance; X-axis value) of the traveling portion 61, that is, the traveling drive shaft 61c, and the position (angle; D-axis angle) of the turning table 63, that is, the table drive shaft 63a do not need to be determined.

In step S106, the control device 80 determines whether the operator has performed an input operation to the input device 11 or not. If the operator does not perform an input operation to the input device 11 ("NO" in step S106), the control device 80 repeats the process of step S106. When the operator performs an input operation on the input device 11 ("YES" in step S106), the controller 80 changes the posture of the robot 60 according to the input operation (step S108). As a result, the robot 60 transitions to the pre-start posture.

In the subsequent processing, the control device 80 sequentially sets the axes on which the origin establishment operation should be performed, starting from the axes for which the origin establishment operation for establishing the origin during the operation of each driving device has been completed among the plurality of axes. sets the origin of all axes. Specifically, the control device 80 performs the origin establishment operation for the X-axis 61c, the D-axis 63a, the A-axis 72, the B-axis 74 and the C-axis 76 in this order.

(Establish X-axis origin)
The controller 80 establishes the origin of the X-axis in step S110. That is, the control device 80 performs processing along the subroutine (X-axis origin establishment routine) shown in FIG. Specifically, in step S202, the control device 80 drives the travel drive device 61b (X-axis drive device; servomotor 61b1) to move the travel drive shaft 61c (travel portion main body 61a) to the start position. The starting position may be any position that is at least a predetermined distance from the origin of the X-axis in the orthogonal coordinate system. This is for the following reasons. If the starting position is too close to the origin of the X-axis, the change in the torque of the traveling drive device 61b (servo motor 61b1) may differ from that in the case where the starting position is at a predetermined distance or more. This is because there is a risk that the reproducibility of the

In practice, the control device 80 reciprocates the traveling portion main body 61a in the direction of the origin of the X-axis by a predetermined distance. During this time, when measuring an increase in the torque of the servo motor 61b1 (the current value detected by the current sensor 63b2) due to the contact between the engaging portion 65a1 and the engaged portion 65a2, the control device 80 controls the traveling portion main body. The movement of 61a is stopped, and it is moved in the direction opposite to the direction of the origin by a predetermined distance from that position.

In step S204, the control device 80 drives the travel drive device 61b to move the travel portion main body 61a positioned at the start position toward the origin of the X axis. Then, in step S206, the control device 80 determines whether or not the torque of the traveling drive device 61b (servo motor 61b1) is greater than the determination value. Specifically, the control device 80 acquires the detected current value from the current sensor 63b2, and calculates the torque of the traveling drive device 61b (servo motor 61b1) from the detected current value. The determination value is set based on the torque generated when the engaging portion 65a1 and the engaged portion 65a2 come into contact with each other.

If the calculated torque is equal to or less than the determination value ("NO" in step S206), control device 80 repeats the determination in step S206. When the calculated torque becomes larger than the determination value ("YES" in step S206), the control device 80 stores (updates) the X-axis position (current position) at that point in the storage device 13 as the X-axis origin. ) (step S208). That is, in step S208, when the traveling portion main body 61a (traveling portion 61) is positioned at the physical origin position, the control device 80 controls the current position (position sensor The position (current rotation angle) detected by 61b5 can be set as the origin position of the servo motor 61b1. After that, the controller 80 returns the program to the flow chart shown in FIG.

(D-axis origin establishment)
The controller 80 establishes the origin of the D-axis in step S112. That is, the control device 80 performs processing according to a subroutine (D-axis origin establishment routine) shown in FIG. Specifically, in step S302, the control device 80 drives the travel drive device 61b (X-axis drive device; servomotor 61b1) to move the travel drive shaft 61c (travel portion main body 61a) to the start position. The start position is a position a predetermined distance (for example, 30 cm) away from the origin of the X-axis in the orthogonal coordinate system. It is preferable to set the predetermined distance to a value that does not interfere the arm portion 64 with the work implement module 30 (for example, the inner wall surfaces of the traveling chambers 46 and 56) when the origin of the arm portion 64 is established.
At this time, it is not necessary to set the starting position of the D axis to a particular value. It is preferable that the starting position of the D-axis is separated from the origin of the D-axis by a predetermined distance or more, like the starting position of establishing the X-axis origin.

In step S304, the control device 80 drives the table driving device 63b (D-axis driving device) to move the turning table 63 of the travel unit main body 61a located at the starting position of the X-axis toward the origin of the D-axis ( rotate). Then, in step S306, the control device 80 determines whether or not the torque of the table driving device 63b (servo motor 63b1) is greater than the determination value based on the detected current value acquired from the current sensor 63b2, similarly to step S206. do.

If the calculated torque is equal to or less than the determination value ("NO" in step S306), control device 80 repeats the determination in step S306. When the calculated torque becomes larger than the determination value ("YES" in step S306), the control device 80 stores (updates) the D-axis position (current position) at that point in the storage device 13 as the origin of the D-axis. ) (step S308). That is, in step S308, when the turning table 63 is positioned at the physical origin position, the control device 80 controls the current position of the servo motor 63b1 (table driving device 63b) at that time (the position detected by the position sensor 63b3 ( The current rotation angle)) can be set to the origin position of the servomotor 63b1. After that, the controller 80 returns the program to the flow chart shown in FIG.

(A-axis origin establishment)
The control device 80 establishes the origin of the A-axis in step S114. That is, the control device 80 performs processing according to a subroutine (A-axis origin establishment routine) shown in FIG. Specifically, in step S402, the control device 80 drives the table driving device 63b (D-axis driving device; servo motor 63b1) to move (rotate) the table driving shaft 63a (turning table 63) to the start position. Let The start position is a position separated by a predetermined angle (for example, 90 degrees) from the origin of the axis coordinate system of the D axis. When the predetermined angle is 90 degrees, the arm portion 64 faces in a direction parallel to the running direction of the running portion main body 61a. The predetermined angle is preferably set to a value that does not interfere the arm portion 64 with the work implement module 30 (for example, the inner wall surfaces of the travel chambers 46 and 56) when the origin of the arm portion 64 is established.
At this time, the starting position of the A-axis is set to the position of the first arm 71 (−10 degrees in the orthogonal coordinate system), which is the pre-start posture previously set in step S108.

In step S404, the control device 80 drives the first arm driving device 71b (A-axis driving device) to turn the first arm 71 of the turning table 63 located at the starting position of the D-axis toward the origin of the A-axis. Move (rotate). Then, in step S406, the control device 80 determines whether the torque of the first arm driving device 71b (servo motor 71b1) is greater than the determination value based on the detected current value acquired from the current sensor 71b2, as in step S206. judge.

If the calculated torque is equal to or less than the determination value ("NO" in step S406), control device 80 repeats the determination in step S406. When the calculated torque becomes larger than the determination value ("YES" in step S406), the control device 80 stores (updates) the position of the A-axis at that time (current position) in the storage device 13 as the origin of the A-axis. ) (step S408). That is, in step S408, when the first arm 71 is positioned at the physical origin position, the controller 80 controls the current position of the servo motor 71b1 (first arm driving device 71b) at that time (detected by the position sensor 71b3). position (current rotation angle)) can be set as the origin position of the servo motor 71b1. After that, the controller 80 returns the program to the flow chart shown in FIG.

(Operation before establishment of B-axis home position)
In step S116, the control device 80 drives the first arm driving device 71b, which has already completed the establishment of the origin, to move the first arm 71 before establishing the origin of the B-axis (the operation of establishing the origin of the second arm). The posture is shifted to the posture before the second arm starts (posture before the B-axis starts).

As shown in FIG. 16, in the posture before the start of the second arm, the A-axis is tilted forward by 30 degrees and the B-axis maintains the same angle with respect to the first arm 71 as compared with the posture before the start shown in FIG. Posture. That is, it is an attitude in which the A axis corresponds to 20 degrees in the orthogonal coordinate system. The posture before the start of the second arm means that the movement of the second arm driving shaft 74 is restricted by the fourth movement restricting portion 65d (see FIG. 8) (the engaged portion 65d1 and the engaged portion 65d1) when the second arm origin establishment operation is performed. 65d2), the first arm 71 does not come into contact with the reversing device 66, which is an installation member in which the second arm 73 is installed on the turning table 63. FIG.
It should be noted that the posture before the start of the second arm can be automatically changed by the control device 80 . In addition, the posture before starting the second arm can be changed by the control device 80 according to the operator's operation input to the input device 11 .

(B-axis origin established)
The controller 80 establishes the origin of the B-axis in step S118. That is, the control device 80 performs processing according to the subroutine (B-axis origin establishment routine) shown in FIG. In step S502, the control device 80 drives the second arm driving device 73b (B-axis driving device) to move (rotate) the second arm 73 positioned in the posture before starting the second arm toward the origin of the B-axis. (clockwise in FIG. 16)). Then, in step S504, similarly to step S206, the control device 80 determines whether the torque of the second arm driving device 73b (servo motor 73b1) is greater than the determination value based on the detected current value acquired from the current sensor 73b2. judge.

If the calculated torque is equal to or less than the determination value ("NO" in step S504), control device 80 repeats the determination in step S504. When the calculated torque becomes larger than the determination value ("YES" in step S504), the control device 80 stores (updates) the B-axis position (current position) at that point in the storage device 13 as the origin of the B-axis. ) (step S506). That is, in step S506, when the second arm 73 is positioned at the physical origin position, the controller 80 controls the current position of the servo motor 73b1 (second arm driving device 73b) at that time (detected by the position sensor 73b3). position (current rotation angle)) can be set as the origin position of the servo motor 73b1. After that, the controller 80 returns the program to the flow chart shown in FIG.

(Operation before establishing the C-axis home position)
In step S120, the control device 80 drives the first arm drive device 71b and the second arm drive device 73b, which have already completed the establishment of the origin, before establishing the origin of the C axis (holding unit origin establishment operation). , the arm portion 64 is shifted to the pre-gripping portion start posture (C-axis pre-start posture).

As shown in FIG. 4, the posture before starting the grasping portion is such that the A axis rotates backward (counterclockwise) by 30 degrees with respect to the posture before starting (see FIG. 16), and the B axis rotates with respect to the first arm 71. 100 degrees forward (counterclockwise). In other words, the A-axis is the posture corresponding to −10 degrees in the orthogonal coordinate system. The posture before starting the gripping portion is defined by the movement restriction of the gripping portion driving shaft 76 (the engaging portion 65e1 and the engaged portion 65e2) by the fifth movement restricting portion 65e (see FIG. 9) when the gripping portion origin establishment operation is performed. The posture of the arm portion 64 in which the gripping portion 75 and the workpiece W gripped by the gripping portion 75 do not interfere with the working machine module 30 (for example, the first arm 71 and the inner wall surfaces of the traveling chambers 46 and 56) before the contact of the arm portion 64 is.

It should be noted that the pre-gripping portion start posture can be automatically changed by the control device 80 . Further, it is also possible for the control device 80 to shift the pre-gripping part start posture in accordance with the operator's operation input to the input device 11 .

Furthermore, in step S122, the control device 80 determines whether or not the attachment of the jig 65e3 to the second arm 73 has been completed. For example, the control device 80 determines the completion of jig installation when the operator inputs an operation to complete the installation of the jig after the installation of the jig 65e3. In addition, the control device 80 automatically determines completion of jig attachment based on an output signal from a sensor that is provided on the second arm 73 and detects whether or not the jig 65e3 is attached to the second arm 73. be able to.

If the attachment of the jig 65e3 to the second arm 73 has not been completed ("NO" in step S122), the control device 80 repeats the determination in step S122. When the attachment of the jig 65e3 to the second arm 73 is completed ("YES" in step S122), the control device 80 establishes the origin of the C-axis (step S124).

(C-axis origin establishment)
That is, the control device 80 performs processing along the subroutine (C-axis origin establishment routine) shown in FIG. In step S602, the control device 80 drives the gripping portion driving device 75b (C-axis driving device) to move the gripping portion 75 to the C position while the arm portion 64 is positioned in the posture before gripping portion start shown in FIG. Move (rotate) toward the origin of the axis. Then, in step S604, the control device 80 determines whether or not the torque of the gripping portion driving device 75b (servo motor 75b1) is greater than the determination value based on the detected current value acquired from the current sensor 75b3, as in step S206. judge.

If the calculated torque is equal to or less than the determination value ("NO" in step S604), control device 80 repeats the determination in step S604. If the calculated torque becomes greater than the determination value ("YES" in step S604), control device 80 stores (updates) the position of the C-axis at that time (current position) in storage device 13 as the origin of the C-axis. ) (step S606). That is, in step S606, when the gripping portion 75 is positioned at the physical origin position, the control device 80 controls the current position of the servo motor 75b1 (gripping portion driving device 75b) at that time (the position detected by the position sensor 75b4). (current rotation angle)) can be set as the origin position of the servo motor 75b1. After that, the controller 80 returns the program to the flow chart shown in FIG. Then, the control device 80 ends the processing of the flowchart shown in FIG.

The robot 60 (articulated robot) according to the above-described embodiment includes a plurality of shafts 61c, 63a, 72, 74, 76, and a plurality of driving devices 61b, 61b, 61b, 61b, 61b, 61b, 61b, 61c, 61b, 61b, 61b, 61b, 61b, 61b, 61c, 61b, 61b, 61b, 61b, 61b, 61b, 61b, 61c 63b, 71b, 73b, and 75b, and each drive device 61b, 63b, 71b, 73b, and 75b among the plurality of axes 61c, 63a, 72, 74, and 76 have completed the origin establishment operation for establishing the origin during operation. a control device 80 for setting the origins of all of the plurality of axes 61c, 63a, 72, 74, 76 by sequentially setting the axes on which the origin establishment operation should be performed, starting from the axis where the first axis is located. That is, in the above-described embodiment, the axes on which the origin establishment operation should be performed are set in the order of the D-axis 63a, A-axis 72, B-axis 74, and C-axis 76, starting from the X-axis 61c on which the stochastic origin operation has been completed. The origins of all of the multiple axes 61c, 63a, 72, 74, 76 can be adjusted.
According to this, the order of the axes to be origin-adjusted (origin establishment) can be automatically set, and the origin adjustment of all the axes 61c, 63a, 72, 74, and 76 can be automatically performed. Therefore, the robot 60 can adjust the origin of the axis with high reproducibility.

In addition, the control device 80 controls the driving devices 61b, 63b, 71b, 73b, and 75b in accordance with the operator's instructions to drive the axes 61c, 63a, 72, 74, and 76, respectively, so that the robot 60 can move. The posture is transformed to the pre-start posture before starting the origin establishment operation (steps S108, 116, 120), and then the origin establishment operation is performed (steps S110, 112, 114, 118, 124).
According to this, by setting the attitude of the robot 60 to the pre-start attitude, it is possible to reliably prevent the occurrence of interference of the robot 60 during the execution of the subsequent origin establishment operation. Therefore, the robot 60 can adjust the origin of the axis with higher reproducibility.

Further, the control device 80 drives the axis connected to the axis on which the origin establishment operation is to be performed and for which the origin establishment operation has already been completed to a predetermined preparatory position (steps S202, 302, 402, and 116). , 120), and the origin establishment operation is performed for the axis for which the origin establishment operation should be performed (steps S208, 308, 408, 120, 124). The predetermined preparation positions are the X-axis start position in step S302, the D-axis start position in step S402, the pre-start posture, the pre-start posture of the second arm, and the pre-start posture of the gripping unit. For example, in the D-axis origin establishment operation, the axis on which the origin establishment operation should be executed (execution axis) is the D-axis 63a, and the axis on which the origin establishment operation has already been completed (completed axis) is the X-axis 61c. In the A-axis origin establishment operation, the A-axis 72 is the implementation axis, and the D-axis 63a is the completion axis.
According to this, when all the axes 61c, 63a, 72, 74, and 76 are arranged in series as in the above-described embodiment, the origin establishment operation can be performed in order from the end axis of the robot 60. Thus, the operator can complete origin establishment operations for all axes by one operation (for example, turning on the start operation switch). In this way, by suppressing the operator's operation as much as possible, that is, by reducing the operator's labor, the origin adjustment of the axis of the robot 60 can be easily performed.

Further, the robot 60 includes a plurality of movement restricting sections 65a to 65e that respectively restrict movement of the axes 61c, 63a, 72, 74, and 76, and the control device 80 controls the movement of the axes 61c and 63a by the movement restricting sections 65a to 65e. , 72, 74, and 76, the torque of the driving devices 61b, 63b, 71b, 73b, and 75b is used to establish the origin (steps S206, 306, 406, 504, and 604). .
According to this, it is possible to automatically adjust the origin of each axis. Therefore, the robot 60 can adjust the origin of the axis with higher reproducibility.

In the above-described embodiment, the robot 60 includes a turning table 63 (table) rotated by a table driving shaft 63a driven by a table driving device 63b, and a plurality of shafts 72 and 74 provided on the turning table 63. , and an arm portion 64 having . Furthermore, the pre-start posture is a posture of the arm portion 64 in which the arm portion 64 is within the contour range of the swivel table 63 .
According to this, the origin of the axis (for example, the table driving shaft 63a) related to the turning table 63 can be adjusted while the arm portion 64 is accommodated in the space within the contour of the turning table 63. FIG. Therefore, it is possible to more reliably prevent the occurrence of interference of the robot 60 when adjusting the origin of the axis with respect to the turning table 63 .

In the above-described embodiment, the robot 60 includes a turning table 63 that is rotationally driven by a table driving shaft 63a that is driven by a table driving device 63b, and a plurality of shafts that are provided on the turning table 63 and connected in series. an arm portion 64 having 72, 74, 76; Further, the control device 80 performs the origin establishment operation sequentially from the axis on the turning table 63 side among the plurality of axes 72, 74, 76 (steps S114, 118, 124).
According to this, by performing the origin establishment operation in order from the axis on the turning table 63 side, the occurrence of interference of the robot 60 can be reliably prevented when the origin of the axis of the arm section 64 is adjusted. .

In the above-described embodiment, the order of the axes on which the origin establishment operation is performed is set in the order of the X-axis, D-axis, A-axis, B-axis and C-axis. You may make it implement the X-axis and the D-axis after implementing. In this case, the robot may be moved to the pre-start posture of step S104 before executing the origin establishment operation of the A-axis.

Further, in the above-described embodiment, the control device 80 may determine whether or not the pre-start posture (step S104) is set based on the imaging result of the imaging device. The imaging device is, for example, a CCD camera arranged above the swivel table 63, and if the arm part 64 is within the range of the swivel table 63, it can be determined that it is in the pre-start posture. This determination may be performed between steps S108 and S110 described above. It is possible to support the operation of the operator. A three-dimensional laser scanner may be used instead of the imaging device.

Also, if the imaging device is used, the control device 80 can automatically drive the robot 60 to the pre-start posture, instead of the processing of steps S104 to S108 described above. According to this, the origin adjustment of the axis can be performed with high reproducibility while improving workability.

60... Robot (articulated robot), 61c, 63a, 72, 74, 76... Axes, 61b, 63b, 71b, 73b, 75b... Drive device, 80... Control device, 63... Rotating table (table), 64... Arm part, 65a-65e... Movement control part.

Claims (7)

multiple axes;
a plurality of driving devices that respectively drive the plurality of shafts;
a control device that performs an origin establishment operation for establishing origins of the plurality of axes;
A multi-joint robot comprising
The control device displays a pre-start posture, which is a posture of the articulated robot before starting the origin establishment operation, on a display device after an operator issues an instruction to start the origin establishment operation,
thereafter, transforming the posture of the multi-joint robot by driving and controlling each of the driving devices in accordance with the operator's input to the input device for transforming the posture of the multi-joint robot to the pre-start posture ;
After that, the articulated robot performs the origin establishment operation. multiple axes;
a plurality of driving devices that respectively drive the plurality of shafts;
A multi-joint robot comprising
displaying on a display device a pre-start posture, which is a posture of the articulated robot before starting an origin establishment operation for establishing the origins of the plurality of axes;
After that, according to an operator's instruction for transforming the posture of the multi-joint robot to the pre-start posture, each of the driving devices is driven and controlled to drive each of the axes, thereby changing the posture of the multi-joint robot. deformed,
A multi-joint robot having a control device that thereafter performs the origin establishment operation. The articulated robot comprises a table that is rotationally driven by a table driving shaft driven by a table driving device, and an arm that is provided on the table and has a plurality of shafts connected in series,
3. The pre-start posture includes an arm pre-start posture, which is a posture of the arm before starting an origin establishing operation for establishing the origin of the plurality of axes of the arm. The articulated robot according to claim 1 or claim 2. The articulated robot further comprises a gripping portion provided on the arm portion and a gripping portion drive shaft for driving the gripping portion,
The control device transforms the posture of the multi-joint robot to a pre-gripping portion start posture after the posture of the multi-joint robot is transformed and before performing an origin establishment operation of the grip portion drive shaft. The articulated robot according to claim 3, characterized by: The articulated robot comprises a table that is rotationally driven by a table driving shaft driven by a table driving device, and an arm that is provided on the table and has a plurality of shafts connected in series,
The control device displays the pre-start posture on the display device immediately before performing an arm portion origin establishment operation for establishing the origins of the plurality of axes of the arm portion,
After that, by driving and controlling the driving devices according to the operator's instruction, the respective axes are driven to deform the posture of the multi-joint robot,
3. The articulated robot according to claim 2, wherein thereafter, the arm unit origin establishment operation is performed. After deforming the posture of the articulated robot and before performing the origin establishment operation, the control device:
3. The multi-joint robot according to claim 1, wherein whether or not the posture of the multi-joint robot is the pre-start posture is determined based on an imaging result of an imaging device. multiple axes;
a plurality of driving devices that respectively drive the plurality of shafts;
a control device that performs an origin establishment operation for establishing origins of the plurality of axes;
A multi-joint robot comprising
After the operator gives an instruction to start the origin establishment operation, the control device
imaging the posture of the articulated robot with an imaging device;
After that, the posture of the articulated robot is changed to the pre-start posture, which is the posture of the articulated robot before starting the origin establishment operation, by driving and controlling the driving devices based on the imaging result of the imaging device. deformed,
After that, the articulated robot performs the origin establishment operation.

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