JPH03291119A - Automatic teaching-sensing method for freely curved surface - Google Patents

Abstract

PURPOSE:To exactly recognize the shape and to obtain the die of high accuracy by providing the grinding tool with the function of the direct teaching which is provided to the robot controller and the power sense sensor and executing the sensing function of the normal posture to the freely curved surface and the sensing function of the pressurizing force control at the same time. CONSTITUTION:This method is for the die grinding device 50 on which the grinding tool 10 for the freely curved surface is provided at the top of the robot arm, etc. The direct teaching function provided to the robot controller RC is controlled by the teaching box TB. On the other hand, by providing the grinding tool with the power sense sensor SD and controlling the sensing function to make this sensor data into the robot data attached with the normal posture of the grinding tool and the pressurizing force with the personal computer PC, the grinding tool 10 is controlled at each teaching point so as to make the normal posture and the pressurizing force into the set target value. Therefore, the sensing data of exact shape recognization is obtained, and the die of high accuracy can be obtained.

Description

[Detailed Description of the Invention] "Industrial Field of Application J The present invention is a novel system in which a robot simultaneously performs the direct teaching function of a free-form surface such as a mold and the sensing function of normal line and pressure control. This would be an automatic teaching sensing method for free-form surfaces [Conventional technology and problems J] The conventional sensing method for free-form surfaces uses a robot's direct teaching function to designate a limited area on a free-form surface such as a mold. The process of teaching the area and the playback function of positioning and moving within this area at predetermined pitch intervals are separated, and the position and normal direction control at each point of the mesh is controlled during playback. A method is known in which the sensing function is executed by performing correction control using a motion sensor.Furthermore, when using a polishing tool attached to a main body that does not have a degree of freedom in one wrist, it is possible to use Even if you specify the area where the mesh is located, you cannot control the position at each point, nor can you control the normal direction or the force, a, or pressure. This is because it is an area teaching method that specifies a limited area as surface s1.

It is not possible to specify the areas of different plane directions from the X, Y plane to the Y, Z sides at once. Therefore, when the free-form surfaces are continuous from the X, Y planes to the Y, Z sides, each It must be taught separately and cannot perform continuous shape recognition sensing functions.

This thing is more.

This means that it is difficult to obtain sensing data with accurate shape knowledge, which in turn means that it is difficult to obtain highly accurate molds during mold polishing.

The present invention was made in view of the above-mentioned problems, and it simultaneously combines the direct teaching function of a robot with a free-form surface such as a mold, and the sensing function of normal line and pressure control. The object of the present invention is to provide a novel automatic teaching sensing method for free-form surfaces that can be carried out in a practical manner.2 The specific implementation method is as described above.

(1) A mold polishing device with a polishing tool for free-form surfaces attached to the tip of a robot arm, etc.), which has a direct teach jig function of the robot controller and a force sensor in the polishing tool, and is a polishing tool for free-form surfaces. An automatic teaching sensing method that simultaneously performs sensing functions for normal posture and pressure control.

(2) A mold polishing device in which a polishing tool for free-form surfaces is attached to the tip of a robot arm, etc., in which the direct teaching function of the robot controller is controlled by a teaching box, and a force sensor is installed in the polishing tool. The computer controls the sensor data and the sensing function that creates the robot data with the normal posture and pressure of the polishing tool added, and adjusts the normal posture and pressure to the set value at each teaching point of the polishing tool. This is an automatic teaching sensing method that controls the

Therefore, by simultaneously executing the direct teaching function that the robot has for free-form surfaces such as molds, and the sensing function for controlling the transmission line and pressure force, it is possible to move from the X, Y plane to the Y plane.
, Z or X, over different areas in the plane direction to the z side, -
The entire polishing area can be directly taught at once, and the sensing function can be activated from scratch. Moreover, the direct teaching operation is performed even deep into the recess of the free-form surface, making it possible to operate while observing the interference state between the mold and the tool.

Embodiment J Fig. 1 is a block diagram of a polishing device and its control system for carrying out the automatic teaching sensing method of the present invention, and Fig. 2 is a diagram of a sensing head and its operation.

FIG. 3 each shows a flowchart diagram of automatic teaching sensing.

First, the means for implementing the automatic teaching sensing method shown in FIG. 1 will be explained. 1 is mold polishing equipment! ! The robot is a SCARA type robot with a first arm 2 degrees, a second arm 3, and a wrist 4 having third and fourth joints, and a tool 10 having sensing and tool functions is attached to the tip of the wrist. Said arm is controlled by a servo motor S M 1 which moves the doubler of the column 5 downward F, and each arm and wrist is controlled by a servo motor sM2, 3, 4.5, respectively. The mold 11 mounted on the table 6 has an upper surface,
The tool 10 has a continuous free-form surface on the side surface, and the tool 10 approaches the free-form surface by direct teaching using a teaching box TB.

The above direct teaching is controlled by the mold control device 1.
00, and which has approached the free-form surface by die reflex 4-teaching, the swingable probe at the tip and the grindstone function 10a rotate and come into contact with the mold surface, and the elastic force of the spring 20 is applied. The detection information of the three force sensors SD, which detect the pressurizing force and the inclination in the normal direction with the force sensor Sv, is used by the mold control device 100 to adjust the posture and posture of the tool 10 to meet the set conditions using its own sensing function. To be used for pressure control, the basic configuration of the mold control device 100 is to convert the output from the robot controller RC and the force sensor S i) into A/D. (r) Consists of a personal computer PC into which input is made via a conversion unit 12, this memory unit M, a keyboard KB, and a display 13, and is used for teaching and
Box TB controls surface control units RC and PC.

The automatic teaching sensing method of the #4 filoo on the mold side is controlled as shown in FIGS. 2 and 3.
Mold plane 1. In l a, first of all, teaching and
Based on the operation of Bogges TB, plane 11.
This movement is performed by the robot controller RCJ, and the force sensor SD receives the elastic force of the spring 20, and the force sensor SD receives the elastic force of the spring 20. Detect the inclination in the normal direction.The output of the sensor data j above is A/D converted, and the 2-axis directions and tool posture are corrected and added on the PC.
When creating the above-mentioned "robot data", the direct teaching function based on the operation of the teaching box TB is stopped6.
When the creation of the "robot data" is completed, the second "robot data" is sent to the robot controller RC, which operates the arm to control the posture and pressure so that the "tool" 0 reaches the target set value. The second state is detected again by the sensor SD, and it is checked whether r is the target set value j. If it deviates from the "eye sM9. fixed value", create "robot data" by correcting and adding the output of "sensor data" to the Z-axis direction and tool posture on a personal computer, and use this [robot data J to control the robot controller RC. operates the arm to control the posture and pressure again so that [tool] 0 reaches the target set value. Furthermore, this state is detected again by the sensor SD, and it is checked whether it is the "target set value". If it deviates from the "r-th l1lI set value," the above operation is repeated until it approaches the r-th m set value. When the target set value is reached, data is saved and stored in the memory section M. This completes the automatic teaching sensing action at point P1, and moves to the next point P2, which is a distance Q apart, by direct teaching based on the movement command in the rx and y planes based on the operation of the teaching box TB. The grindstone function 10a is moved while rotating. After this, the section at point P2
A shinging action is performed. T: Interval is 97°fl I
+...Each point P3. P4. P5. P6, P
7. P8. P9. For PLO..., the teaching operation and the sensing function act simultaneously and alternately to create the plane 11a.
The mold surface is continuously sensed from the side surface 11b to the side surface 11b.

In the automatic teaching sensing method described above, the tool O, which has approached the free-form surface of the mold by direct teaching, is brought into contact with the mold surface while rotating its swingable probe and grindstone function 10a. By interacting with the automatic sensing action following the contact operation of the probe and grinding wheel function 10a to the free-form surface, which only requires a single operation,
Sensing of each teaching point is performed automatically, unlike traditional simple point teaching.
Performs sensing for normal line control and Z-axis pressure control. By utilizing such an action, automatic teaching sensing to deep concave surfaces such as pockets can be easily performed, especially when working with the mold 11! ! 1) The present invention is not limited to the above-mentioned embodiments, and design changes and implementation changes can be made within the scope of the invention. Of course.

"Effects" The present invention simultaneously executes the direct teaching function of the robot controller and the sensing function of equipping the polishing tool with a force sensor and controlling the normal posture and pressing force of the polishing tool with respect to a free-form surface. , the tie-left teaching function of the robot controller is controlled by the teaching box, while a force sensor is installed in the polishing tool, and the personal computer creates robot data with the normal posture and pressing force of the polishing tool added. The sensing function is controlled to control the normal posture and pressing force at each teaching point of the polishing tool to the target setting values, so it is possible to control different areas in the plane direction from the X and Y planes to the Y and Z sides. Teaching and sensing at once: can be done. 2, the free-form surface is
It is possible to perform continuous shape recognition sensing functions even when moving from the Y plane to the Y and Z sides. In addition, unlike conventional simple point teaching, sensing uses normal line control and 2m pressure control, so automatic teaching sensing to deep concave surfaces such as pockets can be performed twice, especially when there is interference between molds and tools. Enables operation while checking the status. Therefore, sensing data for accurate shape recognition can be obtained, and a highly accurate mold can be obtained in mold polishing.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a polishing device and its control system implementing the automatic teaching sensing method of the present invention, FIG. 2 is a sensing head and its operation diagram, and FIG. 3 is a flowchart of automatic teaching sensing. ]...SCARA type robot, 2,3.4...Arm & wrist, 10...Polishing tool, 50...Mold polishing R11c, lo
g...Probe and grindstone function, 100...Mold control device, TB...Sub-eating box, SD...Force sensor RC...Robot controller, ]2...A/D converter, PC...PC . Ryo Ganto Enshu Manufacturing Co., Ltd. - Masanori Eda

Claims (2)

[Claims] (1) A mold polishing device in which a polishing tool for a free-form surface is attached to the tip of a robot arm, etc., and the robot controller has a direct teaching function and a force sensor is installed in the polishing tool to detect the normal of the polishing tool to the free-form surface. An automatic teaching sensing method for free-form surfaces characterized by simultaneously executing sensing functions for posture and pressure control. (2) A mold polishing device in which a polishing tool for free-form surfaces is attached to the tip of a robot arm, etc., in which the direct teaching function of the robot controller is controlled by a teaching box, while a force sensor is installed in the polishing tool. The computer controls the sensing function to create robot data with the normal posture and pressure of the polishing tool added to the sensor data, so that the normal posture and pressure at each teaching point of the polishing tool become the target setting values. An automatic teaching sensing method for free-form surfaces characterized by controlling.