JPH09193067A - Robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a robot from being interfered with obstacles while being moved by performing processes one by one according to orders that only the action of a robot main body is memorized in memory means, by an operating switch equipped to operating means. SOLUTION: A control mode selecting switch 114a, a forward operating switch 114b, a backward operating switch 114c, a cramp operating switch 114d and an uncramp operating switch 114d are equipped to an operating panel 114. When an automatic mode is selected by the control mode selecting switch 114a, a robot device is functioned according to action orders that the action of a robot main body and a holding part is memorized in a ROM. When a manual mode is selected, processes are executed one by one according to action orders that action of only the robot main body is memorized in the ROM by operating the forward operating switch 114b and the backward operating switch 114c. Hereby, a moving target point number is no more required to be set, and even though the moving target point is set, a robot can be prevented from interfered with obstacles while being moved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot device for performing various kinds of work.

[0002]

2. Description of the Related Art Conventionally, a robot main body is provided with a gripping portion for gripping an article, and a control means for controlling the operation of the robot main body and the gripping portion. A robot apparatus having a storage unit that inputs and stores an operation command according to the operation order of the grip unit and an operation unit that operates the robot according to the operation order stored in the storage unit is known.

An operation panel for controlling a robot in such a conventional robot apparatus is shown in FIGS. 8 and 9.

FIG. 8 is a front view of an operation panel for controlling a robot in a conventional robot apparatus. In FIG. 8, 7 is an operation panel, 701 is a control mode selection switch for selecting the control mode of the robot, and 702 is. A target movement point number setting switch for setting a movement target point number of the robot, 703 a point movement operation switch for instructing movement of the robot point, 704 a clamp operation switch for clamping the grip portion, and 705 for unclamping the grip portion. It is an unclamping operation switch for setting the state.

Further, FIG. 9 is a front view of an operation panel for robot control in a conventional robot apparatus different from that of FIG. 8, in which 8 is an operation panel and 801 is a control for selecting a control mode of the robot. A mode selection switch, 802 is a P (1) operation switch for instructing movement of the robot to point P (1), 803 is a P (2) operation switch for instructing movement of the robot to point P (2), and 804 is P (3) operation switch for instructing movement of the robot to point P (3), 805 for P (4) operation switch for instructing movement of the robot to point P (4), and 806 for clamping the grip portion. The clamp operation switch 807 is an unclamp operation switch that puts the grip portion in an unclamped state.

In the case of the operation panel 7 shown in FIG. 8, the movement target point number is set by operating the movement target point number setting switch 702, and the robot is moved to the target point position by operating the point movement operation switch 703. It is something to move.

In the case of the operation panel 8 shown in FIG. 9,
Point P by operating the P (1) operation switch 802
(1) The robot is moved to the position, the P (2) operation switch 803 is operated to move the robot to the point P (2) position, and the P (3) operation switch 804 is operated to move the robot to the point P (3) position. To move P (4)
The operation switch 805 is operated to move the robot to the point P (4) position.

[0008]

However, the above-mentioned conventional operation panel 7 shown in FIG. 8 has the following problems.

(1) It is necessary to set the movement target point number by operating the movement target point number setting switch 702.

(2) Since it is possible to set a movement target point other than the movement order, the robot may interfere with an obstacle while moving to the movement target point.

Further, the above-mentioned conventional operation panel 8 shown in FIG. 9 has the following problems.

(1) It is necessary to provide many operation switches for moving the robot to each point position.

(2) Since it is possible to set the movement target point other than the movement order, the robot may interfere with the obstacle during the movement to the movement target point.

The present invention has been made in view of the above-mentioned problems of the above-mentioned conventional technique, and the purpose thereof is to eliminate the need to set the movement target point number and the position of each point. It is an object of the present invention to provide a robot apparatus which does not need to be provided with a large number of operation switches for moving the robot and which does not interfere with an obstacle while the robot moves to a movement target point.

[0015]

In order to achieve the above object, a robot apparatus according to a first aspect of the present invention is a robot having a grip portion for gripping an article in a robot main body, operation control of the robot main body, and the grip. And a storage unit for inputting and storing an operation command according to the operation order of the gripping unit, and for operating the robot according to the operation order stored in the storage unit. In a robot apparatus having an operating means, it is possible to cause only the operation of the robot body to be performed step by step in accordance with the order stored in the storing means by an operating switch provided in the operating means. It is a thing.

To achieve the same object, the robot apparatus according to a second aspect of the present invention is the robot apparatus according to the first aspect, wherein the operation switch has two functions, forward and backward, and when the forward function is selected. Is capable of causing only the operation of the robot body to be carried out step by step according to the order stored in the storage means, and when the retreat function is selected, the steps are carried out step by step according to the order stored in the storage means. It is characterized in that it is possible to perform only the operation of the robot main body in the opposite manner to when the forward movement function is selected.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a block diagram showing the configuration of a robot apparatus according to an embodiment of the present invention. In the figure, 101 is a robot, and a robot body 101
a and a gripper (hand) 101b for gripping an article. 102 is a CPU (central processing unit) that controls the entire apparatus, 103 is a ROM (read-only memory) that stores the control contents of the robot 101, and 104 is a RAM that stores operation commands and the like for the robot body 101a and the grip portion 101b. (Read / write memory), 105 is a bus for connecting the constituent elements (101 to 104, 106 to 109) of this apparatus, 106 is an interface (I / F) with a robot drive motor and encoder signal, 107 is a solenoid valve, etc. Interface with (I / F), 108
Is an interface (I /
F) and 109 are interfaces (I / I) with the operation panel.
F), 110 is a robot driving motor that operates the robot 101, 111 is an encoder that detects the position of the robot driving motor 110, 112 is a solenoid valve that operates the grip 101b, and 113 is grip 101b
A limit switch for detecting the position of the robot 101 and an operation panel 114 for operating the robot 101.

As shown in FIG. 2, the operation panel 114 has a control mode selection switch 114a for selecting the control mode of the robot 101, a forward operation switch 114b for moving the robot 101 forward, and a backward movement for moving the robot 101 backward. Operation switch 114c and grip 101
Clamp operation switch 1 to clamp b
14d and an unclamping operation switch 114d for putting the grip portion 101b into an unclamping state.

Then, the control mode selection switch 114a
When the automatic mode is selected by the robot device, the robot device operates the ROM main body 101a and the grip portion 101b in the ROM 103.
When the manual mode is selected and the manual operation mode is selected, the operation of the forward operation switch 114b and the backward operation switch 114c causes only the robot main body 101a to perform an operation step by step according to the operation order stored in the ROM 103.

FIG. 3 is a diagram showing the operation of the robot body 101a and the grip portion 101b. In FIG. 3, the robot body 101a is rotatable in a horizontal plane, and the grip portion 101b is of the robot body 101a. It is attached to the tip end portion so as to be rotatable in the horizontal plane and movable in the vertical direction.

Further, in FIG. 3, reference numeral 201 designates the grip portion 10.
This work 20 can be detachably attached to the work 1b.
1 is moved by the robot body 101a and the grip portion 101b. Further, in FIG. 3, 202 is a sky point of the moving point P (2) 203, and 203 is the grip portion 10.
1b is a movement point of the robot body 101a when clamping the work 201, and 204 is a movement point P
(4) 205 sky point, 205 gripping part 101b
This is the movement point of the robot body 101a when the work 201 is unclamped.

Next, the operation of the robot 101 will be described with reference to FIGS. FIG. 4 is a flowchart showing the operation control procedure of the robot body 101a and the grip portion 101b.

In step S401 of FIG. 4, the robot body 101a located at the moving point P (1) 202 of FIG.
Moves to the moving point P (2) 203. In the next step S402, the gripper 101b clamps the work 201. Next, at step S403, the moving point P (2)
The robot body 101a located at 203 moves to the movement point P (1) 202. Then step S404
Then, the robot body 101a located at the movement point P (1) 202 moves to the movement point P (3) 204. Next, at step S405, the moving point P (3)
The robot body 101a located at 204 moves to the movement point P (4) 205. Next, in step S406, the gripper 101b unclamps the work 201.

Next, at step S407, the moving point P
(4) The robot body 101a located at 205 moves to the movement point P (3) 204. Next, step S4
At 08, the robot body 101a located at the movement point P (3) 204 moves to the movement point P (1) 202, and then this processing operation ends.

FIG. 5 shows the robot body 101 in FIG.
It is a flow chart which shows the operation control procedure of only a. Step S501 in the figure is step S501 in FIG.
401, step S502, step S403, step S503, step S404, and step S50.
4 is the same as step S305, step S505 is the same as step S307, and step S506 is the same as step S308.

6 and 7 are flowcharts showing the operation control procedure of the robot body 101a by operating the forward operation switch 114b and the backward operation switch 114c of the operation panel 114. Step S603 in FIG.
And step S620 corresponds to step S50 in FIG.
1, and step S606 and step S6 in FIG.
21, step S502 in FIG. 5, step S609 and step S622 in FIG. 6, step S503 in FIG. 5, and step S61 in FIG.
2 and step S623 in FIG. 7 is step S504 in FIG. 5, and step S615 and step S624 in FIG. 7 are step S505 in FIG.
Then, step S618 in FIG. 7 and step S619 in FIG. 6 are the same as step S506 in FIG.

In FIG. 6, it is determined in step S601 whether or not the reverse operation switch 114c has been operated. If it has been operated, the process proceeds to step S619, and the robot body 1
01a, that is, after moving from the moving point P (3) 204 to the moving point P (1) 202, the process proceeds to step S616 of FIG. 7 described later. If the reverse operation switch 114c is not operated in step S601 of FIG. 6, the forward operation switch 11 is operated in step S602.
4b is operated, and if not operated, the process returns to the step S601, and if operated, the process proceeds to step S603 to perform one step of the robot body 101a, that is, the moving point P (1) 202 to the moving point P.
(2) After moving to 203, the process proceeds to step S604.

In step S604, it is determined whether or not the backward operation switch 114c has been operated. If so, the process proceeds to step S620 and the robot body 101a.
1 step, that is, after moving from the moving point P (1) 202 to the moving point P (2) 203, the above step S6
Return to 01. If the reverse operation switch 114c is not operated in step S604, step S
In 605, it is determined whether or not the forward operation switch 114b has been operated. If not operated, the process returns to step S604, and if it is operated, the process proceeds to step S606 to perform one step of the robot body 101a, that is, the movement point P (2).
After moving from 203 to the moving point P (1) 202,
It proceeds to step S607.

In step S607, it is determined whether or not the backward operation switch 114c has been operated. If the reverse operation switch 114c has been operated, the process proceeds to step S621, and the robot body 101a.
1 step, that is, after moving from the moving point P (2) 203 to the moving point P (1) 202, the step S6
Return to 04. If the reverse operation switch 114c is not operated in step S607, the process proceeds to step S607.
In 608, it is determined whether or not the forward operation switch 114b has been operated. If not operated, the process returns to step S607, and if it is operated, the process proceeds to step S609 to perform one step of the robot body 101a, that is, the movement point P (1).
After moving from 202 to movement point P (3) 204,
It proceeds to step S610.

In step S610, it is determined whether or not the backward operation switch 114c has been operated. If the reverse operation switch 114c has been operated, the process proceeds to step S622, and the robot body 101a.
1 step, that is, after moving from the moving point P (1) 202 to the moving point P (3) 204, the above step S6
Return to 07. If the reverse operation switch 114c is not operated in the step S610, the step S
In 611, it is determined whether or not the forward operation switch 114b has been operated. If not operated, the process returns to step S610, and if operated, the process proceeds to step S612 to perform one step of the robot body 101a, that is, the movement point P (3).
After moving from 204 to moving point P (4) 205,
It progresses to step S613 of FIG.

In step S613, it is determined whether or not the reverse operation switch 114c has been operated. If it has been operated, the process proceeds to step S623, and the robot body 101a.
1), that is, after moving from the moving point P (3) 204 to the moving point P (4) 205, the process returns to step S610 in FIG. In addition, step S613 of FIG.
If the backward operation switch 114c is not operated in step S614, it is determined whether or not the forward operation switch 114b is operated in step S614. If not, the process returns to step S613, and if it is operated, step S615 is performed.
After proceeding to step 1 of the robot body 101a, that is, moving from the moving point P (4) 205 to the moving point P (3) 204, the process proceeds to step S616.

In step S616, it is determined whether or not the reverse operation switch 114c has been operated. If it has been operated, the process proceeds to step S624 and the robot body 101a.
1 step, that is, after moving from the moving point P (4) 205 to the moving point P (3) 204, the above step S6
Return to 13. If the reverse operation switch 114c is not operated in step S616, step S
At 617, it is determined whether or not the forward operation switch 114b has been operated. If not operated, the process returns to step S616, and if it is operated, the process proceeds to step S618, and one step of the robot body 101a, that is, the movement point P (3).
After moving from 204 to the moving point P (1) 202,
The process returns to step S601.

By the above procedure, the robot body 101a
Only the above operation is performed step by step. In addition, the robot body 10
It is also possible to perform only the operation of 1a step by step in the forward direction or the reverse direction.

[0034]

As described in detail above, according to the robot apparatus of the first aspect of the present invention, only the operation of the robot body is operated according to the order stored in the storage means by the operation switch provided in the operation means. An effect that it can be performed step by step is achieved.

According to a second aspect of the robot apparatus of the present invention, in the robot apparatus according to the first aspect, the operation switch has two functions of forward and backward, and when the forward function is selected, It is possible to cause only the operation of the robot body to be carried out step by step according to the order stored in the storage means, and when the retreat function is selected, the robot is carried out step by step according to the order stored in the storage means. Since it is possible to perform only the operation of the main body in the opposite manner to when the forward movement function is selected, only the operation of the robot main body is performed in the order stored in the storage means, or the stored operation is performed. This has the effect that the steps can be performed in the reverse order.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a robot apparatus according to a first embodiment of the present invention.

FIG. 2 is a front view showing a configuration of an operation panel in the robot apparatus.

FIG. 3 is a diagram showing operations of a robot body and a grip portion in the robot apparatus.

FIG. 4 is a flowchart showing an operation control procedure of a robot body and a grip portion in the robot apparatus.

FIG. 5 is a flowchart showing an operation control procedure of a robot body in the robot apparatus.

FIG. 6 is a flowchart showing an operation control procedure of a robot body in the robot apparatus.

FIG. 7 is a flowchart showing an operation control procedure of a robot body in the robot apparatus.

FIG. 8 is a front view showing a configuration of an operation panel in a conventional robot device.

9 is a front view showing a configuration of an operation panel in a conventional robot apparatus different from the conventional robot apparatus shown in FIG.

[Explanation of symbols]

 1 Robot Device 101 Robot 101a Robot Main Body 101b Grip 102 CPU (Control Unit) 103 ROM 104 RAM 114 Operation Panel 114a Control Mode Selection Switch 114b Forward Operation Switch 114c Reverse Operation Switch 114d Clamp Operation Switch 114e Unclamp Operation Switch

Claims (2)

[Claims] 1. A robot comprising a robot main body provided with a gripping part for gripping an article, and control means for controlling the operation of the robot main body and the gripping part. The control means comprises the gripping part. In a robot apparatus having storage means for inputting and storing operation commands in accordance with the operation order of, and operation means for operating the robot according to the operation order stored in the storage means, an operation switch provided in the operation means is used to A robot apparatus, wherein only the operation of the robot body can be performed step by step according to the order stored in the storage means. 2. The operation switch has two types of forward and backward movements.
There are two functions, and when the forward movement function is selected, only the operation of the robot body can be performed step by step according to the order stored in the storage means, and when the backward movement function is selected, the memory is stored. 2. The robot apparatus according to claim 1, wherein only the operation of the robot main body can be performed step by step according to the order stored in the means, which is opposite to that when the advance function is selected.