JPH06277959A - Article installing robot control method and control device - Google Patents

Abstract

PURPOSE:To install various kinds of articles without replacing a hand part. CONSTITUTION:A gripping position of a bracket gripped by a hand part 3 of an installing robot 1 is detected by article gripping position detecting means 7 and 8. This detected article gripping position and a preset article gripping reference position being a reference are compared with each other, and operation is carried out on a dislocated quantity (a dislocated quantity of a distance and a direction) between both positions by a dislocated quantity detecting means 11A. Operation is carried out on a correction quantity according to this operation result, and a driving control means 11B controls an article installing robot 1 in driving according to it. Thereby, the bracket 2 can be installed regardless of the gripping position of the bracket.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method and control device for an article-assembling robot.

[0002]

2. Description of the Related Art Conventionally, when an article assembling robot having a hand portion for gripping an article such as a bracket is used to assemble the article to an assembling portion, the positional deviation of the article caused by handling by the hand portion is A groove or the like for receiving an article is formed on the gripping surface (article contacting surface) of the section to prevent it. When gripping a plurality of types of articles with the same hand part, the gripping surface of the hand part is processed so that all the articles can be gripped. However, as the types of articles increase, the shape of the gripping surface becomes complicated, and it is difficult to design the shape pattern.

Therefore, as described in, for example, Japanese Patent Application Laid-Open No. 4-41133, a scalar type which is provided with a hand portion for gripping a disc and inserts the disc into a shaft mounted on a shaft fixing base. A robot, wherein a sensor for detecting the inclination of the shaft is attached to either one of the shaft fixing base or the band, and the inclination and the insertion position of the hand unit according to the inclination of the shaft detected by the sensor, It is proposed that the insertion direction vector is corrected.

[0004]

However, in such a case, it can be applied only when the article grasped by the hand portion is a disc, and it is applicable to the assembly of many kinds of articles. However, the hand part needs to be replaced for application.

According to the present invention, the hand section is not replaced,
A control method and a control device for an article assembling robot capable of assembling various kinds of articles and reducing the cycle time of the assembling work.

[0006]

According to a first aspect of the present invention, there is provided an article assembling robot having a hand portion for holding an article,
It is premised on a control method of an article assembling robot for assembling an article to an assembling part, which detects an article grasping position of an article grasped by a hand part of the assembling robot, A configuration is used in which the set reference item grip reference position is compared to detect the amount of deviation between the two positions, and the article assembly robot is drive-controlled based on the detection result.

A second aspect of the present invention is premised on a controller for an article assembling robot that assembles an article to an assembled portion by an article assembling robot having a hand portion for gripping the article. Article position detecting means provided on the article contact surface of the hand part of the assembling robot and comprising a plurality of surface pressure sensors, and an article gripping position detected by the article position detecting means upon receipt of a signal from the article position detecting means. Is compared with a preset article gripping reference position as a reference, and a deviation amount calculation means for calculating a deviation amount between both positions, and a calculation result of the deviation amount calculation means upon receiving a signal from the deviation amount calculation means And a control means for driving and controlling the article assembling robot based on the above.

[0008]

According to the invention of claim 1, the article gripping position of the article gripped by the hand portion of the assembling robot is compared with the preset reference article gripping reference position, and the deviation amount between the two positions is compared. Is detected by calculation or the like. Then, based on the detection result, the article assembling robot is drive-controlled so as not to be affected by the deviation amount, and the article is assembled to the assembly target portion.

According to the second aspect of the present invention, the article gripping position is detected by the article position detecting means, which is provided on the article contact surface of the hand portion of the assembling robot and comprises a plurality of surface pressure sensors.
The article gripping position and the preset article gripping reference position, which is a preset reference, are compared by the deviation amount calculating means,
The shift amount between both positions is calculated. Then, based on the result of this calculation, the control means drives and controls the article assembling robot so as not to be affected by the deviation amount, and the article is attached to the assembling portion.

[0010]

Embodiments of the present invention will now be described in detail with reference to the drawings.

In FIG. 1 showing the overall structure, reference numeral 1 is an article assembling robot, which has a hand section 3 for holding a bracket 2 as an article, and the bracket 2 is attached to an assembly section (not shown). It is like this. Above bracket 2
As shown in FIG. 2, a horizontal portion 2a, a vertical vertical wall portion 2b extending vertically above the front portion of the horizontal portion 2a, and a vertical horizontal wall portion 2c extending vertically below both side portions of the horizontal portion 2a.
2c and.

The hand part 3 of the article assembling robot 1 is
As shown in FIG. 3, a body portion 4 attached to the attachment portion 1a of the article-assembling robot 1 and an upper member 5 and a lower member 6 projecting from the attachment portion 4 and vertically displaceable are provided. The article contacting surfaces 5a and 6a of the two members 5 and 6 are provided with article gripping position detecting means 7 and 8 including a plurality of surface pressure sensors, respectively. Then, the signals from the surface pressure sensors of the article gripping position detecting means 7 and 8 are respectively transmitted to the signal lines 9 and 9.
, 10, ... Is input to the control unit 11 and the grip position of the article is detected.
That is, the component contact surfaces 5a and 6a are divided into a large number of areas,
A surface pressure sensor is provided for each area, and the grip position of the article is determined by whether or not each surface pressure sensor receives the surface pressure.

The control unit 11 includes a hand section 3
Receives a signal from the article gripping position detecting means 7, 8 when the bracket 2 grips the bracket 2,
Deviation both calculating means for comparing the article gripping position detected in 8 (see FIG. 4) with a preset standard article gripping reference position (see FIG. 5) and computing the deviation amount between the two. It has 11A. Specifically, the signals from the article gripping position detection means 7 and 8 (surface pressure sensor) are processed as numerical values, and the gripping position of the bracket 2 is divided by performing image processing such as binarization on these numerical data. Will be issued.

Since the position data of the article gripping reference position in the case of the normal gripping is input and stored in advance, these data are compared and the gripping reference of the bracket 2 gripped by the hand unit 3 is compared. The distance and the shift amount of the direction with respect to the position are calculated. 3 and 4
, M1 and M2 are positions where the horizontal portion 2a and the vertical lateral wall portions 2c and 2c are in contact when the bracket 2 is gripped, and M3 and M4 are the horizontal portion 2a and the vertical portion of the bracket 2 when gripping the bracket 2, respectively. This is a reference position where the lateral wall portions 2c, 2c contact.

Then, the drive control means 11B, which receives the signal from the deviation amount calculating means 11A, shifts to the deviation amount calculating means 11A.
The correction amount of the robot 1 with respect to the shift amount is calculated based on the calculation result of (1), and the article assembling robot 1 is drive-controlled. That is, the article grip reference position (see FIG.
(Refer to FIG. 4), the assembling program in the case of being gripped at the reference position is corrected on the basis of the direction and the displacement of the position with respect to the reference position. As in the case where the article is gripped at the reference position for gripping the article, it is assembled to the assembly target part.

Next, the flow of processing will be described with reference to FIG.

When started, the hand unit 3 of the robot 1
The bracket 2 is gripped by (step S1), and then the surface pressures of the article contacting surfaces 5a, 6a are measured by the article gripping position detecting means 4, 4 (surface pressure sensor) (step S2).

Then, based on the measured surface pressure. The gripping position of the bracket 2 is determined (step S3),
Whether or not the gripping position is the proper gripping reference position is determined on the basis of the position data about the regular gripping reference position that is the reference that is input in advance (step S4).

If it is a normal grip reference position, normal robot control is performed according to a program stored in advance (step S5), and if it is not the normal grip reference position, the distance to the normal grip reference position is reached. And an angle deviation amount, and a correction amount based on the calculated deviation amount (step S6). Based on the correction amount, a prestored program is corrected, and robot control is performed according to the corrected program (step S6). S7) and the process ends.

Specifically, the calculation of the correction amount is performed as follows. That is, first, since the shape of the bracket 2 is known in advance, the reference corner portion of the bracket 2 is detected by a signal from the article gripping position detection means 4 and 4 while the bracket 2 is gripped, and the bracket 2 is gripped properly. In this case, it is compared with the position with the reference corner portion in the case, and the amount of deviation of the distance from the position in the case of the normal grip is detected. Further, by detecting the corner portion, the relationship between the corner portion of the bracket 2 and the position of the vertical vertical wall portion 2b is compared with the positional relationship between the position of the corner portion and the vertical vertical wall portion when the bracket 2 is properly gripped. Then, the amount of deviation of the angle from the position in the case of being properly gripped is detected. Incidentally, in order to detect the deviation of the angle, a mounting screw hole or the like can be used instead of the vertical vertical wall portion 2b.

As a result, regardless of the grip position of the bracket 2 by the hand portion 3, the bracket 2 can be assembled to the assembly target portion in the same manner as when the brat 2 is gripped at the regular grip reference position. You can

In the above embodiment, the upper member 5 and the lower member 6
The article contacting surfaces 5a and 6a are provided with article gripping position detection means 7 and 8 each including a plurality of surface pressure sensors.
The article gripping position detection means may be provided in only one of them to detect the gripping position of the article.

[0023]

As described above, the invention according to claim 1 detects the article gripping position by the article gripping position detecting means, and compares it with a preset reference article gripping reference position to shift the two positions. It detects the amount and drives and controls the article assembling robot based on this detection result, so that it is possible to assemble multiple types of articles with a single hand part, and replace the hand part. Because I will not do such things.
The cycle time of assembly work can be shortened.

According to the invention of claim 2, the above effects can be achieved with a simple structure.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a control device of an article assembling robot.

FIG. 2 is a perspective view of a hand unit and a bracket.

FIG. 3 is a detailed view of a hand unit.

FIG. 4 is an explanatory diagram of surface pressure distribution.

FIG. 5 is an explanatory diagram of a surface pressure distribution at a normal grip reference position.

FIG. 6 is a flowchart showing a control flow.

[Explanation of symbols]

 1 Robot for assembling article 2 Bracket (article) 3 Hand part 5a, 6a Article contact surface 7,8 Article gripping position detection means 11 Control unit 11A Displacement amount detection means 11B Drive control means

Claims (2)

[Claims] 1. A method of controlling an article assembling robot, wherein an article assembling robot having a hand portion for gripping an article, assembles an article to an assembling portion, the method comprising: gripping by a hand portion of said assembling robot. The article gripping position of the article is detected, the article gripping position is compared with a preset reference article gripping reference position, the shift amount between the two positions is detected, and the article group is based on the detection result. A method for controlling an article-assembling robot, characterized by drivingly controlling an accessory robot. 2. A control device for an article assembling robot that attaches an article to an assembling section by an article assembling robot having a hand section for gripping the article, the article abutting section of the hand section of the assembling robot. An article position detecting means provided on the surface and comprising a plurality of surface pressure sensors, an article gripping position detected by the article position detecting means upon receiving a signal from the article position detecting means, and an article serving as a preset reference A displacement amount calculating means for comparing a grip reference position and a displacement amount of both positions, and a signal from the displacement amount calculating means, and driving the article assembling robot based on the calculation result of the displacement amount calculating means. A control device for an article-assembling robot, comprising: control means for controlling.