JPH03104585A - Assembling robot and jig control system - Google Patents

Abstract

PURPOSE:To easily and effectively practice teaching by one operator by providing an instruction means for instructing the action of a jig and a display means for receiving and indicating the jig action recognition signal from a sequencer in a teaching device. CONSTITUTION:In the final positioning adjustment of a robot hand to a feed device of chair seats which are works or the feed position and assembling position of vehicle bodies which are other works, teaching work is conducted in the following procedure. An operator operates the input part 50 of a teaching device 14, designates a manual mode to make the operation mode of a sequencer 12 manual, and sets a motor in such a manner that step operation of sequence program can be conducted. In this case, the display part 46 of the teaching device 14 is provided on a robot hand, and the jig name and code used in the handling and assembling of the work are indicated thereon.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a control system for an assembly robot that can handle a predetermined workpiece with a robot hand and assemble it to another workpiece at a predetermined position. In this method, the teaching device of the assembly robot is provided with an instruction means for instructing the operation of the jig and a display means for receiving and displaying the jig operation confirmation signal from the sequencer, so that the teaching operation can be performed safely and easily. The present invention relates to an assembly robot and a jig control system.

[Prior Art] Conventionally, manufacturing systems using assembly robots, etc., in which a predetermined workpiece is handled by a robot hand and assembled to another workpiece at a predetermined position, have been widely adopted in various manufacturing factories. For example, such assembly robots are used in the automobile industry, where the robot hand holds a seat, which is a workpiece to be supplied to a predetermined location, and transports it to a predetermined position along a taught path. Various processes have been automated, such as the introduction of assembly robots that assemble other workpieces, such as car bodies, supplied by belt conveyors or the like, which have greatly contributed to improved productivity and labor savings.

Generally, as shown in FIG. 6, the assembly robot system as described above controls the holding and handling of the seat seat 60, which is a workpiece, and also controls the assembly work for assembling the seat seat 60 to the vehicle body 66. , an operation panel 13 including a sequencer that operates the jig for this purpose in a predetermined sequence, and a teaching device 14 that provides instructions for transporting the seat 60 gripped by the robot hand 62 to a predetermined assembly position. We are prepared.

The robot controller 20 is connected to the teaching device 1
4, the robot hand 62 holding the workpiece is moved to a predetermined position, and the sequencer is controlled.

The robot hand 62 has a large number of jigs such as actuators, solenoids, nut runners, etc. that are operated to hold the seat seat 60 and assemble it at a predetermined location on the vehicle body 66. A system program is manually written to operate each of these jigs in a predetermined order in order to assemble the jigs to the vehicle body 66.

According to this system program, each jig is replaced or operated as appropriate, and the seat 60 is handled and assembled at a predetermined location on the vehicle body 66. In this case, the operation of each of the jigs described above is detected by a sensor provided corresponding to each jig, and this detection signal is sent to the robot controller 20 via a sequencer, and control is performed while checking the operation. . Further, this detection signal is displayed on a display means provided on the simulation board l3, so that the operator can monitor the operating state of the robot.

Incidentally, the teaching work for such an assembly robot is roughly performed as follows. That is, when an operator performs teaching work alone, the operator first holds the teaching device l4 and uses the robot hand 62.
While moving the robot to the position where the seat 60, which is a workpiece, is supplied, the user manually inputs the moving route as a teaching point and sends it to the robot controller 20.

Next, the operator sets the sequencer to manual mode, operates each jig of the robot hand in a predetermined order while stepping the sequence program, and causes the robot hand 62 to pick up the workpiece, the seat 60.

Next, the operator holds the teaching device l4,
While moving the robot hand 62 to the position where the vehicle body 66 is to be transported, the robot hand 62 manually inputs the moving route as a teaching point and sends it to the robot controller 20.

Next, the operator steps the sequencer based on the sequence program and moves the robot hand 62.
Each jig is operated in a predetermined order to assemble the seat 60 at a predetermined location on the vehicle body 66.

In connection with the above-mentioned work, when the teaching work is performed by two operators, it is performed as follows.

That is, first, one operator A holds the teaching device 14 and while moving the robot hand 62,
Using the movement route as a teaching point, the seat 60
The robot hand 62 is positioned at the supply position. Next, another operator B sets the sequencer to manual mode and operates the jigs of the robot hand 62 in a predetermined order while performing step operations based on the sequence program, and moves the workpiece 60 to the robot hand 6.
Let 2 pick it up.

Next, operator A holds the teaching device 14,
While moving the robot hand 62 to the position where the vehicle body 66 is to be transported, the movement route is input as a teaching point, and operator B moves each jig of the robot hand 62 in a predetermined order while performing step operations based on the sequence program. to assemble the seat 60 at a predetermined location on the vehicle body 66.

[Problems to be Solved by the Invention] In general, the teaching device 14 is a portable type that is connected to the robot controller 20 by a cable so that it can move with the movement of the robot hand 62, and the sequencer is installed at a predetermined position on the side of the assembly line. It is set in place.

Therefore, in the above-mentioned teaching work performed by a single operator, the operator moves between the fixed position of the sequencer, the seat sheet supply position, and the conveyance position of the vehicle body.
It is necessary to input teaching data (teaching points) manually while adjusting the position by going back and forth many times, which is disadvantageous in that it takes time.

In the teaching work by the two operators mentioned above,
Operator B operates the operation panel l3 at the fixed position,
Operator A holds the teaching device l4, and while moving the robot hand 62, inputs teaching data (teaching points) while adjusting the seat supply position and the transport position of the vehicle body, which are the workpieces, so there is verbal communication between the two parties. This has the disadvantage that the work is complicated.

In addition, some jigs have large strokes, and when operator B operates the jig using the operation panel 13, if operator B proceeds with the work without checking the work position and work status of operator A, the robot hand 62 There was a risk that operator A might come into contact with operator A, posing a safety problem.

The present invention has been made in order to overcome the above-mentioned disadvantages, and includes a robot hand that handles a workpiece, transports it to a predetermined position, and assembles it to another workpiece, and a robot hand that handles a workpiece, transports it to a predetermined position, and assembles it to another workpiece, and provides a robot hand that handles a workpiece, transports it to a predetermined position, and assembles it to another workpiece, and a In an assembly robot control system that includes a sequencer that controls the movement of jigs in a predetermined sequence and a teaching device that teaches a path for moving a mouth pot hand to a predetermined position, By configuring the device so that it can instruct the operation of the tool and also receive and display the jig operation confirmation signal from the sequencer, the teaching operation by the teaching device is facilitated.
The object of the present invention is to provide an assembly robot and jig control system that can perform assembly safely.

[Means for Solving the Problems] In order to solve the above-mentioned problems, the present invention provides a robot hand that handles a work, transports it to a predetermined position, and assembles it to another work, a handling control for the work, and A system comprising: a sequencer that controls the operation of each jig provided on the robot hand in a predetermined sequence during assembly; and a teaching device that teaches the movement path for moving the robot hand to a predetermined position. , the teaching device is provided with: an operation instruction section that instructs the operation of each of the jigs for the handling and assembly; and a display section that receives and displays a jig operation confirmation signal from the sequencer. Accordingly, the present invention is characterized in that the sequencer can be manually operated to teach a movement path for moving the robot hand to a predetermined position.

[Operation] Since the assembly robot and jig control system according to the present invention are configured as described above, when teaching the movement path of the robot hand, the operator holds the teaching device and holds the workpiece while operating the robot hand. The teaching data can be entered manually while moving to the holding position and assembly position, and at the holding position and assembly position, the sequencer can be set to manual mode from the teaching device, and the operation of each jig of the robot hand can be instructed step by step. The workpiece can be positioned while operating the jig of the robot hand, making teaching work easier for the operator and greatly improving safety.

[Example] An assembly robot and a jig control system according to the present invention will be described in detail below by giving examples and referring to the attached drawings.

FIG. 1 is a schematic diagram of an assembly robot and jig control system 10 according to the present invention.

Assembly robot and jig control system 10 according to the present invention
The assembly robot l8 is similar in appearance to the one shown in FIG. The assembly work involves assembling the seats at predetermined locations. Seat seating by assembly robot 18
The assembly robot 18 is held and assembled to the vehicle body by operating jigs such as actuators and solenoids provided in the assembly robot 18 according to a predetermined procedure, and this operation sequence is stored in advance as a sequence program. The sequencer 12 included in the operation panel 13
controlled by

In addition, the operating state of each jig of the assembly robot 18 is detected by sensors such as potentiometers and limit switches, and this detection signal is sent to the sequencer 12, and while the operating state of each part is confirmed by the sequencer 12, the system program As the motion is executed, this detection signal is sent to the robot controller 20.

On the other hand, the movement of the assembly robot 18 is performed by operating the hydraulic unit 16, and the movement route and final stop position, etc., are determined using the teaching device 14, and teaching points are input while actually moving the assembly robot 18. A teaching playback method is adopted in which the teaching points are stored in the robot controller 20, and the robot controller 20 operates the hydraulic unit 16 based on the teaching points to control the movement of the assembly robot 18.

The movement position of the assembly robot 18 is detected by a sensor,
It is feedbanked to the robot controller 2o.

The robot controller 20 constitutes an assembly robot 18 via an I/O processing unit 22 that performs input/output processing of control information and control data with external devices such as a teaching device 14 and a sequencer 12, and a hydraulic unit 16. It outputs signals based on teaching data or sequence programs to each hydraulic system, and
a servo control unit 3o that receives a response signal from 6;
and a main processing section 26 that exchanges necessary control information and control data with the I/O processing section 22 and servo control section 30 and controls the overall operation of the assembly robot and jig control system 10. It is composed of

The ■/○ processing section 22, the servo control section 30, and the main processing section 26 each have a microprocessor and can independently process data. M between the I/O processing section 22 and the main processing fs26 and between the main processing section 26 and the servo control section 30 are dual ports R A respectively.
Control information and control data are exchanged via M24 and M28.

As shown in FIG. 2, the teaching device 14 includes a CPU 40 such as a microprocessor, a ROM 42 storing a control program, a RAM 44, a display section 46,
It is composed of an interface 48 and an input section 50, and is connected to the robot controller 20 by a cable via an interface 4B so as to be portable during teaching work.

The human power unit 50 is a keyboard consisting of numerical keys, cursor keys, control keys, etc., and is used during teaching work to manually switch the sequencer 12, specify a jig, and issue step operation instructions.

The display section 46 is composed of a liquid crystal display, and displays information for specifying a jig to be operated in steps via the sequencer 12 during teaching work, and displays the results of the operation of each jig by the sequencer 12 and the detection obtained from the corresponding sensor. Used to display signals (operation confirmation signals).

The interface 48 is for exchanging control signals and data signals with the robot controller 20, and is R O
M42 stores a control program, and RAM44 is used as a primary storage device in the teaching device 14.

The assembly robot and jig control system according to the present invention is basically constructed as described above, and its operation and effects will be explained in detail below.

A case where teaching is performed using the teaching device 14 having the configuration shown in FIG. 2 in the assembly robot and jig control system 10 shown in FIG. 1 will be described.

The robot hand 62 is actually moved and the route to the supply position of the workpiece seat sheet 60 and the seat sheet 6 are
0 is held, the route to the supply position (assembly position) of the vehicle body 66, which is another workpiece, is input as teaching data, transmitted to the robot controller 20, and the work until it is stored in a predetermined storage device is the usual work. There is no major difference from the teaching playback type robot control system.

In the final positioning adjustment of the robot hand 62 to the supply position (assembly position) of the seat 60, which is a work, or the vehicle body 66, which is another work, the teaching work is performed in the following procedure. That is, first,
The operator simulates the input section 50 of the teaching device 14, specifies the manual mode, sets the operation mode of the sequencer 12 to the manual mode, and sets the mode so that the sequence program can be operated step by step.

In this case, the display section 46 of the teaching device 14
As shown in the figure, the name and code of the jig provided in the robot hand 62 and used for handling and assembling the workpiece are displayed as 46a in FIG. 3. Cursor 46b
By specifying , it is possible to specify the jig to be operated manually, and the detection signal (operation confirmation signal) from the sensor to confirm the operation of each jig can be sent to the sequencer l2.
The information is received from 46c and is configured to be displayable, so that the operator can use the teaching device 14 to confirm and check the operating status of each jig.

Therefore, the operator can then specify a jig to be operated from the teaching device 14 via the sequencer 12, and can actually operate the specified jig at the point where the robot hand 62 has been positioned to adjust the position.

FIG. 4 is a flowchart for operating the jig. As described above, the operator moves the cursor 46b of the teaching device 14 to match the specified jig code and turns on the ADV key (not shown) of the human power unit 50 (STPI
). Here, the ADV key is a key that outputs an instruction signal to move the jig in the forward direction. This signal is sent to the robot controller 20, and the control code corresponding to the jig code and ADV key specified in step 2 is sent to the sequencer 12.

The sequencer 12 uses the jig specified in step 3,
The sequence program corresponding to the control code is executed one step to operate the jig, and in step 4, a detection signal from a sensor for confirming the operation of the jig is sent to the robot controller 20 at regular intervals shorter than 100 ms. This operation confirmation signal is sent from the robot controller 20 to the teaching device l4, and displayed at the point corresponding to the ADV key and jig name on the display section 46c (see FIG. 3, STP7>).

In step 5, monitoring is performed for a predetermined period of time, and the operation f
If the Ii recognition signal is not received within, for example, 100 ms, the robot controller 20 sends an error signal to the teaching device l4, and this fact is displayed on the display unit 46 (STP6).

In step 8, the robot controller 20
If the V key is not turned off, the process returns to step 5 for time monitoring, and when the ADV key is turned off, the operation to the specified jig is completed (STP9). FIG. 5 is a time chart showing the time relationship of this flowchart.

With this operation, the operator confirms the operation of the jig, and if there is any deviation in the position of the robot hand 62, turn on the RET key instead of the ADV key using the same procedure as in the flowchart above, and move the jig in the backward direction. Give instructions to operate,
The jig is stepped back and the position of the robot hand 62 is adjusted again by the teaching device l4.

[Effects of the Invention] According to the present invention having the structure as described above, the following effects are achieved. That is, the present invention provides an assembly robot for handling a predetermined workpiece with a robot hand and assembling it to another workpiece at a predetermined position;
A sequencer that operates a jig for handling the workpiece and assembling the workpiece in a predetermined sequence, and a teaching device that teaches how to transport the workpiece gripped by the robot hand to a predetermined assembly position. In the assembly robot control system, the teaching device is provided with an instruction means for instructing the operation of the jig and a display means for receiving and displaying the jig operation confirmation signal from the sequencer. While positioning the hand, you can input teaching points while manually instructing jig movements for assembly.
A single operator can perform teaching easily and efficiently, and safety is also greatly improved.

In addition, the operation control of the jig can be easily performed without increasing the load on the robot controller because the teaching device specifies the jig to be operated and the sequencer is operated step by step in manual mode.

[Brief explanation of drawings]

Figure 1 is a schematic diagram of the assembly robot and jig control system according to the present invention, Figure 2 is a diagram of the configuration of the teaching device, Figure 3 is a diagram showing the display screen of the teaching device, and Figure 4 is the jig operation. FIG. 5 is a time chart corresponding to the flowchart shown in FIG. 4; FIG. 6 is a schematic configuration diagram of the assembly robot control system. 30... Surho control unit 40... CPU 44... RAM 48... Interface 42... ROM 46... Display unit 50... Input unit IO... Assembly robot jig control system 12...Sequencer 13...Operation panel l4...Teaching device W! ．． 16...Hydraulic unit 18...Assembling robot 20...Robot controller 22...■/○ processing section 24...Dual port}RAM 26...Main processing section 28...Dual port}RAM FIGI FIG. 2 14 STP +

Claims (1)

[Claims] (1) A robot hand that handles a workpiece, transports it to a predetermined position, and assembles it onto another workpiece, controls the handling of the workpiece, and controls each jig equipped on the robot hand in a predetermined sequence when assembling the workpiece. In a system that includes a sequencer that controls motion and a teaching device that teaches the movement path of the robot hand in order to move the robot hand to a predetermined position, the teaching device instructs the teaching device to operate each of the jigs for handling and assembly. An operation instruction unit that gives instructions; and a display unit that receives and displays a jig operation confirmation signal from the sequencer; the teaching device manually operates the sequencer and moves the robot hand to a predetermined position. An assembly robot and jig control system characterized in that the assembly robot and jig control system are configured to be able to teach a movement path for the robot.