JPH08112790A - Work robot - Google Patents

Abstract

PURPOSE: To eliminate the necessity for individually assigning various parameters in each work kind by providing a parameter assigning means of assigning the parameter in a tool table and an operating table. CONSTITUTION: By a parameter assigning means 11, a work kind and tool kind are assigned to specify work from a work table 12. A tool control condition is assigned to specify a control condition from an operating table 14. Further by assigning the tool kind and a tool use condition, a tool in use and the use condition are specified from a tool table 13. Since a parameter, necessary to be set for performing desired work in a work robot, is classified into the work table 12, operating table 14 and the tool table 13, necessity for individually assigning various parameters in each work kind is eliminated, and by only assigning a thus limited small number of the parameters by a user, the desired work can be performed in the work robot.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work robot,
In particular, the present invention relates to a work robot that performs work such as polishing, grinding, and deburring.

[0002]

2. Description of the Related Art A conventional work robot has various parameters such as a gain setting, a pressing force setting, a pressing direction setting, and a force detection direction setting. Each had to be specified individually. For example, when pressing a tool vertically to the surface of the workpiece with 1 kg, set the force to 1 kg, and further, depending on the tool currently in use, the point of action of the tool and the pressing direction, force detection direction, etc. Had to be set in an appropriate coordinate system.

Further, it is desirable to be able to select the optimum control law such as PID and the control gain according to the type of work. However, in the conventional work robot, it is not easy to select the control law and the control gain, and even if it is possible, a complicated work of directly inputting the gain numerically is required.

[0004]

In the conventional work robot, it is necessary to individually specify various parameters for each work type to be specified, and the setting is complicated. For example, in the case of using a tool such as a disc grinder, the position of the tool action point greatly changes depending on whether the tip of the disc is used or the right end or the left end is used. Further, even when the same disk grinder is used, the control law changes depending on whether the target work is a surface polishing work or a cutting work. Further, even when the same work is performed, the control gain changes if the tool used is different.

As described above, the conventional work robot has a problem that it is necessary for the user to set various changing parameters according to the tool used, the type of work, the point of action, and the like. This has caused a situation in which the work robot is not sufficiently used by the user.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to solve the above problems of the prior art and to provide a work robot which does not need to individually specify various parameters for each work type.

[0007]

In order to achieve the above object, a work robot according to the present invention is a work robot equipped with a robot language interpreting device for interpreting a plurality of parameters necessary for selecting and executing a desired work. Then, the robot language interpretation device, a work table having a work type and a tool type as parameters, a tool table having a tool type and a tool use condition as parameters, and an operation table having a tool control condition as a parameter, And a parameter designating unit for designating parameters in the work table, the tool table and the operation table.

Further, it is preferable that the work table has, as parameters, a work type such as polishing, grinding or deburring, and a tool type such as a grinder, a fiber disk or a cylindrical file.

Further, it is preferable that the tool table has parameters such as a tool type such as a grinder, a fiber disk or a cylindrical file, and tool use conditions such as a mass of the tool and an action point.

Further, it is preferable that the operation table uses tool control conditions such as a pressing direction, a control law or a control gain as parameters.

According to the present invention, automatically changing parameters as described above according to work, tool, working point, etc. (control law by work, control gain by tool, working point)
To decide. For that purpose, a work table is built-in that links the combination of changing factors such as work, tools, and action points with the corresponding parameter table for operation such as control law and control gain. This table holds the mass of the tool and the coordinate values of the point of action of the tool. When the user specifies the work, tool, action point, etc., parameters necessary for operation such as control law, control gain, pressing direction, coordinate value of action point, tool mass, etc. can be calculated from this work table. There is.

[0012]

With the parameter designating means, the work type and the tool type are designated to specify the work from the work table, the tool control conditions are designated to specify the control condition from the operation table,
The tool to be used and the usage condition are specified from the tool table by specifying the tool type and the tool usage condition. The parameters that need to be set in order for the work robot to perform the desired work are classified into the work table, the motion table, and the tool table, so there is no need to individually specify various parameters for each work type, Is just a small number of parameters like this,
The work robot can be made to perform a desired work.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 is a diagram showing the overall configuration of the work robot of the present invention. In FIG. 2, the work robot includes a robot body 1, a control device 2 for the robot body 1, and a teach pendant 3 that sends an instruction to the control device 2. An end effector 4 for performing work such as grinding on a work object 5 is attached to a hand portion of the robot body 1.

As shown in FIG. 1, a teach pendant 3 is provided.
Is provided with a robot language interpreting apparatus 10 that interprets a plurality of parameters necessary for selecting and executing a desired work.

The robot language interpretation apparatus 10 includes a work table 12, a tool table 13, an operation table 14,
And a parameter designating means 11. The work table 12 includes work types such as polishing, grinding, and deburring,
It has a tool type such as a grinder, a fiber disk or a cylindrical file as a parameter. Tool table 1
The parameter 3 is a tool type such as a grinder, a fiber disk or a cylindrical file, and tool usage conditions such as the mass of the tool and the point of action. The operation table 14 has tool control conditions such as a pressing direction, a control law, and a control gain as parameters. The parameter designating means 11 includes a work table 12, a tool table 13 and an operation table 14.
Parameters for specifying the work switch 11a, the tool switch 11b, and the action point switch 11c.
It has three indicating switches consisting of.

FIG. 3 shows an example of the work table 12. In FIG. 3, a work set is described for each row as a set of four parameters of work, tool, action point, and operation table number. The work set is specified, for example, by pressing each of the work switch 11a, the tool switch 11b, and the action point switch 11c a proper number of times, but specification by a robot language may be performed.

FIG. 4 shows an example of the operation table 14. In FIG. 4, the numbers in the operation table are associated with each other as a set of three parameters of the pressing direction, the number designating the type of control law, and the control gain. To specify the operation table, when the work set is specified in the work table 12, the number of the operation table is automatically specified, and the specific contents are specified in the operation table 14 in correspondence with the specified operation table number. To be done. FIG. 5 shows an example of the tool table 13. In FIG. 5, a tool table is configured as a set of a tool name, a mass, and several parameters of a plurality of action points. The tool table is specified, for example, by pressing each switch of the tool switch 11b and the action point switch 11c a proper number of times, but specification by a robot language may be performed.

Although not described here, there is a possibility that it is necessary to change the control law and the control gain depending on the attribute of the work object 5, for example, hardness. If there are other factors that fluctuate as described above, a table is created for these factors so that the control law or the control gain can be easily changed according to the attribute of the work object 5 by referring to the table. become.

Next, FIG. 7 is a flowchart showing the operating procedure of the work robot. When the user specifies a work, a tool, and an action point, the operation table 14 is determined from the work table 12, and the pressing direction, the control law, the control gain, etc. are determined by referring to the corresponding operation table 14. Further, the coordinate values of the mass and the working point are obtained by referring to the tool table 13 from the designated tool and working point.

Specifically, in FIG. 7, in ST1, the work type, the tool type, and the action point are instructed using the work switch 11a, the tool switch 11b, and the action point switch 11c. As a result, a specific work set is specified from the work table 12. Then ST2
In, the parameter in the operation table 14 is specified corresponding to the number of the operation table in the specified work set. Next, in ST3, the parameters of the specified operation table are read, and the control device 2 is instructed. Similarly, in ST4, the parameters are read from the tool table 13 and instructed to the control device 2 based on the instruction in ST1. Next, in ST5, after waiting for a work instruction, the end effector 4 works on the work target 5 based on the parameter instructed to the control device 2.

Next, an example of a concrete work will be described with reference to FIGS. 2, 6 and 8. Now, an example will be described in which the positions P1 to P2 on the work target 5 are polished by a grinder, and then the final polishing is performed by using a fiber disk. In order to make the work of this embodiment easier to understand, a program required when a conventional work robot performs such work will be described with reference to FIG. In the conventional case, in FIG. 8, after selecting a tool (1), a gain (2) and an action point (3) are set, a pressing direction is defined (4), and the tool is operated (5), Go to P1 (6). After that, the pressing force is set to 1 kg and the pressure goes to P2 (7). next,
After retracting (8) to P3, the tool is stopped (9), and the tool is replaced with a fiber disk (10, 11). Here, since the control gain differs between the work with the grinder and the work with the fiber disk, the gain is redefined (12). Since the point of action is also different, the point of action of the fiber disk is defined (13). Next, the tool is operated (14), and it moves toward P1 (15) and moves to P2 with pressing force of 0.5 kg (16).

On the other hand, in this embodiment, the work is performed according to the program as shown in FIG. In this embodiment, first, the work is defined. Here, polishing work (Grin
d) is defined (1). Next, the tool is defined as a grinder (2), and the point of action is the tip of the grinder (3). After that, the tool is operated (4) and headed for P1 (5). After that, the pressing force is set to 1 kg and the pressure goes to P2 (6). After retracting (7) to P3, stop the tool (8) and switch to a fiber disk (9, 1).
0). Since the grinder and the fiber disk use the same working point (tip) here, it is not necessary to specify the working point, and the coordinate value of the working point is automatically read from the tool table.
Then, the tool is operated (11) and heads to P1 (1
2) Move to P2 with pressing force of 0.5 kg (13).

The present embodiment shown in FIG. 6 will be compared with the conventional example shown in FIG. 8 below. (2) in the conventional example shown in FIG.
The setting of the gain in (12), the setting of the action point in (3) and (13), and the definition of the pressing direction in (4) are complicated for the user. Such complexity is the biggest reason why conventional work robots cannot be used easily. On the other hand, in the program according to the present embodiment shown in FIG. 6, the user automatically specifies the work to be performed by the work robot, the tool to be used, and the action point, and then describes the operation of the work robot. The work can be performed by selecting the pressing direction and control gain suitable for the work. Therefore, the programming required for working with the work robot is simplified, and the complexity is greatly reduced.

As described above, according to the configuration of this embodiment, it is possible to automatically select and set a control gain or the like, which has conventionally required complicated operations or different settings, or the need to switch parameters for each tool. You can As a result,
The user can easily create a necessary program by designating work, tools, points of action, and the like. The user does not need to set various parameters, which are conventionally required, only by designating work, tools to be used, registered tool action points, and the like. These parameters are not originally set by the user, but should be set by the manufacturer, for example. In the present embodiment, the user only has to specify the work, the tool, the action point, and the operation command desired to be performed by the work robot, and does not need to perform the complicated work of setting fine parameters.

In the above description of the embodiment, the robot language interpretation device 10 is provided in the teach pendant 3, but it may be provided in the control device 2, or the teach pendant 3 and the control device 2 may be provided. It may be provided over both.

[0026]

As described above, according to the configuration of the present invention, it is possible to provide a work robot which does not need to individually specify various parameters for each work type.

[Brief description of drawings]

FIG. 1 is a block diagram showing a detailed configuration of a robot language interpretation device in a work robot according to the present invention.

FIG. 2 is a perspective view showing the overall configuration of a work robot.

FIG. 3 is a diagram showing an example of a work table.

FIG. 4 is a diagram showing an example of an operation table.

FIG. 5 is a diagram showing an example of a tool table.

FIG. 6 is a program list for polishing the positions P1 to P2 on the work target 5 with a grinder using the work robot of the present invention, and subsequently performing finish polishing using a fiber disk.

FIG. 7 is a flowchart showing a work procedure of the work robot of the present invention.

FIG. 8 is a program list for polishing a position P1 to P2 on the work target 5 with a grinder using a conventional work robot, and then performing a final polishing using a fiber disk.

[Explanation of symbols]

 1 Robot Main Body 2 Controller 3 Teach Pendant 4 End Effector 5 Work Object 10 Robot Language Interpreter 11 Parameter Designator 12 Work Table 13 Tool Table 14 Operation Table

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Taku Yoshimi Komukai-shi, Kawasaki-shi, Kanagawa 1 Komatsu Toshiba Research and Development Center, Toshiba Corp. Muko Toshibacho 1 Co., Ltd. Toshiba Research and Development Center (72) Inventor Yasuhiko Tamada 2068-3 Ooka, Numazu-shi, Shizuoka Toshiba Machine Co., Ltd. Numazu Office

Claims (4)

[Claims] 1. A work robot comprising a robot language interpreting device for interpreting a plurality of parameters necessary for selecting and executing a desired work, wherein the robot language interpreting device uses a work type and a tool type as parameters. A working table having the tool table, a tool table having a tool type and a tool use condition as parameters, an operation table having a tool control condition as a parameter, and a parameter specifying means for specifying parameters in the work table, the tool table and the operation table. A working robot comprising: 2. The work according to claim 1, wherein the work table has, as parameters, a work type such as polishing, grinding or deburring, and a tool type such as a grinder, a fiber disk or a cylindrical file. robot. 3. The work according to claim 1, wherein the tool table has as parameters the tool type such as a grinder, a fiber disk or a cylindrical file, and tool usage conditions such as a mass of the tool and a working point. robot. 4. The work robot according to claim 1, wherein the operation table has tool control conditions such as a pressing direction, a control law, and a control gain as parameters.