JPH0379285A - Robot device - Google Patents

Abstract

PURPOSE:To shorten the stroke of a traveling truck without shortening a follow-up stroke, by providing a selection means to select whether a travelling truck follow-up control is operated, a robot follow-up control means is operated or the both are operated, based on a measured work position and/or given data. CONSTITUTION:A target value for following a travelling truck D to a work W is calculated. Then, whether or not the travelling truck D exceeds a traveling stroke is decided by given the target value thereof. If it doesn't exceed the travelling stroke, the target value is given to the travelling truck D. Namely, it is a travelling truck follow-up control. Now, since the relative position of a robot R to the work W is constant, a teaching data is given to the robot R as it is. When a follow-up target value is given to the traveling truck D and the traveling stroke is exceeded, the follow-up target value is not given to the traveling truck D but given to the robot R by correcting the teaching data by the movement part of the work W.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot device, and more particularly, to a robot device that performs work by following a moving workpiece.

[Conventional technology]

A conventional robot device of this type is shown in FIGS. 6 and 7.

In the robot device 51 shown in FIG. 6, a traveling trolley moves parallel to a workpiece W being conveyed by a conveyor C, and a robot R mounted on the traveling trolley performs work on the workpiece W.

In this robot device 51, since the relative positions of the workpiece W and the robot R are constant, there is an advantage that the robot R can directly reproduce the teaching data when teaching a stationary workpiece.

On the other hand, the robot device 61 shown in FIG. By giving this, the work is performed in accordance with the movement of the workpiece W.

This robot device 61 has the advantage of not requiring a traveling cart.

[Problems that the invention attempts to solve]

In the robot equipment 251 shown in FIG. 6, as the time required to work on the workpiece W becomes longer, the stroke of the traveling cart also becomes longer, which requires a large installation space and also takes longer to return to the starting position. There is a problem with the length.

On the other hand, in the robot device 61 shown in FIG.
Since the follow-up stroke can only be taken by the reach of the arm A, there is a problem that the moving speed of the workpiece W or the working time is limited.

Therefore, an object of the present invention is to provide a robot device that can shorten the stroke of a traveling cart and provide sufficient working time.

[Means to solve the problem]

The robot device of the present invention is a robot device capable of moving a robot using a traveling cart, and includes a measuring means for measuring the position of a workpiece, and a target value that corrects teaching data of the cart to the traveling cart based on the measured workpiece position. a traveling trolley follow-up control means; a robot follow-up control means for correcting robot teaching data based on the measured workpiece position and providing the robot with the corrected data; and a robot following control means based on the measured workpiece position and/or given data. The present invention is characterized in that it includes a selection means for selecting whether to operate the robot tracking control means, the robot tracking control means, or both.

[Effect]

With the robot device of the present invention, both tracking by the traveling cart and tracking by the robot can be performed.
The total follow-up stroke becomes longer.

In other words, the stroke of the traveling carriage can be shortened without shortening the follow-up stroke.

[Example] Hereinafter, the present invention will be explained in more detail based on the example shown in the drawings. Here, FIG. 1 is a schematic plan view of a robot device according to an embodiment of the present invention, FIG. 2 is a view corresponding to FIG. 1 showing another state of the same device, and FIG. 3 is an embodiment shown in FIG. 1. Main part flowchart 1-1 of the operation of the device Fig. 4 is a conceptual diagram showing the correspondence between each part of the work and each module data, and Fig. 5 is equivalent to Fig. 3 of the robot device according to another embodiment of the present invention. It is a diagram.

Note that the present invention is not limited to the embodiments shown in the figures.

In FIG. 1, a workpiece W is conveyed by a conveyor C in the direction of the arrow.

The traveling trolley is equipped with a robot R and can move in parallel with the conveyor C by a predetermined stroke.

The position of the workpiece W is measured by a photoelectric switch 2 and a conveyor sensor 3. That is, when the workpiece W cuts off the light beam of the photoelectric switch 2, it is known that the workpiece W has reached a predetermined position, and by monitoring the subsequent movement of the conveyor C with the conveyor sensor 3, the position of the workpiece W is known. I can do it.

The control means 4 includes the photoelectric switch 2. Conveyor sensor 3
Based on the teaching data stored in the memory 5, the driving of the traveling trolley and the robot R is controlled.

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

When a workpiece W is conveyed by the conveyor C and detected by the photoelectric switch 2, the control means 4 measures the position of the workpiece based on the output signal of the conveyor sensor 3. When the workpiece W reaches a predetermined position, the "regeneration" shown in FIG.
Start processing.

That is, a target value for making the workpiece W follow the traveling trolley is calculated (Sl).

Next, by giving the target value, it is determined whether the traveling bogie exceeds the traveling stroke (S2).

If the traveling stroke is not exceeded, the target value is given to the traveling bogie. In other words, it is a traveling bogie tracking control (
S3). Therefore, since the relative position of the robot R with respect to the workpiece W is constant, the teaching data is given to the robot R as is. FIG. 1 shows the state of this traveling bogie follow-up control.

Next, check whether there is a point to proceed with the work (S5), and if it exists, repeat the step S1 above.
Return to

As the work progresses while performing the traveling bogie follow-up control in this manner, the traveling bogie finally reaches the end of its stroke.

Then, if a follow-up target value is given to the traveling dolly, the travel stroke will be exceeded (S2), so no follow-up target value is given to the traveling dolly, and the teaching data is corrected by the amount of movement of the workpiece W to the robot R. give.

That is, it is robot follow-up control (S4). FIG. 2 shows the state of this robot follow-up control.

If there is no point to proceed with the work, the playback ends (S5).

According to the robot device 1 described above, a follow-up stroke that is the sum of the traveling stroke of the traveling dolly and the reach of the robot R to the arm can be obtained, so even if the traveling stroke of the traveling dolly is shortened, sufficient work can be achieved. You will be able to secure time.

Now, in the robot apparatus I described above, the traveling trolley follow-up control and the robot follow-up control are selectively switched substantially based on the position of the workpiece W, but this switch can also be specified in advance. An embodiment constructed in this manner is shown in FIGS. 4 and 5.

That is, as shown in FIG. 4, the teaching data is divided into modules m11m25m depending on the part of the workpiece W.

It is divided into m4. And each module data m
I+m21m31 For each m4, data is added that specifies whether the traveling bogie follow-up control or the robot follow-up control is to be performed.

Therefore, as shown in FIG. 5, when the module data is read from the memory 5 during playback (T1), it is determined whether the tracking method specified in the module is traveling bogie tracking control or robot tracking control. (T2).

Then, the follow-up method is switched according to the designation, and either the traveling bogie follow-up control is performed (T3) or the Robon I follow-up control is performed (T4).

Repeat this until the module data ends (T5
).

Another example is one in which the traveling truck follow-up control and the robot follow-up control are performed simultaneously.

In this case, the moving speed of the traveling cart and the moving speed of the workpiece W can be set to different speeds.

〔Effect of the invention〕

According to the present invention, in a robot device capable of moving a robot using a traveling cart, there is provided a measuring means for measuring the position of a workpiece; a trolley follow-up control means; a robot follow-up control means for correcting the teaching data of the robot based on the measured workpiece position and giving it to the robot; A robot device is provided, characterized in that it is equipped with a selection means for selecting whether to operate the robot tracking control means, to operate the robot tracking control means, or to operate both. The stroke can be shortened.

Therefore, in a line where work is performed using multiple robots, the installation pitch between the robots can be shortened, and the total line length can be shortened.

[Brief explanation of drawings]

FIG. 1 is a schematic plan view of a robot device according to an embodiment of the present invention, FIG. 2 is a view corresponding to FIG. 1 showing another state of the same device, and FIG. 3 is a diagram of the embodiment device shown in FIG. 4 is a conceptual diagram showing the correspondence between each part of the workpiece and each module data; FIG. 5 is a diagram corresponding to FIG. 3 of a robot device according to another embodiment of the present invention; FIG. FIG. 7 is a schematic plan view of a robot device using a conventional traveling vehicle follow-up control method, and FIG. 7 is a schematic plan view of a robot device using a conventional robot follow-up control method. [Explanation of symbols] 1... Robot group W 2... Photoelectric Sinch 3.
...Conveyor sensor 4...Control means 5...Memory D...Traveling trolley R...Robot C...
Conveyor W...Work A...Arm

Claims (1)

[Scope of Claims] 1. A robot device capable of moving a robot using a traveling cart, comprising a measuring means for measuring the position of a workpiece, and a target value that corrects teaching data of the cart on the traveling cart based on the measured workpiece position. a traveling trolley tracking control means for correcting teaching data of the robot based on the measured workpiece position and providing the robot with the corrected teaching data to the robot; and a robot following control means for correcting the teaching data of the robot based on the measured workpiece position and providing the traveling trolley following control based on the measured workpiece position and/or given data. A robot device comprising a selection means for selecting whether to operate the robot tracking control means, the robot tracking control means, or both.