JPH05297917A - Industrial robot device - Google Patents
Industrial robot deviceInfo
- Publication number
- JPH05297917A JPH05297917A JP4126697A JP12669792A JPH05297917A JP H05297917 A JPH05297917 A JP H05297917A JP 4126697 A JP4126697 A JP 4126697A JP 12669792 A JP12669792 A JP 12669792A JP H05297917 A JPH05297917 A JP H05297917A
- Authority
- JP
- Japan
- Prior art keywords
- industrial robot
- joint
- arm
- base
- proximal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、作動腕が重力方向に
沿って動作する垂直関節型の産業ロボット装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vertical joint type industrial robot apparatus in which an operating arm moves along the direction of gravity.
【０００２】[0002]
【従来の技術】図４及び図５は、例えば特開昭６０−５
７４０７号公報に示されたものに類似した従来の垂直関
節型の産業ロボット装置を示す図である。図において、
(1)は産業ロボット、(2)は産業ロボット(1)の基台、(3)
は基台(2)に基端関節(4)を介して枢着されて鉛直方向に
動作する基端腕、(5)は基端関節(4)に設けられて基端腕
(3)を動作させる基端駆動手段で、サーボモータ(6)及び
減速機(7)によって構成されている。(8)は基端腕(3)の
回動端に先端関節(9)を介して枢着されて鉛直方向に動
作する先端腕、(10)は先端関節(9)に設けられて基端駆
動手段(5)と同様に構成され、先端腕(8)を動作させる先
端駆動手段、(11)は先端腕(8)の回動端に装着された把
手からなるエンドエフェクタ、(12)は基端駆動手段(5)
及び先端駆動手段(10)に接続された制御盤である。2. Description of the Related Art FIGS. 4 and 5 show, for example, JP-A-60-5.
It is a figure which shows the conventional vertical joint type industrial robot apparatus similar to what was shown by 7407 publication. In the figure,
(1) is the industrial robot, (2) is the base of the industrial robot (1), (3)
Is a base arm that is pivotally attached to the base (2) through the base joint (4) and moves vertically, and (5) is a base arm provided on the base joint (4).
It is a base end drive means for operating (3), and is composed of a servo motor (6) and a speed reducer (7). (8) is a distal arm that is pivotally attached to the rotating end of the proximal arm (3) via a distal joint (9) and moves vertically, and (10) is a proximal end provided on the distal joint (9). The drive means (5) is configured in the same manner as the drive means (5) for operating the tip arm (8), (11) is an end effector consisting of a handle attached to the rotating end of the tip arm (8), and (12) is Proximal drive means (5)
And a control panel connected to the tip driving means (10).
【０００３】従来の産業ロボット装置は上記のように構
成され、制御盤(12)からの指令により、基端駆動手段
(5)、先端駆動手段(10)が付勢されて加速、減速動作す
る。この動作により基端腕(3)、先端腕(8)が動作して所
定の位置で停止してエンドエフェクタ(11)により所要の
ロボット作業が行われる。この基端駆動手段(5)、先端
駆動手段(10)等に対する制御盤(12)の指令値の生成及び
駆動制御系への指令は図５に示すように行われる。すな
わち、エンドエフェクタ(11)の目標位置と現在位置の差
である基端関節(4)、先端関節(9)の移動量に対し、産業
ロボット(1)によって決められた加減速時間△ｔによっ
て基端関節(4)、先端関節(9)の速度指令が生成される。
そして、この速度指令がサーボアンプ（図示しない）を
通じ、基端駆動手段(5)、先端駆動手段(10)を介して基
端腕(3)、先端腕(8)に伝達されエンドエフェクタ(11)が
目標位置へ移動する。The conventional industrial robot apparatus is constructed as described above, and the base end drive means is operated by a command from the control panel (12).
(5) The tip drive means (10) is urged to accelerate and decelerate. By this operation, the proximal arm (3) and the distal arm (8) are operated and stopped at a predetermined position, and a required robot work is performed by the end effector (11). Generation of the command value of the control panel (12) for the base end driving means (5), the tip end driving means (10) and the like and the command to the drive control system are performed as shown in FIG. That is, by the acceleration / deceleration time Δt determined by the industrial robot (1) with respect to the movement amount of the proximal joint (4) and the distal joint (9), which is the difference between the target position and the current position of the end effector (11). Velocity commands for the proximal joint (4) and the distal joint (9) are generated.
Then, this speed command is transmitted to the proximal arm (3) and the distal arm (8) through the servo amplifier (not shown) via the proximal drive means (5) and the distal drive means (10), and the end effector (11) is transmitted. ) Moves to the target position.
【０００４】[0004]
【発明が解決しようとする課題】上記のような従来の産
業ロボット装置では、制御盤(12)からの速度指令、特に
加減速時間は基端腕(3)、先端腕(8)の姿勢に関わらず一
定時間である。このため、基端関節(4)、先端関節(9)の
静負荷（重力負荷）が大きい状態で加速を始めると非常
に大きな負荷が基端駆動手段(5)、先端駆動手段(10)に
作用する。したがって、これら基端駆動手段(5)、先端
駆動手段(10)の能力により加速時間が決められることに
なる。逆に、静負荷が小さい基端腕(3)、先端腕(8)の姿
勢の場合であっても、最大静負荷時を想定して加速時間
が決められているため、基端駆動手段(5)、先端駆動手
段(10)の能力が発揮されず加速特性が悪くなり産業ロボ
ット(1)の作業効率が低下するという問題点があった。
なお、制御盤からの速度指令が変更可能な構成の場合で
も、静負荷条件を考慮していないときは産業ロボット
(1)に過負荷を与える。また、静負荷条件を考慮してい
るときであっても煩雑な教示及び莫大な記憶装置が必要
となる。また、静負荷条件を考慮するときであっても、
産業ロボット(1)の使用者が速度指令を誤教示して産業
ロボット(1)に過負荷を与える恐れがある。In the conventional industrial robot apparatus as described above, the speed command from the control panel (12), especially the acceleration / deceleration time, depends on the postures of the proximal arm (3) and the distal arm (8). Regardless of the time. Therefore, if acceleration is started in a state where the static load (gravitational load) of the proximal joint (4) and the distal joint (9) is large, a very large load is applied to the proximal drive means (5) and the distal drive means (10). To work. Therefore, the acceleration time is determined by the capabilities of the base end drive means (5) and the tip end drive means (10). On the contrary, even in the case of the postures of the proximal arm (3) and the distal arm (8) where the static load is small, the acceleration time is determined assuming the maximum static load, so the proximal drive means ( 5) There is a problem that the ability of the tip driving means (10) is not exerted and the acceleration characteristics are deteriorated, and the work efficiency of the industrial robot (1) is reduced.
Even if the speed command from the control panel can be changed, if the static load condition is not taken into consideration, the industrial robot
Overload (1). Further, even when considering the static load condition, complicated teaching and a huge storage device are required. Also, even when considering static load conditions,
The user of the industrial robot (1) may erroneously teach the speed command to overload the industrial robot (1).
【０００５】また、例えば特開昭６０−５７４０７号公
報に示されているように作動腕の姿勢のみに着目し、静
負荷を加速決定条件に入れないものは、負荷条件を教示
したり、教示した値に対する莫大なデータをテーブルと
して記憶装置内に持ったりする必要がある。また、特開
平１−１５６８０４号公報に示されているように静負荷
を直接考慮したものであっても、負荷条件を教示した
り、教示した値に対する莫大なデータをテーブルとして
記憶装置内に持ったりする必要がある。Further, as disclosed in, for example, Japanese Patent Laid-Open No. 60-57407, when only the posture of the operating arm is focused and the static load is not included in the acceleration determination condition, the load condition is taught or taught. It is necessary to store a huge amount of data corresponding to the specified value as a table in the storage device. Further, even if the static load is directly taken into consideration as disclosed in JP-A-1-156804, the load condition is taught and enormous data corresponding to the taught value is stored as a table in the storage device. You need to
【０００６】この発明は、かかる問題点を解消するため
になされたものであり、基端駆動手段、先端駆動手段の
能力が、産業ロボットの全動作領域にわたって有効に発
揮される産業ロボット装置を得ることを目的とする。The present invention has been made in order to solve such a problem, and obtains an industrial robot apparatus in which the capabilities of the base end drive means and the tip end drive means are effectively exhibited over the entire operating region of the industrial robot. The purpose is to
【０００７】[0007]
【課題を解決するための手段】この発明に係る産業ロボ
ット装置においては、産業ロボットの基端腕の動作領域
内の静負荷トルクに関する情報記憶手段と、産業ロボッ
トの起動時及び停止時の姿勢に対する情報記憶手段の静
負荷値により産業ロボットの関節動作の加速時間を選択
して産業ロボットの駆動手段に速度指令を発する制御装
置とが設けられる。In the industrial robot apparatus according to the present invention, information storage means relating to static load torque in the operation area of the proximal arm of the industrial robot and attitudes of the industrial robot at start-up and stop are shown. A control device is provided for selecting an acceleration time of the joint motion of the industrial robot according to the static load value of the information storage means and issuing a speed command to the driving means of the industrial robot.
【０００８】また、産業ロボットの基端腕の動作領域内
の静負荷トルクに関する情報を基端腕及び先端腕のみで
記述された等負荷曲線として記憶し、かつ、産業ロボッ
トの動作範囲内を等負荷曲線で複数の区域に分割して、
各区域に対応する加速時間を記憶した情報記憶手段と、
産業ロボットの起動時及び停止時の姿勢に対する区域に
対応した情報記憶手段の静負荷値により産業ロボットの
関節動作の加速時間を選択して産業ロボットの駆動手段
に速度指令を発する制御装置とが設けられる。Further, information about the static load torque in the operation area of the proximal arm of the industrial robot is stored as an equal load curve described only by the proximal arm and the distal arm, and the operating range of the industrial robot is equalized. Divide into multiple areas by load curve,
Information storage means that stores the acceleration time corresponding to each area,
A control device is provided which selects the acceleration time of the joint motion of the industrial robot according to the static load value of the information storage means corresponding to the area for the posture at the time of starting and stopping the industrial robot and issues a speed command to the driving means of the industrial robot. Be done.
【０００９】また、産業ロボットの基端腕の動作領域内
の静負荷トルクに関する情報を基端腕及び先端腕のみで
記述して基端関節及び先端関節位置の二次曲線で近似し
演算の高速化を可能とした等負荷曲線として記憶し、か
つ、産業ロボットの動作範囲内を等負荷曲線で複数の区
域に分割して、各区域に対応する加速時間を記憶した情
報記憶手段と、産業ロボットの起動時及び停止時の姿勢
に対する区域に対応した情報記憶手段の静負荷値により
産業ロボットの関節動作の加速時間を選択し産業ロボッ
トの駆動手段に速度指令を発する制御装置とが設けられ
る。Further, the information about the static load torque in the operation area of the proximal arm of the industrial robot is described only by the proximal arm and the distal arm, and is approximated by a quadratic curve of the positions of the proximal joint and the distal joint, and the calculation speed is high. Information storage means for storing an acceleration time corresponding to each area, which is stored as an equal load curve capable of being converted, and which divides the operating range of the industrial robot into a plurality of areas by the equal load curve. And a controller for selecting the acceleration time of the joint motion of the industrial robot according to the static load value of the information storage means corresponding to the area for the starting and stopping postures and issuing a speed command to the driving means of the industrial robot.
【００１０】[0010]
【作用】上記のように構成された産業ロボット装置で
は、基端腕の動作領域内の静負荷トルクに関する情報が
記憶されて、産業ロボットの起動時及び停止時の姿勢に
対する情報記憶の静負荷値により、関節動作の加速時間
を選択して駆動手段に速度指令が発せられる。In the industrial robot apparatus configured as described above, the information about the static load torque in the operation area of the proximal arm is stored, and the static load value of the information storage for the posture at the time of starting and stopping the industrial robot is stored. As a result, a speed command is issued to the drive means by selecting the acceleration time of the joint motion.
【００１１】[0011]
【実施例】 実施例１．図１及び図２は、この発明の一実施例を示す
図である。図において、(1)は産業ロボット、(2)は産業
ロボット(1)の基台、(3)は基台(2)に基端関節(4)を介し
て枢着されて鉛直方向に動作する基端腕、(5)は基端関
節(4)に設けられて基端腕(3)を動作させる基端駆動手段
で、サーボモータ(6)及び減速機(7)によって構成されて
いる。(8)は基端腕(3)の回動端に先端関節(9)を介して
枢着されて鉛直方向に動作する先端腕、(10)は先端関節
(9)に設けられて基端駆動手段(5)と同様に構成され、先
端腕(8)を動作させる先端駆動手段、(11)は先端腕(8)の
回動端に装着された把手からなるエンドエフェクタ、(1
2)は基端駆動手段(5)及び先端駆動手段(10)に接続され
た制御盤である。(13)は基端腕(3)の動作領域内の静負
荷トルクに関する情報を記憶した情報記憶手段、(14)は
産業ロボット(1)の起動時及び停止時の姿勢に対する情
報記憶手段(13)の静負荷値により産業ロボット(1)の関
節動作の加減速時間を選択して産業ロボット(1)の駆動
手段に速度指令を発する制御装置である。EXAMPLES Example 1. 1 and 2 are views showing an embodiment of the present invention. In the figure, (1) is an industrial robot, (2) is the base of the industrial robot (1), (3) is vertically attached to the base (2) via the proximal joint (4), and moves vertically. Proximal arm, (5) is a proximal drive means provided on the proximal joint (4) for operating the proximal arm (3), which is composed of a servomotor (6) and a speed reducer (7). .. (8) is a distal arm that is pivotally attached to the rotating end of the proximal arm (3) via a distal joint (9) and moves vertically, and (10) is a distal joint.
(9) is provided in the same manner as the base end drive means (5) and operates the tip arm (8), the tip drive means, and (11) is a handle attached to the rotating end of the tip arm (8). End effector, consisting of (1
Reference numeral 2) is a control panel connected to the base end driving means (5) and the tip end driving means (10). (13) is an information storage means for storing information about static load torque in the operation area of the proximal arm (3), and (14) is an information storage means for the attitude of the industrial robot (1) at the time of starting and stopping (13). ) Is a control device which selects the acceleration / deceleration time of the joint motion of the industrial robot (1) according to the static load value of (1) and issues a speed command to the drive means of the industrial robot (1).
【００１２】上記のように構成された産業ロボット装置
においては、図２に示すように基端駆動手段(5)、先端
駆動手段(10)等に対する制御盤(12)の指令値の生成及び
駆動制御系への指令が行われる。すなわち、基端腕
(3)、先端腕(8)等の諸特性が既知であり、基端関節(4)
の静負荷は基端関節(4)位置によって算出可能であっ
て、この静負荷特性が情報記憶手段(13)に記憶される。
そして、産業ロボット(1)が動作する場合のエンドエフ
ェクタ(11)の現在位置及び目標位置に対し、基端関節
(4)の静負荷がそれぞれ求められる。次いで、それらの
静負荷の大小に応じて基端関節(4)等の加速時間△ｔs、
減速時間△ｔdが設定される。このようにして設定され
た加減速時間に応じて各関節速度指令が生成されて、制
御盤(12)を介して基端駆動手段(5)、先端駆動手段(10)
が付勢されて加速、減速動作する。この動作により基端
腕(3)、先端腕(8)が動作して所定の位置で停止してエン
ドエフェクタ(11)により所要のロボット作業が行われ
る。In the industrial robot apparatus constructed as described above, as shown in FIG. 2, generation and driving of command values of the control panel (12) for the base end driving means (5), the tip end driving means (10), etc. A command is sent to the control system. That is, the proximal arm
(3), various characteristics of the distal arm (8), etc. are known, and the proximal joint (4)
Can be calculated from the position of the proximal end joint (4), and this static load characteristic is stored in the information storage means (13).
Then, when the industrial robot (1) operates, the proximal end joint is set with respect to the current position and the target position of the end effector (11).
The static load of (4) is required for each. Then, base end joint according to the magnitude of their static load (4) acceleration time, etc. △ t s,
The deceleration time Δt d is set. Each joint velocity command is generated according to the acceleration / deceleration time set in this way, and the proximal end drive means (5) and the distal end drive means (10) are transmitted via the control panel (12).
Is accelerated to accelerate and decelerate. By this operation, the proximal arm (3) and the distal arm (8) are operated and stopped at a predetermined position, and a required robot work is performed by the end effector (11).
【００１３】したがって、ロボット作業時に基端腕
(3)、先端腕(8)の姿勢に関わらず基端駆動手段(5)、先
端駆動手段(10)の能力が最大限に発揮される。これによ
って、加減速の速い動作特性が得られ、容易に産業ロボ
ット(1)の作業効率を向上することができる。Therefore, when the robot is working, the proximal arm is
(3), regardless of the posture of the tip arm (8), the capabilities of the base end drive means (5) and the tip end drive means (10) are maximized. As a result, a quick acceleration / deceleration operation characteristic can be obtained, and the work efficiency of the industrial robot (1) can be easily improved.
【００１４】実施例２．図３は、この発明の実施例２を
示す図で、産業ロボット装置は図１と同様に構成され、
情報記憶手段(13)は次に述べるように構成される。すな
わち、基端関節(4)の静負荷は全関節の角度から幾何的
に重心位置を算出して求めることができる。しかし、基
端関節(4)の静負荷は二つの関節、例えば基端関節(4)、
先端関節(9)により近似的に求めることも可能である。
このため、図３に示すように基端関節(4)の静負荷特性
をマップとして取扱い、静負荷の大きさに応じ区域に分
割することにより簡易に加減速時間を設定できる。そし
て、設定された加減速時間に応じて各関節速度指令が生
成されて、制御盤(12)を介して基端駆動手段(5)、先端
駆動手段(10)が付勢されて加速、減速動作する。この動
作により基端腕(3)、先端腕(8)が動作して所定の位置で
停止してエンドエフェクタ(11)により所要のロボット作
業が行われる。Example 2. FIG. 3 is a diagram showing a second embodiment of the present invention, in which the industrial robot apparatus has the same configuration as that of FIG.
The information storage means (13) is configured as described below. That is, the static load of the proximal end joint (4) can be obtained by geometrically calculating the position of the center of gravity from the angles of all joints. However, the static load on the proximal joint (4) is two joints, for example the proximal joint (4),
It is also possible to approximate it by the tip joint (9).
Therefore, as shown in FIG. 3, the acceleration / deceleration time can be easily set by treating the static load characteristic of the proximal end joint (4) as a map and dividing it into areas according to the magnitude of the static load. Then, each joint velocity command is generated according to the set acceleration / deceleration time, and the base end drive means (5) and the tip drive means (10) are energized via the control panel (12) to accelerate or decelerate. Operate. By this operation, the proximal arm (3) and the distal arm (8) are operated and stopped at a predetermined position, and a required robot work is performed by the end effector (11).
【００１５】この実施例においても、産業ロボット(1)
が動作する場合のエンドエフェクタ(11)の現在位置及び
目標位置に対し、基端関節(4)の静負荷がそれぞれ求め
られる。次いで、それらの静負荷の大小に応じて基端関
節(4)等の加速時間△ｔs、減速時間△ｔdが設定され
る。したがって、詳細な説明を省略するがこの実施例に
おいても図１及び図２の実施例と同様な作用が得られる
ことは明白である。なお、図３の実施例において、基端
関節(4)の静負荷特性をマップとして取扱い、静負荷の
大きさに応じ区域に分割することにより簡易に加減速時
間を設定することができる。Also in this embodiment, the industrial robot (1)
The static load of the proximal joint (4) is obtained for each of the current position and the target position of the end effector (11) when is operated. Next, the acceleration time Δt s and the deceleration time Δt d of the proximal joint (4) and the like are set according to the magnitude of the static load. Therefore, although detailed description is omitted, it is obvious that the same operation as that of the embodiment of FIGS. 1 and 2 can be obtained in this embodiment. In the embodiment of FIG. 3, the acceleration / deceleration time can be easily set by treating the static load characteristic of the proximal joint (4) as a map and dividing it into areas according to the magnitude of the static load.
【００１６】実施例３．この発明の実施例３は、産業ロ
ボット装置が図１と同様に構成され、基端駆動手段
(5)、先端駆動手段(10)等に対する制御盤(12)の指令値
の生成及び駆動制御系への指令は図２に準じて行われ
る。そして、情報記憶手段(13)は次に述べるように構成
される。すなわち、基端関節(4)の静負荷特性につい
て、二つの関節、例えば基端関節(4)、先端関節(9)によ
り記述する等負荷曲線による区域分割を、これら関節位
置の二次曲線で近似的に求めることが可能である。これ
により、情報記憶手段(13)の記憶データ量を節減でき、
また、加減速時間の設定を高速化することができる。そ
して、設定された加減速時間に応じて各関節速度指令が
生成されて、制御盤(12)を介して基端駆動手段(5)、先
端駆動手段(10)が付勢されて加速、減速動作する。この
動作により基端腕(3)、先端腕(8)が動作して所定の位置
で停止してエンドエフェクタ(11)により所要のロボット
作業が行われる。Embodiment 3. In a third embodiment of the present invention, an industrial robot device is configured in the same manner as in FIG.
(5) Generation of the command value of the control panel (12) for the tip driving means (10) and the like and command to the drive control system are performed according to FIG. The information storage means (13) is configured as described below. That is, regarding the static load characteristics of the proximal joint (4), the area division by the equal load curve described by two joints, for example, the proximal joint (4) and the distal joint (9), is performed by the quadratic curve of these joint positions. It can be obtained approximately. As a result, the amount of data stored in the information storage means (13) can be reduced,
Also, the acceleration / deceleration time can be set faster. Then, each joint velocity command is generated according to the set acceleration / deceleration time, and the base end drive means (5) and the tip drive means (10) are energized via the control panel (12) to accelerate or decelerate. Operate. By this operation, the proximal arm (3) and the distal arm (8) are operated and stopped at a predetermined position, and a required robot work is performed by the end effector (11).
【００１７】この実施例においても、産業ロボット(1)
が動作する場合のエンドエフェクタ(11)の現在位置及び
目標位置に対し、基端関節(4)の静負荷がそれぞれ求め
られる。次いで、それらの静負荷の大小に応じて基端関
節(4)等の加速時間△ｔs、減速時間△ｔdが設定され
る。したがって、詳細な説明を省略するがこの実施例に
おいても図１及び図２の実施例と同様な作用が得られる
ことは明白である。なお、実施例３において、基端関節
(4)の静負荷特性につき、二つの関節、例えば基端関節
(4)、先端関節(9)により記述する等負荷曲線による区域
分割を、これら関節位置の二次曲線で近似的に求める。
これにより、情報記憶手段(13)の記憶データ量を節減で
き、また、加減速時間の設定を高速化することができて
産業ロボット(1)の使用を効率化することができる。Also in this embodiment, the industrial robot (1)
The static load of the proximal joint (4) is obtained for each of the current position and the target position of the end effector (11) when is operated. Next, the acceleration time Δt s and the deceleration time Δt d of the proximal joint (4) and the like are set according to the magnitude of the static load. Therefore, although detailed description is omitted, it is obvious that the same operation as that of the embodiment of FIGS. 1 and 2 can be obtained in this embodiment. In addition, in Example 3, the proximal joint
Regarding the static load characteristics of (4), two joints, for example, proximal joint
(4) The area division by the equal load curve described by the tip joint (9) is approximately obtained by the quadratic curve of these joint positions.
As a result, the amount of data stored in the information storage means (13) can be reduced, and the acceleration / deceleration time can be set faster, so that the industrial robot (1) can be used more efficiently.
【００１８】[0018]
【発明の効果】この発明は、以上説明したように産業ロ
ボットの基端腕の動作領域内の静負荷トルクに関する情
報記憶手段と、産業ロボットの起動時及び停止時の姿勢
に対する情報記憶手段の静負荷値により産業ロボットの
関節動作の加速時間を選択して産業ロボットの駆動手段
に速度指令を発する制御装置を設けたものである。ま
た、産業ロボットの基端腕の動作領域内の静負荷トルク
に関する情報を基端腕及び先端腕のみで記述された等負
荷曲線として記憶し、かつ、産業ロボットの動作範囲内
を等負荷曲線で複数の区域に分割して、各区域に対応す
る加速時間を記憶した情報記憶手段と、産業ロボットの
起動時及び停止時の姿勢に対する区域に対応した情報記
憶手段の静負荷値により産業ロボットの関節動作の加速
時間を選択して産業ロボットの駆動手段に速度指令を発
する制御装置を設けたものである。As described above, according to the present invention, the information storage means relating to the static load torque in the operation area of the proximal arm of the industrial robot and the static information storage means for the attitudes of the industrial robot at the time of starting and stopping are used. A control device is provided for selecting an acceleration time for joint motion of the industrial robot according to the load value and issuing a speed command to the driving means of the industrial robot. In addition, the information about the static load torque in the operating area of the proximal arm of the industrial robot is stored as an equal load curve described only by the proximal arm and the distal arm, and the operating range of the industrial robot is represented by the equal load curve. The joint of the industrial robot is divided into a plurality of areas and the static load value of the information storage means that stores the acceleration time corresponding to each area and the static load value of the information storage means that corresponds to the area when the industrial robot starts and stops. A control device for selecting an acceleration time of the operation and issuing a speed command to the driving means of the industrial robot is provided.
【００１９】また、産業ロボットの基端腕の動作領域内
の静負荷トルクに関する情報を基端腕及び先端腕のみで
記述して基端関節及び先端関節位置の二次曲線で近似し
演算の高速化を可能とした等負荷曲線として記憶し、か
つ、産業ロボットの動作範囲内を等負荷曲線で複数の区
域に分割して、各区域に対応する加速時間を記憶した情
報記憶手段と、産業ロボットの起動時及び停止時の姿勢
に対する区域に対応した情報記憶手段の静負荷値によ
り、産業ロボットの関節動作の加速時間を選択して産業
ロボットの駆動手段に速度指令を発する制御装置を設け
たものである。これによって、基端関節の静負荷が基端
関節位置によって算出され、この静負荷特性が情報記憶
手段に記憶される。そして、産業ロボットが動作する場
合のエンドエフェクタの現在位置及び目標位置に対し、
基端関節の静負荷がそれぞれ求められる。次いで、それ
らの静負荷の大小に応じて基端関節等の加速時間、減速
時間が設定され、設定された加速時間に応じて各関節速
度指令が生成されて、駆動手段が付勢されて加速動作す
る。この動作により作動腕が作動し所定の位置で停止し
てエンドエフェクタにより所要のロボット作業が行われ
る。Further, the information about the static load torque in the operation area of the proximal arm of the industrial robot is described only by the proximal arm and the distal arm, and approximated by a quadratic curve of the positions of the proximal joint and the distal joint, and the calculation speed is high. Information storage means for storing an acceleration time corresponding to each area, which is stored as an equal load curve capable of being converted, and which divides the operating range of the industrial robot into a plurality of areas by the equal load curve. Equipped with a control device for selecting the acceleration time of the joint motion of the industrial robot and issuing a speed command to the driving means of the industrial robot according to the static load value of the information storage means corresponding to the area at the time of starting and stopping Is. As a result, the static load of the proximal joint is calculated from the position of the proximal joint, and this static load characteristic is stored in the information storage means. Then, for the current position and target position of the end effector when the industrial robot operates,
The static load on the proximal joint is required. Then, the acceleration time and deceleration time of the proximal joint etc. are set according to the magnitude of those static loads, each joint speed command is generated according to the set acceleration time, and the drive means is energized to accelerate. Operate. By this operation, the actuating arm is actuated and stopped at a predetermined position, and the required robot work is performed by the end effector.
【００２０】したがって、ロボット作業時に作動腕の姿
勢に関わらず駆動手段の能力が最大限に発揮され高加速
動作特性が得られて、産業ロボットの作業効率を容易に
向上する効果がある。また、基端関節の静負荷特性をマ
ップとして取扱い、静負荷の大きさに応じ区域に分割す
ることにより加速時間の設定を簡易化する効果がある。
また、基端関節の静負荷特性は、二つの関節により記述
する等負荷曲線による区域分割を、これら関節位置の二
次曲線で近似的に求めて、情報記憶手段の記憶データ量
を節減し、また、加速時間の設定を高速化する効果があ
る。Therefore, the ability of the driving means is maximized regardless of the posture of the operating arm during robot work, high acceleration operation characteristics are obtained, and the work efficiency of the industrial robot is easily improved. In addition, the static load characteristics of the proximal joint are treated as a map and divided into areas according to the magnitude of the static load, which has the effect of simplifying the setting of the acceleration time.
Further, the static load characteristics of the proximal end joint are obtained by approximating the area division by the equal load curve described by the two joints with the quadratic curve of these joint positions to reduce the storage data amount of the information storage means. In addition, the setting of the acceleration time can be speeded up.
【図１】この発明の実施例１を模式的に示す全体構成
図。FIG. 1 is an overall configuration diagram schematically showing a first embodiment of the present invention.
【図２】図１の装置の機能を説明したブロック線図。FIG. 2 is a block diagram illustrating the function of the apparatus shown in FIG.
【図３】この発明の実施例２を示す図で、図２相当図。FIG. 3 is a diagram showing a second embodiment of the present invention and corresponds to FIG.
【図４】従来の産業ロボット装置を示す図で、図１相当
図。FIG. 4 is a view showing a conventional industrial robot apparatus, which is equivalent to FIG. 1.
【図５】図４に対応した図２相当図。FIG. 5 is a view corresponding to FIG. 4 and corresponding to FIG.
１ 産業ロボット ２ 基台 ３ 基端腕 ４ 基端関節 ５ 基端駆動手段 ８ 先端腕 ９ 先端関節 １０ 先端駆動手段 １３ 情報記憶手段 １４ 制御装置 1 Industrial Robot 2 Base 3 Base End Arm 4 Base End Joint 5 Base End Drive Means 8 Tip Arm 9 Tip Joint 10 Tip Drive Means 13 Information Storage Means 14 Control Device
─────────────────────────────────────────────────────
─────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成５年５月１２日[Submission date] May 12, 1993
【手続補正１】[Procedure Amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】０００４[Correction target item name] 0004
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【０００４】[0004]
【発明が解決しようとする課題】上記のような従来の産
業ロボット装置では、制御盤(12)からの速度指令、特に
加減速時間は基端腕(3)、先端腕(8)の姿勢に関わらず一
定時間である。このため、基端関節(4)、先端関節(9)の
静負荷（重力負荷）が大きい状態で加速を始めると非常
に大きな負荷が基端駆動手段(5)、先端駆動手段(10)に
作用する。したがって、これら基端駆動手段(5)、先端
駆動手段(10)の能力により加速時間が決められることに
なる。逆に、静負荷が小さい基端腕(3)、先端腕(8)の姿
勢の場合であっても、最大静負荷時を想定して加速時間
が決められているため、基端駆動手段(5)、先端駆動手
段(10)の能力が発揮されず加速特性が悪くなり産業ロボ
ット(1)の作業効率が低下するという問題点があった。
なお、制御盤からの速度指令が変更可能な構成の場合で
も、静負荷条件を考慮していないときは産業ロボット
(1)に過負荷を与える。また、腕、関節等の自重による
静負荷条件を考慮しているときであっても煩雑な教示及
び莫大な記憶装置が必要となる。また、ワーク等の有無
による静負荷条件を考慮するときであっても、産業ロボ
ット(1)の使用者が速度指令を誤教示して産業ロボット
(1)に過負荷を与える恐れがある。In the conventional industrial robot apparatus as described above, the speed command from the control panel (12), especially the acceleration / deceleration time, depends on the postures of the proximal arm (3) and the distal arm (8). Regardless of the time. Therefore, if acceleration is started in a state where the static load (gravitational load) of the proximal joint (4) and the distal joint (9) is large, a very large load is applied to the proximal drive means (5) and the distal drive means (10). To work. Therefore, the acceleration time is determined by the capabilities of the base end drive means (5) and the tip end drive means (10). On the contrary, even in the case of the postures of the proximal arm (3) and the distal arm (8) where the static load is small, the acceleration time is determined assuming the maximum static load, so the proximal drive means ( 5) There is a problem that the ability of the tip driving means (10) is not exerted and the acceleration characteristics are deteriorated, and the work efficiency of the industrial robot (1) is reduced.
Even if the speed command from the control panel can be changed, if the static load condition is not taken into consideration, the industrial robot
Overload (1). Further, even when considering the static load condition due to the weight of the arm, joint, etc., complicated teaching and a huge storage device are required. Also, the presence or absence of work etc.
Even when considering the static load condition due to, the user of the industrial robot (1) erroneously teaches the speed command and the industrial robot
It may overload (1).
Claims (3)
基端関節に設けられた基端駆動手段により駆動されて鉛
直方向に動作する基端腕、及び上記基端腕の回動端に先
端関節を介して装着され、上記先端関節に設けられた先
端駆動手段により駆動されて鉛直方向に動作する先端腕
を有する産業ロボットと、上記基端腕の動作領域内の静
負荷トルクに関する情報記憶手段と、上記産業ロボット
の起動時及び停止時の姿勢に対する上記情報記憶手段の
静負荷値により、上記産業ロボットの関節動作の加速時
間を選択して、上記産業ロボットの駆動手段に速度指令
を発する制御装置とを備えた産業ロボット装置。1. A base end arm mounted on a base via a base end joint and vertically moved by being driven by a base end drive means provided on the base end joint, and rotation of the base end arm. The present invention relates to an industrial robot having a tip arm that is attached to an end through a tip joint and that is driven by tip driving means provided in the tip joint to move in a vertical direction, and a static load torque in an operation area of the base arm. The acceleration time of the joint motion of the industrial robot is selected according to the information storage means and the static load value of the information storage means with respect to the posture of the industrial robot at the time of starting and stopping, and the speed command is given to the driving means of the industrial robot. An industrial robot apparatus having a control device that emits light.
基端関節に設けられた基端駆動手段により駆動されて鉛
直方向に動作する基端腕、及び上記基端腕の回動端に先
端関節を介して装着され、上記先端関節に設けられた先
端駆動手段により駆動されて鉛直方向に動作する先端腕
を有する産業ロボットと、上記基端腕の動作領域内の静
負荷トルクに関する情報を、上記基端腕及び先端腕のみ
で記述された等負荷曲線として記憶し、かつ、上記産業
ロボットの動作範囲内を上記等負荷曲線で複数の区域に
分割して、各上記区域に対応する加速時間を記憶した情
報記憶手段と、上記産業ロボットの起動時及び停止時の
姿勢に対する上記区域に対応した上記情報記憶手段の静
負荷値により、上記産業ロボットの関節動作の加速時間
を選択して上記産業ロボットの駆動手段に速度指令を発
する制御装置とを備えた産業ロボット装置。2. A base arm mounted on a base via a base joint and vertically driven by a base drive means provided on the base joint, and rotation of the base arm. The present invention relates to an industrial robot having a tip arm that is attached to an end through a tip joint and that is driven by tip driving means provided in the tip joint to move in a vertical direction, and a static load torque in an operation area of the base arm. Information is stored as an equal load curve described only by the proximal arm and the distal arm, and the operating range of the industrial robot is divided into a plurality of areas by the equal load curve to correspond to each of the above areas. The acceleration time of the joint movement of the industrial robot is selected by the information storage means that stores the acceleration time and the static load value of the information storage means that corresponds to the area when the industrial robot is started and stopped. The above industries An industrial robot device comprising: a control device that issues a speed command to a driving means of the robot.
基端関節に設けられた基端駆動手段により駆動されて鉛
直方向に動作する基端腕及び上記基端腕の回動端に先端
関節を介して装着され、上記先端関節に設けられた先端
駆動手段により駆動されて鉛直方向に動作する先端腕を
有する産業ロボットと、上記基端腕の動作領域内の静負
荷トルクに関する情報を、上記基端腕及び先端腕のみで
記述して、上記基端関節及び先端関節位置の二次曲線で
近似し演算の高速化を可能とした等負荷曲線として記憶
し、かつ、上記産業ロボットの動作範囲内を上記等負荷
曲線で複数の区域に分割して、各上記区域に対応する加
速時間を記憶した情報記憶手段と、上記産業ロボットの
起動時及び停止時の姿勢に対する上記区域に対応した上
記情報記憶手段の静負荷値により、上記産業ロボットの
関節動作の加速時間を選択して、上記産業ロボットの駆
動手段に速度指令を発する制御装置とを備えた産業ロボ
ット装置。3. A base end arm mounted on a base via a base end joint and vertically driven by a base end drive means provided on the base end joint, and a pivot end of the base end arm. An industrial robot having a distal arm that is mounted on a distal end joint and is driven by distal end driving means provided in the distal joint to move in a vertical direction, and information about static load torque in a motion area of the proximal arm. Is stored only as the proximal arm and the distal arm, is stored as an equal load curve that approximates the quadratic curve of the positions of the proximal joint and the distal joint to enable high-speed calculation, and the industrial robot The operating range of is divided into a plurality of areas by the equal load curve, and the information storage means stores the acceleration time corresponding to each area, and the area corresponding to the posture at the time of starting and stopping the industrial robot. Of the above-mentioned information storage means An industrial robot apparatus comprising: a control device that selects an acceleration time of a joint operation of the industrial robot according to a load value and issues a speed command to a driving unit of the industrial robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4126697A JP2812061B2 (en) | 1992-04-21 | 1992-04-21 | Industrial robot equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4126697A JP2812061B2 (en) | 1992-04-21 | 1992-04-21 | Industrial robot equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05297917A true JPH05297917A (en) | 1993-11-12 |
| JP2812061B2 JP2812061B2 (en) | 1998-10-15 |
Family
ID=14941614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4126697A Expired - Lifetime JP2812061B2 (en) | 1992-04-21 | 1992-04-21 | Industrial robot equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2812061B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016049601A (en) * | 2014-08-29 | 2016-04-11 | 株式会社安川電機 | Teaching system, robot system and teaching method |
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| JPS6231406A (en) * | 1985-08-02 | 1987-02-10 | Matsushita Electric Ind Co Ltd | Positioning controller for articulated robot |
| JPH01156804A (en) * | 1987-12-14 | 1989-06-20 | Fanuc Ltd | Teaching/reproducing method for industrial joint type robot |
| JPH02198785A (en) * | 1989-01-27 | 1990-08-07 | Mitsubishi Electric Corp | Control device for robot |
| JPH03130808A (en) * | 1989-10-17 | 1991-06-04 | Citizen Watch Co Ltd | Method and device for control of robot |
| JPH03290710A (en) * | 1990-04-09 | 1991-12-20 | Toshiba Corp | Industrial robot controller |
-
1992
- 1992-04-21 JP JP4126697A patent/JP2812061B2/en not_active Expired - Lifetime
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6057407A (en) * | 1983-09-06 | 1985-04-03 | Seiko Epson Corp | Robot controller |
| JPS61159390A (en) * | 1984-12-28 | 1986-07-19 | ソニー株式会社 | Method of controlling industrial robot |
| JPS6231406A (en) * | 1985-08-02 | 1987-02-10 | Matsushita Electric Ind Co Ltd | Positioning controller for articulated robot |
| JPH01156804A (en) * | 1987-12-14 | 1989-06-20 | Fanuc Ltd | Teaching/reproducing method for industrial joint type robot |
| JPH02198785A (en) * | 1989-01-27 | 1990-08-07 | Mitsubishi Electric Corp | Control device for robot |
| JPH03130808A (en) * | 1989-10-17 | 1991-06-04 | Citizen Watch Co Ltd | Method and device for control of robot |
| JPH03290710A (en) * | 1990-04-09 | 1991-12-20 | Toshiba Corp | Industrial robot controller |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016049601A (en) * | 2014-08-29 | 2016-04-11 | 株式会社安川電機 | Teaching system, robot system and teaching method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2812061B2 (en) | 1998-10-15 |
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