JPH01205303A - Robot origin finding device - Google Patents

Abstract

PURPOSE:To improve work efficiency without damaging other members by finding out an origin of robot in a state that a robot and a controller are not connected. CONSTITUTION:The number of pulses N set in an operation part 32 is displayed in a display part 2. When a button 31 is depressed, an origin-finding device 1 drives a motor 211 through a wire 72, a connector 62 and a wire 52 inputs the output of an encoder 221 through a wire 51, a connector 61 and a wire 71 and counts the number M of pulse A. When the number M coincides with the number N, the motor 211 is stopped, the connection of a base 28 and the shaft 29 of an arm 231 is relieved, the arm 231 is rotated, a sensor 261 is confronted with a sensor dock 262 an origin display device 23 is lighted and the shaft 29 is fixed to the base 28. A similar operation is executed with respect to motors 212 and 213. Consequently the robot 20 can find out the origin in the previous state that the robot 20 and the controller 10 are completely connected.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for initially setting an arm, etc. of a robot to a robot origin, which is a reference position of the arm, when operating the arm, etc. of the robot.

[Conventional technology]

Fig. 2 is an explanatory diagram showing a robot controller that is a conventional example of this type of device and a robot controlled by the robot controller, and Fig. 3 shows an example of adjusting the robot origin of the robot 20 in Fig. 2. , Figure 4 shows encoder 2
21 is a waveform diagram showing initial settings of No. 21. FIG.

Robot controller 10 controls robot 20 via wire 251. The wire 251 is connected to a sensor 261,
Joint box 27, drive motor 211°212.213 and encoder 2 via wires 252.253
2t, 222.

223. The drive motor 211 drives the first arm 231 with the base 28 as a reference, and the encoder 221 outputs an encoder output as the drive motor 211 rotates. The drive motor 212 drives the second arm 232 based on the first arm 231, and the encoder 222 outputs an encoder output as the drive motor 212 rotates. The drive motor 213 drives the third arm 233 based on the second arm 232, and the encoder 233 outputs an encoder output as the drive motor 213 rotates. The sensor 261 fixed to the base is connected to the sensor dock 262 fixed to the first arm 231.
When facing the first arm 231, the first arm 231 outputs a robot origin signal indicating that the first arm 231 is at the robot origin position, which is the reference position for rotational movement. Sensor 261 and sensor dock 2
62 which pair (not shown) is arranged correspondingly to the drive motors 212 and 213, respectively, and is connected to the second arm 23.
2. It is used to set the robot origin position of the third arm 233.

Next, Fig. 3 and 4 show the operation of finding the origin according to the conventional example.
This will be explained with reference to the figures.

The operation for finding the origin is performed by each drive motor 21+, 212.21.
3 is the same, so as an example, drive motor 211
Let's talk about. After the robot 20 is completely assembled and connected to the robot controller 10 as shown in FIG. 2, the robot controller 10 rotates the drive motor 211 and rotates the first arm 231 until the sensor 261 and sensor dock 262 face each other. let When the sensor 261 and the sensor dock 262 face each other and detect the robot origin signal of the sensor 261, this is set as the robot origin for the first arm 231, and the drive motor 211 is further rotated.
The origin pulse of the encoder 221 is detected. Check the number N of A pulses output from the encoder 221 (or movement distance 11tD = number of A pulses x unit distance d) from the time when the robot origin is detected until the origin of the encoder 221 is detected. There is no problem if the confirmed number N of A pulses is within the range of the designated number of pulses, but if it exceeds the range of the designated number of pulses, readjustment is required. first arm 2
In order to free the shaft 29, which is the rotation axis of the shaft 31, from the base 28, a screw (not shown) connecting the base 28 and the shaft 29 is loosened using a wrench 30.

After loosening the screws, the mechanical positions of the first arm 231 and the base 28 are shifted, the shaft 29 is set on the base 28 again in the direction of the arrow, and the screws are fixed with the wrench 30. The above-mentioned operation is then repeated until the number N of A pulses falls within the range of the designated number of pulses.

[Problem to be solved by the invention]

In the conventional device described above, the robot controller 10 is used to find the origin after the robot 20 is completely assembled. 252.253
The wires 251, 252 may become a hindrance to the work and reduce work efficiency.

253 and other parts, resulting in unnecessary costs such as replacement of parts.

[Means to solve the problem]

The robot origin finding device of the present invention includes a drive motor, an encoder, and a first. a connection means for activating the second sensor member and inputting an encoder output and a robot origin signal, and a setting value for holding a preset setting value such that the encoder rotates by a predetermined rotation angle from the encoder origin; The drive motor and the encoder are operated through the holding means and the connection means, and when it is detected from the encoder output that the rotation angle of the encoder has reached a set value held by the set value holding means, the drive motor is activated. a motor driving means for stopping the first. The second sensor member is activated, and the activated first sensor member is activated. When the robot origin signal is input from the second sensor member, the first sensor member inputs the robot origin signal. and robot origin detection means for detecting that the second member has reached the robot origin position.

[Effect]

Therefore, in a state where the robot and the robot controller are not wired, the drive motor of the robot, the encoder connected to the drive motor, and the first . Since the second sensor member can be accessed via the connecting means and the second member can be set as the robot origin relative to the first member, it is not interfered with by the wiring between the robot and the robot controller, and is not interfered with by the wiring or other parts. You can easily find the origin without damaging the

(Example) Next, an example of the present invention will be described with reference to the drawings.

FIG. 1 is an explanatory diagram showing a robot origin finding device of the present invention and a robot subjected to origin finding operation using the robot origin finding device.

Drive motor 211 for the robot 20. encoder 221
．． Wires 51, 52, 53 connected to the sensor 261 are connected to connectors 61, 62, 63 and wires 71, 72, respectively.
．． It is connected to the robot origin finding device 1 via 73. The robot origin finding device 1 includes a setting value display section 21. A
Pulse currant display section 22, start button 31. Robot origin display product 23. It has an operation section 32.

Next, the operation of the robot origin finding device 1 will be explained.

By operating the operation unit 32, the number of pulses to be counted -N
is set, and the set number of pulses N b is displayed on the set value display section 21 . When the start button 31 is pressed, the robot origin finding device 1 connects the wire 72, connector 62 . The drive motor 211 is rotated via the wire 52, and the output of the encoder 221 is transferred to the wire 51. Connector 61. Input via wire 71 and output from encoder 221 A
Count the number of pulses M. Number of A pulses counted M
is displayed on the A pulse currant display section 22, and
When the number M of A pulses matches the number N of pulses, the drive motor 211 is stopped. When the drive motor 211 stops, the two shafts serving as rotation axes of the base 28 and the first arm 231 are loosened, and the first arm 231 is rotated so that the sensor 261 and the sensor dock 262 face each other.

When the sensor 261 and the sensor dock 262 face each other, the origin indicator 23 lights up, so the shaft 29 is fixed to the base 28 at that position, and the origin finding for the drive motor 211 is completed. For the drive motors 212 and 213, if the robot origin finding device 1 is connected in sequence and the same operation as for the drive motor 211 is performed, the origin can be found for all the drive motors 211, 212, and 213.

In other words, the origin of the robot 20 can be determined in an unfinished state before the robot 20 and the robot controller 10 are completely connected.

〔Effect of the invention〕

As explained above, the present invention allows the robot to be driven by a driving motor, an encoder connected to the driving motor, and a first . The second sensor member can be accessed through the connecting means, and the second member can be set as the robot origin relative to the first member, and the origin can be found without being interfered with by the connection wire, improving work efficiency. This has the effect of reducing costs by not damaging wires or other components.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing the robot origin finding 5A position of the present invention and the robot subjected to the origin finding operation thereby.
The figure is an explanatory diagram showing a robot controller that is a conventional example of this type of device and a robot controlled by the robot controller. FIG. 4 is a waveform diagram showing initial settings of the encoder. DESCRIPTION OF SYMBOLS 1...Robot origin finding device, 21...Setting value display section, 22...A pulse count display section, 23...Robot origin display, 31...Start button, 32...Operation section , 5+ , 52, 53.71.72.73... wire,
6+, 62.63... Connector, 20... Robot, 21+, 212.213... Drive motor, 221
．． 222.223...Encoder, 231...First
arm, 232...second arm, 24...claw, 261...sensor, 262...sensor dock, 28...base, 29...shaft.

Claims (1)

[Claims] 1. A drive motor that drives a second member assembled to the first member with the first member as a reference; an encoder connected to the drive motor; first and second sensor members respectively provided on the second member, and at least one of which outputs a robot origin signal indicating that the first and second members have reached the robot origin position when facing each other; A robot origin finding device for initializing a robot having: a connecting means for operating the drive motor, encoder, and first and second sensor members and inputting an encoder output and a robot origin signal; , a setting value holding means for holding a preset setting value such that the encoder rotates by a predetermined rotation angle from the origin of the encoder; and a setting value holding means for holding a setting value set in advance so that the encoder rotates by a predetermined rotation angle from the origin of the encoder; When it is detected that the rotation angle of the encoder has reached the set value held by the set value holding means, the motor driving means stops the driving motor, and the first and second sensor members are connected to each other via the connecting means. A robot origin detection means that detects that the first and second members are at the robot origin position when a robot origin signal is input from the activated first and second sensor members. Device.