JPH10187221A - Assistant arm having track regulation function - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate the carriage of a work even in a narrow space and also to improve both safety and working efficiency when the work is carried by detecting the work carrying positions and controlling the turning ranges of plural arms in order to carry the work on a prescribed path. SOLUTION: An arm attitude detection encoders 20E, 30E, and 40E detect the turning positions of a Z shaft arm 20, an A shaft arm 30 and a B shaft arm 40 respectively, and an arm attitude detection encoder 50E detects the turning position of a handle 50. The carrying positions of a work 7 are operated based on the value of the encoders 20E to 50E respectively. Then the set position of every mechanical stopper is controlled in accordance with each carrying position of the work 7 to set an operation allowance range of the work 7. Thus, an operator can carry the work 7 regardless of the obstacles existing out of its operation allowance range.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an assisting arm having a function of restricting a moving range according to a position of a working point of the assisting arm.

[0002]

2. Description of the Related Art For example, in the production of automobiles and the like,
Japanese Patent Application Laid-Open Nos. Hei 6-87476 and Hei 7-8776 have disclosed a method for reducing the work load of an operator such as mounting a heavy object in a vehicle.
An operation assisting device (referred to as an assisting arm in this specification) as disclosed in Japanese Patent Application Laid-Open No. 61799/1995 and Japanese Patent Application Laid-Open No. 7-112337 is used.

[0003]

However, in such a conventional assisting arm, at the work point of the work, the arm can be locked so that the work can be mounted at a predetermined position, Although the swing can be regulated to prevent the work from oscillating, it is completely free on the path along which the work is being conveyed. There is a danger that the workpiece may be damaged by hitting or rubbing with another production machine.

Normally, a worker transfers a work while paying attention to prevent this from happening. However, when a very heavy work needs to be transferred in a small place, inertia of the work is required. Due to its large mass, great care must be taken in transporting the workpiece to prevent it from hitting and avoiding injuries during transport, which can cause operator fatigue. Or cause the work efficiency to deteriorate.

To solve such a problem, one method is to use an industrial robot. However, when the work of mounting a work in the vehicle interior is very difficult for the robot, Although not all tasks can be performed by a robot alone, joint work between a robot and a worker is eventually required, but there is a problem in realizing such a joint task from a safety aspect.

According to the present invention, by further improving the conventional assisting arm, it is possible to facilitate the transfer of a work even in a small place, and to improve the safety during transfer and improve the work efficiency. The purpose of the present invention is to provide an assisting arm with a trajectory regulating function that can perform the movement.

[0007]

The present invention for achieving the above object is constituted as follows for each claim.

According to the first aspect of the present invention, in the assisting arm composed of a plurality of arms, the plurality of arms are detected by detecting a transfer position of the work so that the work is transferred along a predetermined path. A control means for controlling each rotation range is provided.

When a worker transports a work by using the assisting arm, the worker cannot freely transport the work anywhere, and the worker can transfer the work within the rotation range of the arm regulated according to the transfer position of the work. Can be used to carry the work.

[0010] Therefore, the rotation range of each arm is controlled so that the transfer trajectory of the work does not collide with the surrounding obstacles. Therefore, the worker takes care not to collide with the obstacles. There is no need to transport the work, and work efficiency can be improved.

According to the second aspect of the present invention, in the assisting arm including a plurality of arms, a turning position detecting means for detecting a turning position of the plurality of arms, and the turning position detecting means Transfer position calculating means for calculating a transfer position of a workpiece based on the rotation position of each arm detected by the control unit; and a regulating member for mechanically restricting a rotation range of at least one of the plurality of arms. A regulating member position detecting means for detecting a setting position of the regulating member,
Storage means for storing a positional relationship between the work transfer position and the regulating member of each arm; driving means for driving the regulating member; and the storage means based on the work transfer position calculated by the transfer position calculation means. And control means for controlling the driving means so as to set the regulating member at a set position corresponding to the transfer position of the work.

[0012] Where the work transfer position is now,
It is calculated based on the rotation position of each arm. The setting position of the regulating member is calculated based on data stored in the storage unit based on the transfer position of the work. For this reason,
The rotation position of each arm is regulated according to the transfer position of the work.

Therefore, the rotation range of each arm is controlled so that the workpiece transfer trajectory does not collide with the surrounding obstacles. Therefore, the worker pays attention so as not to hit the obstacles. There is no need to transport the work, and work efficiency can be improved.

According to a third aspect of the present invention, in addition to the constituent elements of the second aspect of the present invention, a teaching button for further teaching a transfer position of the work and an allowable operation range at the transfer position. Wherein the control means further has a function of, when the teach button is pressed, storing the work transfer position and the allowable operation range of the work calculated by the transfer position calculation means in the storage means. It is characterized by.

In order to teach a worker to regulate the transfer position of the work, the worker actually moves the work by hand and presses a teach button in order to teach the transfer trajectory. Thus, the current transfer position of the work is stored in the storage unit as the rotation position of each arm, and at the same time, the allowable operation range is also stored in the storage unit.

As described above, if the teaching is made possible, it is possible to flexibly respond to the need to change the work locus due to a layout change, etc. Can be easily set.

According to a fourth aspect of the present invention, in addition to the configuration of the third aspect, an operation mode switch for switching between an operation mode and a teaching mode is further provided. When the operation mode is switched by the switch, the storage unit is referred to based on the transfer position of the work calculated by the transfer position calculation unit, and the regulating member is set to a set position corresponding to the transfer position of the work. When the teaching mode is switched to the teaching mode, when the teaching button is pressed, the transfer position of the workpiece and the allowable operation range calculated by the transfer position calculation unit are stored. It is characterized in that it is stored in a means.

By switching the operation mode switch to the operation mode in this way, the transfer range of the work is regulated based on the data stored in the storage means, and by switching the operation mode switch to the teaching mode, the storage means is switched. Can be rewritten to set a new work transfer range.

According to a fifth aspect of the present invention, in the assisting arm composed of a plurality of arms, a brake means attached to a rotating shaft of each of the plurality of arms, and a rotational position of the plurality of arms. Rotation position detection means for detecting the rotation position of each arm detected by the rotation position detection means, a transfer position calculation means for calculating the transfer position of the work, the transfer position of the work and the Storage means for storing relational data with respect to the operation allowable range at the transfer position; and reference to the relational data of the storage means based on the transfer position of the work calculated by the transfer position calculation means. Control means for activating at least one brake when the value falls outside the allowable range.

The transfer position of the work is calculated based on the rotation position of each arm. When the calculated work transfer position is out of the operation allowable range, the brake means is operated, and the movement of the work is regulated.

As described above, since the rotation of each arm is controlled so that the workpiece transfer trajectory does not collide with the surrounding obstacles, the worker takes care not to hit the obstacles. Thus, there is no need to transport the work, and the work efficiency can be improved.

According to a sixth aspect of the present invention, in addition to the constituent elements of the fifth aspect of the present invention, a teaching button for teaching a transfer position of the work and an allowable operation range at the transfer position. Wherein the control means further has a function of, when the teach button is pressed, storing the work transfer position and the allowable operation range of the work calculated by the transfer position calculation means in the storage means. It is characterized by.

When the operator teaches the allowable operation range of the work, the operator actually moves the work by hand and presses a teach button to indicate the limit of the allowable operation. Thereby, the allowable operation range of the work is stored in the storage unit.

As described above, if the teaching can be performed, it is possible to flexibly cope with a case where it is necessary to change the work trajectory due to a layout change or the like. Can be easily set.

According to a seventh aspect of the present invention, in addition to the components of the sixth aspect of the present invention, there is further provided an operation mode switch for switching between an operation mode and a teaching mode. When the operation mode switch is set to the operation mode, the relational data in the storage unit is referred to based on the transfer position of the work calculated by the transfer position calculation unit, and the transfer position of the work is out of the allowable operation range. When at least one brake is actuated, while the teaching mode is being switched, when the teaching button is pressed, the transfer position of the work calculated by the transfer position calculation means and the allowable operation range Are stored in the storage means.

By switching the operation mode switch to the operation mode in this way, the transfer range of the work is regulated based on the relational data stored in the storage means.
Further, by switching the operation mode switch to the teaching mode, the data stored in the storage means can be rewritten and a new work transfer range can be set.

According to an eighth aspect of the present invention, in the fifth aspect of the present invention, the brake means has a cutout for partially accommodating a rotation regulating projection formed on a part of the arm. A disk rotatably mounted on the rotation shaft of the arm such that the rotation regulating projection is housed in the notch, and a brake pad and a caliper for stopping the disk. I do.

The projection for regulating the rotation of the arm is accommodated in the notch of the disk, and the rotation of the arm causes the projection to rotate the disk. Therefore, when the disc is braked, the movement of the arm is restricted by the notch, and the work is prevented from moving out of the allowable operation range.

With such a configuration, the same operation can be obtained with a simple configuration as compared with the inventions described in claims 2 to 4.

According to the ninth aspect of the present invention, in the invention of the eighth aspect, the notch for accommodating the rotation regulating projection formed on a part of the arm has the disk stopped. Even in such a case, when the work comes out of the operation allowable range due to an overrun due to the operation delay of the brake means, there is a rotation width enough to pull the work back into the operation allowable range. It is characterized by doing.

When the work goes out of the allowable operation range, the brake is automatically applied. However, when the work is transported at a high speed or the work is heavy, the brake is applied before the work is applied. An overrun is expected before actually stops. If the overrun distance is large, the work cannot be positioned within the allowable operation range even if the work is pulled back, and the brake remains applied.

However, if a certain rotation width (play) is provided in the notch as described above, the work can be easily pulled back into the allowable operation range even when overrun occurs, and the brake is automatically activated. Since it can be released, the usability is improved. However, if the rotation width is set too large, the width of the substantial work transfer trajectory will be widened, and the original object of the present invention (prevention of interference with other production machines, etc.) may not be achieved. Therefore, care must be taken in setting this rotation width. Similarly, it is important to set the operation allowable range to be extended in consideration of the rotation width.

[0033]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of an assisting arm with a trajectory regulating function according to the present invention will be described in detail. FIG. 1 is a side view of an assisting arm with a trajectory regulating function according to the present invention, and FIG. 2 is a top view of the assisting arm.

As shown in FIGS. 1 and 2, the assisting arm is attached to a base 10, and a Z-axis arm 20 which is rotatable about the base 10 as a fulcrum, and a Z-axis A-axis arm 3 attached to one end of arm 20 and rotatable in the horizontal direction about Z-axis arm 20
And a B-axis arm 40 attached to one end of the A-axis arm 30 and also rotatable in the horizontal direction about the A-axis arm 30 as a fulcrum. And a hand (C-axis) 50.

Although not shown, the assisting arm is provided with a gravity balance mechanism, and the weight of the work held by the hand 50 is balanced by the gravity balance mechanism. Therefore, even if the work is heavy, the work vinegar can be conveyed only by applying light force.

In this assisting arm, a mechanical stopper, which is a regulating member, and an encoder for detecting the posture of the arm, which is a rotation position detecting means, are provided at the mounting portion of each arm. As shown, a base 10 and a Z-axis arm 20 are shown.
The Z-axis limit mechanical stopper 22 and Z
An axial return limit mechanical stopper 24 is provided, and the rotation range of the Z-axis arm 20 is limited to these two mechanical stoppers 22,
24 setting positions. The set position of the Z-axis limit mechanical stopper 22 can be adjusted by a Z-axis limit control motor 26, and the set position of the Z-axis limit mechanical stopper 24 is Z
The motor can be adjusted by the shaft return limit control motor 28.

At the connection between the Z-axis arm 20 and the A-axis arm 30, an A-axis limit mechanical stopper 32 and an A-axis return limit mechanical stopper 34 are provided. The range is between these two mechanical stoppers 32, 3
It is regulated by the setting position of 4. The set position of the A-axis limit mechanical stopper 32 can be adjusted by an A-axis limit control motor 36, and the set position of the A-axis limit mechanical stopper 34 is A
It can be adjusted by the shaft return limit control motor 38.

Further, the A-axis arm 30 and the B-axis arm 40
The B-axis limit mechanical stopper 42 and B
A shaft return limit mechanical stopper 44 is provided, and the rotation range of the B-axis arm 40 is limited to the two mechanical stoppers 42,
It is regulated by the 44 setting positions. The set position of the B-axis limit mechanical stopper 42 can be adjusted by a B-axis limit control motor 46, and the set position of the B-axis limit mechanical stopper 44 is B
The adjustment can be made by a shaft return limit control motor 48.

Finally, the B-axis arm 40 and the hand (C-axis)
A mechanical stopper 5 for C-axis limit
2 and a C-axis return limit mechanical stopper 54 are provided, and the rotation range of the hand 50 is controlled by the two mechanical stoppers 5.
It is regulated by 2, 54 setting positions. Also, this C
The set position of the shaft limit mechanical stopper 52 can be adjusted by a C-axis limit control motor 56,
The setting position of the mechanical stopper 54 for the C-axis return limit is
The adjustment can be performed by the C-axis return limit control motor 58.

On the rotation axis of the Z-axis arm 20, an arm attitude detection encoder 20E (not shown) for detecting the rotation position of the Z-axis arm 20 is provided.
An arm posture detecting encoder 30E for detecting the rotation position of the A-axis arm 30 is attached to the rotation axis of the B-axis arm 4.
An arm posture detecting encoder 40E for detecting the rotation position of the B-axis arm 40 is provided on the rotation axis 0, and an arm posture detection encoder 50E for detecting the rotation position of the hand 50 is provided on the rotation axis of the hand 50. Each is provided. Therefore, these arm attitude detecting encoders 20E
The transfer position of the work can be calculated from the value of ５０50E.

FIG. 3 is a detailed structural view of the mechanical stopper. As shown in the figure, the mechanical limit stoppers 22 and 24 (exemplifying the Z axis) limit the return or return limit. The rotary members 60 and 6 with pulleys rotate about the rotation axis of the arm.
2, shock absorbers 23 and 25 for preventing the mechanical stoppers 22 and 24 from being damaged are attached to portions that come into contact with the Z-axis arm 20. The rotating members 60 and 62 are rotated by a Z-axis limit control motor 26 and a Z-axis limit control motor 28 via a belt. An encoder 26 for detecting the rotation angle is provided in these control motors 26 and 28.
E and 28E are provided. Therefore, the set positions of the mechanical stoppers 22 and 24 can be recognized based on the signal from the encoder. As described above, the encoder 20E for detecting the rotation angle of the Z-axis arm 20 is attached to the rotation shaft of this arm.

FIG. 4 is a view for explaining the operation of the assisting arm of the present invention thus configured. This figure is a view of the assisting arm viewed from above, and shows only the horizontal allowable range of movement.
Since the vertical movement of 0 is also restricted, the allowable operation range is three-dimensional.

From point A to point B in the figure, it is assumed that the work is conveyed in a narrow place, and no matter how the operator pushes or pulls the work, the work is moved only within this allowable range of operation. The setting position of each mechanical stopper is controlled to be narrow so as not to be able to do so. Similarly, from point B to C
Up to the point, the set positions of the mechanical stoppers are controlled so as to be wider than in the case of the point A to the point B so that the work is carried within the operation allowable range shown in the figure.

As described above, by adjusting the set positions of the respective mechanical stoppers according to the transfer position of the work, the allowable operation range can be set to the range shown in the figure. Therefore, even if an obstacle exists outside the allowable operation range, the worker can transfer the work without being conscious of the obstacle.

Next, a control device for automatically setting such an operation range will be described. FIG. 5 is a front view of the operation panel connected to the control device. FIG. 5A is a front view of an operation panel attached to the hand 50, which is attached to a place where the operator can easily operate. The operation panel 70 has a teaching button 72 for storing a work transfer position and a set position of each mechanical stopper when pressed in a teaching mode described later.
And a mastering button 74 that is pressed at the start of operation or teaching to set the original position of each arm.

FIG. 5B is a front view of an operation panel of a control device, not shown, connected to the assisting arm of the present invention. The operation panel 80 includes an operation mode switch 82 for switching between a teaching mode and an operation mode, an operation preparation switch 83 for entering an operation preparation state, an operation preparation switch 84 for canceling the operation preparation state, and teaching data. And a touch panel display unit 85 for performing the correction work described above.

FIG. 6 is a block diagram showing a schematic configuration of the control device. The control device 90 includes a high-speed counter 92 that counts pulse signals from the arm attitude detection encoders 20E, 30E, 40E, and 50E at high speed, a count value of the high-speed counter 92, and control motors (AC servo motors) 26, 28, 36,38,46,48,56,58
Encoders 26E, 28E, 36E, 38E, 46
RAM 94 for storing the count values of E, 48E, 56E, 58E, and AC servomotors 26, 28, 36, 3
A positioning command is output to the AC servo driver 100 for controlling the operations of 8, 46, 48, 56, 58, and the encoders 26E, 28E, 36E, 38E, 46E, 48
The positioning unit 96 for taking out the count values of E, 56E and 58E and the signals of various switches provided on the control panels 70 and 80 are input to input / output data to / from the positioning unit 96 and the RAM 94. CP to control
U (sequencer) 98.

Next, the operation of the assisting arm of the present invention will be described in detail with reference to the flowcharts of FIGS. The flowchart shown in FIG. 7 shows a teaching operation performed when the operation mode switch 82 is set to the teaching mode.

When the operation preparation switch 83 is turned ON, the mechanical stoppers 22, 24, 32, 34, 4 provided on the arms 20, 30, 40, 50 are provided.
2,44,52,54 are released to maximize the freedom of each arm. That is, it is made the same as a general assisting arm (S1, S2).

Next, in order to determine the original position of each arm,
Adjust each arm to the mastering jig. When the hand 50 is positioned on the mastering jig, all the arms have no degree of freedom, and are in a predetermined position. This position is set as the original position (S3, S4). When the original position is confirmed, the operator turns on the mastering button 74 and resets the count value of the high-speed counter 92 and the like to zero. And again, the mechanical stoppers 22, 24, 32, 34, 4
2, 44, 52 and 54 are released (S5).

In this state, the worker transports the work along an ideal route. During this teaching, the CPU 98 sets the parameters of the allowable operation range. The parameter of the operation allowable range indicates an allowable range from the teaching trajectory by a distance. The larger the parameter of the allowable range, the larger the operation allowable range, and the smaller the parameter, the smaller the operation allowable range. This operation allowable range can be set as a circle centered on the teaching trajectory, or can be set as the length of the side of the rectangle.

For example, when setting as a circle, the radius r is set for the teaching locus. With this setting, the range of the radius r from the teaching trajectory is the operation allowable range.

In the case of setting as a rectangle, the lengths X and Y of two vertical and horizontal sides are set for the teaching locus. With this setting, the range of a rectangle whose length in the vertical and horizontal directions around the teaching locus is X and Y is the operation allowable range (S6, S7).

The CPU 98 calculates an operation allowable limit area according to the setting of the parameter. For example, a limit area where the workpiece does not interfere with those obstacles is calculated according to the installation data of the obstacles around which the assisting arm is installed (S8). The CPU 98 determines that the allowable operation range set by the parameter in step S7 is S8.
It is judged whether or not it interferes with the operation allowable limit area of the step, and if it does, the parameter setting may cause the workpiece to hit an obstacle during transportation, so set the parameter again and do not interfere In this case, it is determined that the data is valid, and the data within the allowable operation range is stored in the RAM 94. Specifically, the relationship between the setting position of the mechanical stopper of each arm and the position of the workpiece (the number of pulses of the arm posture detection encoder of each arm) is stored (S9,
S10). The operation allowable range is taught as described above.

FIG. 8 is an operation flowchart when the operation is performed based on the data taught in this manner, and is a process performed when the operation mode switch 82 is set to the operation mode.

When the operation preparation switch 83 is turned on, the mechanical stoppers 22, 24, 32, 34, 4 provided on the arms 20, 30, 40, 50 are provided.
2,44,52,54 are released to maximize the freedom of each arm. That is, it is made to be the same as a general assisting arm (S11, S12).

Next, in order to determine the original position of each arm,
Adjust each arm to the mastering jig. When the hand 50 is positioned on the mastering jig, all the arms have no degree of freedom, and are in a predetermined position. This position is set as the original position (S13, S14). When the original position is confirmed, the operator turns on the mastering button 74
Then, the count value of the high-speed counter 92 and the like is reset to 0 (S15).

The CPU 98 inputs the current position of each of the arms 20, 30, 40, and 50 counted by the high-speed counter 92 (S16), and calculates coordinates at which the tip of each arm is located (S17). The CPU 98 calculates, based on the calculated coordinates of the distal end of each arm, an allowable distal end point of the distal end of the arm when only the n-th axis is operated (S18).
If the calculated limit point is not outside the allowable limit of the arm tip position, the position of the mechanical stopper at the allowable limit point is calculated from the data of the operation allowable range taught in the RAM 94. The processing from S20 to S23 is performed for all arms (4 axes) (S
21 to S23). When the calculation of the set positions of the mechanical stoppers for all the arms is completed, the CPU 98 instructs the positioning unit 96 to set the positions of the respective mechanical stoppers.
The servo driver 100 is operated to set the position of the mechanical stopper to the commanded position (S26).

On the other hand, in step S21, S20
If the limit point calculated in the step is outside the allowable limit of the arm tip position, the mechanical stoppers for all the arms are stopped and an alarm is output (S
24, S25).

As described above, the teaching is to store the work trajectory and the allowable value of the degree of deviation from the work trajectory as parameters so that the work is stored in the form of the allowable operation range of the work. The operation is performed by moving the mechanical stoppers of all the arms so that the workpiece is transported within the allowable operation range, in other words, the workpiece is transported only within the allowable range. It is adjusted together with the transfer (actually according to the coordinates of the tip of each arm).

Therefore, the rotation ranges of the respective arms are controlled so that the workpiece transfer trajectory does not collide with the surrounding obstacles, and the worker takes care not to hit the obstacles. Since there is no need to transport the work while using it, the mental work load is reduced, and work efficiency can be improved. In addition, occurrence of a situation in which the quality of the work is degraded due to interference with an obstacle is reduced.

Next, a second embodiment of the assisting arm with a trajectory regulating function according to the present invention will be described. In this embodiment, instead of restricting the rotation range of the arm by a mechanical stopper as in the first embodiment,
An attempt is made to regulate the rotation range of the arm using a brake. In this manner, if the rotation range is regulated by the brake, the driving means of the mechanical stopper and the control device for positioning control are not required, so that the mechanism can be simplified and the control can be simplified. As a result, it is possible to simultaneously satisfy the conflicting matters of cost reduction and reliability improvement.

FIG. 9 is a diagram showing the structure of the brake means attached to each rotating shaft of the plurality of arms.
FIG. 2A is a front view of the brake means viewed from the axial direction of the arm, and FIG. 2B is a side view of the figure. Hereinafter, the A-axis arm 30 will be described as an example.

As shown in these figures, the arm 30
Rotary shaft 30A rotatably supported by bearings
It is fixed and attached to. In addition, this arm 30
A disk 31 is rotatably mounted on a boss 30B in which the disk 31 is fitted to the rotating shaft 30A. A notch 35 is formed in a part of the disk 31 for accommodating a rotation regulating projection 33 formed on a part of the arm 30.
The notch 35 has a fixed rotation width L. The rotation restricting projection 33 of the arm 30 is
When the arm 30 is rotated, the notch 35 rotates the disk 31 while abutting against the side surface 35A of the disk 31 because the arm 30 rotates. This disc 31 has a brake pad 37 and a caliper 3
9 is provided. The operation of the brake 41 is controlled by a brake control unit described later. When the disc 31 is fixed by the brake 41, the arm 30 can rotate only within the range of the rotation width L.

By providing the rotation width L in the notch 35 in this way, as will be described in detail later, even if the work comes out of the allowable operation range due to the overrun due to the operation delay of the brake 41, Thus, the work can be pulled back into the operation allowable range, and the brake can be automatically released.

FIG. 10 is a diagram for explaining the operation of the assisting arm of the present invention thus configured. This figure is a view of the assisting arm as viewed from above, and shows only the allowable range of movement in the horizontal direction. However, since the vertical movement of the Z-axis arm 20 is actually restricted, the allowable range of movement is Is three-dimensional.

From point A to point B in the figure, it is assumed that the work is conveyed in a narrow place, and no matter how the worker pushes or pulls the work, the work is moved only within this allowable range of operation. As a result, the operating range of the brake 41 increases. That is, since the operation allowable range is narrow, the chances of protruding out of the operation allowable range are increased, and the area in which the brake 41 should be operated is widened. Similarly, from the point B to the point C, the operation of the brake 41 is controlled so that the work is conveyed within the illustrated allowable operation range.

Since the brakes 41 are provided on each axis, it is desirable to apply all the brakes 41 at once when the workpiece goes out of the allowable operation range. Depending on the situation, it is also possible to apply only a specific brake in a special case in which even if one axis is free, it does not go outside the allowable operation range.

As described above, by controlling the ON / OFF of the brake 41 in accordance with the transfer position of the work, the brake can act as a limit for the return of each axis arm. Range. Therefore, even if an obstacle exists outside the allowable operation range, the worker can transfer the work without being conscious of the obstacle.

Next, a control device for automatically setting such an operation range will be described. FIG. 11 is a block diagram illustrating a schematic configuration of the control device. The control device 90
Arm posture detecting encoders 20E, 30E, 40E,
A high-speed counter 92 that counts the pulse signal from 50E at high speed, a RAM 94 that stores the count value of the high-speed counter 92, and signals of various switches provided on the control panels 70 and 80 are input. It outputs ON / OFF signals to the brake control unit 102,
And a CPU (sequencer) 98 for controlling input and output of data with the M94. Note that the brakes 41 provided for the number of axes are operated by signals from the brake control unit 102.

Next, the operation of the assisting arm of the present invention will be described in detail with reference to the flowcharts of FIGS. The flowchart shown in FIG. 12 shows a teaching operation performed when the operation mode switch 82 is set to the teaching mode.

When the operation preparation switch 83 is ON, all the brakes 41 provided on the arms 20, 30, 40, 50 are released to maximize the freedom of each arm. I do. That is, it is made to be the same as a general assisting arm (S41, S42).

Next, in order to determine the original position of each arm,
Adjust each arm to the mastering jig. When the hand 50 is positioned on the mastering jig, all the arms have no degree of freedom, and are in a predetermined position. This position is set as the original position (S43, S44).

When the original position is confirmed, the operator turns on the mastering button 74 and resets the count value of the high-speed counter 92 and the like to zero. Then, all the brakes 41 are released again (S45, S46).

In this state, the operator transports the work along an ideal route. During this teaching, the CPU 98 sets the parameters of the allowable operation range. The parameter of the operation allowable range indicates an allowable range from the teaching trajectory by a distance. The larger the parameter of the allowable range, the larger the operation allowable range, and the smaller the parameter, the smaller the operation allowable range. This operation allowable range can be set as a circle centered on the teaching trajectory, or can be set as the length of the side of the rectangle.

For example, when setting as a circle, the radius r is set for the teaching locus. With this setting, the range of the radius r from the teaching trajectory is the operation allowable range.

In the case of setting as a rectangle, the lengths X and Y of two vertical and horizontal sides are set for the teaching locus. With such a setting, the range of the rectangle having the vertical and horizontal lengths of X and Y around the teaching locus is the operation allowable range (S47, S48).

The CPU 98 calculates an operation allowable limit area according to the setting of the parameter. For example, a limit area where the work does not interfere with the obstacles is calculated according to the installation data of the obstacles around which the assisting arm is installed (S49). The CPU 98 determines that the operation allowable range set by the parameter in step S7 is S
It is judged whether or not it interferes with the operation allowable limit area of the step 49, and if it does, the parameter setting may cause the workpiece to hit an obstacle during transportation. If not,
Assuming that the data is valid, the data within the allowable operation range is stored in the RAM 94. Specifically, relation data between the transfer position of the work (the number of pulses of the encoder for detecting the posture of the arm of each arm) and the allowable operation range at the transfer position is stored (S50, S51). The operation allowable range is taught as described above.

FIG. 13 is an operation flowchart when the operation is performed based on the data taught in this manner, and is a process performed when the operation mode switch 82 is set to the operation mode.

When the operation preparation switch 83 is ON, all the brakes 41 provided on the arms 20, 30, 40, 50 are released to maximize the freedom of each arm. I do. That is, it is made to be the same as a general assisting arm (S61, S62).

Next, in order to determine the original position of each arm,
Adjust each arm to the mastering jig. When the hand 50 is positioned on the mastering jig, all the arms have no degree of freedom, and are in a predetermined position. This position is set as the original position (S63, S64). When the original position is confirmed, the operator turns on the mastering button 74
Then, the count value of the high-speed counter 92 and the like is reset to 0 (S65).

The CPU 98 inputs the current position of each of the arms 20, 30, 40, and 50 counted by the high-speed counter 92 (S66), and calculates coordinates at which the tip of the arm is located. That is, the position of the work is calculated (S6).
7). The CPU 98 determines whether the work is within the allowable operation range based on the calculated tip coordinates of each arm,
It is determined whether or not the work has entered, and if the work is within the operation allowable range, all the brakes are turned off so that the work can be freely transported (S70). If it is determined that the
U98 transmits the brake 41 to the brake control unit 102.
Output a signal to turn on all brakes 41
Is turned on (S69).

When the work comes out of the operable area in this way, the brake is applied immediately. Even in the state where the brake is applied, as shown in FIG. In addition, a notch 35 is provided in the disk 31, and the notch has a rotation width L, so that the arm rotates with a certain amount of play within this rotation width L, although at a very small angle. Thus, a work that has once come out of the operable area can be pulled back into this area, whereby the brake is automatically released.

That is, since the rotating state of the arm is detected by the encoder of each axis even when the brake is applied, it is recognized that the work has entered the area as a result of moving the arm within the range of the rotating width L. In such a case, the brake is released immediately, and the same transport as in the normal assisting arm can be resumed.

Such a configuration can be said to be unnecessary in a configuration in which the brake is applied at the same time as the work comes out of the area (the one that does not overrun), but in an actual apparatus, the work is out of the area. When there is a time lag from when it is recognized that it has come out to when the brake is applied, and because inertial mass acts on the work, overrun can not be avoided, so when trying to construct a convenient assisting arm This configuration is indispensable.

In the case where such a configuration is not adopted, since the brake is kept applied once the work comes out of the area, the release button (forcibly releasing the brake) forcibly releasing the brake is applied. Button) must be provided at hand, and this button must be operated each time the work goes out of the area to carry the work, which is an assisting arm that requires extremely troublesome operation.

As described above, the teaching is to store in the form of the allowable operation range of the work by setting as parameters the transfer trajectory of the work and the allowable value of how much the work can be deviated from the transfer trajectory. All the brakes are turned on and off so that the work is conveyed within the permissible operation range, in other words, the work is conveyed only within the permissible range. (Actually in accordance with the tip coordinates of each arm).

Therefore, the rotation ranges of the respective arms are controlled so that the workpiece transfer trajectory does not collide with the surrounding obstacles, and the worker takes care to avoid collision with the obstacles. Since there is no need to transport the work while using it, the mental work load is reduced, and work efficiency can be improved. In addition, occurrence of a situation in which the quality of the work is degraded due to interference with an obstacle is reduced.

Further, compared with the first embodiment, eight motors for moving the mechanical stoppers and control of these motors are not required, and the mechanism is greatly simplified, so that the reliability of the apparatus is improved. It can withstand the use of the site where relatively rough handling is performed.

[0090]

As is apparent from the above description, the assisting arm with a trajectory regulating function of the present invention has the following effects for each claim.

In the first and second aspects of the present invention,
Since the rotation position of each of the plurality of arms is controlled by detecting the transfer position of the work, the rotation range of each arm is adjusted so that the transfer trajectory of the work is a trajectory that does not hit surrounding obstacles. Is controlled, and it is not necessary for the operator to transport the work while paying attention so as not to hit an obstacle, so that the mental work load is reduced and the work efficiency can be improved. In addition, occurrence of a situation in which the quality of the work is degraded due to interference with an obstacle is reduced.

According to the third and sixth aspects of the present invention,
Since the work transfer trajectory and the allowable operation range can be taught by manual operation, it is possible to flexibly respond to the need to change the work transfer trajectory due to layout changes, etc. The transport trajectory and the regulation range can be easily set.

According to the fourth and seventh aspects of the present invention,
Since the operation mode switch for switching between the operation mode and the teaching mode is provided, it is possible to easily switch between normal operation and teaching.

According to the fifth and eighth aspects of the present invention,
By turning on and off the brake means, the brake functions as an arm return limit, and the work transfer position is detected to control the rotation range of each of the plurality of arms. The rotation range of each arm is controlled so that the trajectory does not collide with the surrounding obstacles, and it is necessary for the worker to transport the work while paying attention so as not to hit the obstacle. As a result, the mental work load is reduced, and work efficiency can be improved. In addition, occurrence of a situation in which the quality of the work is degraded due to interference with an obstacle is reduced.

Further, since the work is controlled so as not to be out of the operable area by turning on and off the brake, the mechanism is very simple, and the reliability of the assisting arm can be improved. It can withstand the use of the site which receives rough handling.

According to the ninth aspect of the present invention, the notch for accommodating the rotation restricting projection formed on a part of the arm is provided.
Even when the disc is stopped, when the work comes out of the operation allowable range due to overrun due to the operation delay of the brake means, the work can only be pulled back into the operation allowable range. Since the work has the rotation width, when the work comes out of the area, a release mechanism for pulling the work into the area is not required, so that the assisting arm can be provided with very good operability.

[Brief description of the drawings]

FIG. 1 is a side view of an assisting arm with a trajectory regulating function according to the present invention.

FIG. 2 is a top view of the assisting arm with a trajectory regulating function according to the present invention.

FIG. 3 is a detailed view of a mechanical stopper portion of the assisting arm with a trajectory regulating function according to the present invention.

FIG. 4 is an operation explanatory view of the assisting arm with a trajectory regulating function according to the present invention.

5A and 5B are front views of an operation panel of the assisting arm with a trajectory regulating function according to the present invention, wherein FIG. 5A is a front view of an operation panel attached to the arm, and FIG. It is a front view of the operation plate of FIG.

FIG. 6 is a block diagram showing a schematic configuration of a first control device of the assisting arm with a trajectory regulating function according to the present invention.

FIG. 7 is a flowchart showing a teaching operation of the first control device.

FIG. 8 is a flowchart showing an operation of the first control device.

FIG. 9 is a view showing a configuration of a brake means attached to each rotation shaft of a plurality of arms,
FIG. 4 is a front view of the brake means viewed from an axial direction of the arm,
(B) is a side view of this figure.

FIG. 10 is an operation explanatory view of the assisting arm with a trajectory regulating function according to the present invention.

FIG. 11 is a block diagram illustrating a schematic configuration of a second control device of the assisting arm with a trajectory regulating function according to the present invention.

FIG. 12 is a flowchart showing a teaching operation of the second control device.

FIG. 13 is a flowchart showing an operation of the second control device.

[Explanation of symbols]

 20, 30, 40, 50 ... arms 22, 24, 32, 34, 42, 44, 52, 54 ... mechanical stoppers, 26, 28, 36, 38, 46, 48, 56, 58 ... control motors, 20E, 30E, 40E, 50E ... Encoder for arm posture detection 30A ... Rotary axis, 31 ... Disk, 35 ... Notch, 35A ... Side of disk, 37 ... Brake pad, 39 ... Caliper, 41 ... Brake, L ... Rotation width, 82 ... Operation mode switch.

──────────────────────────────────────────────────の Continuation of the front page (51) Int.Cl. ⁶ Identification symbol FI // B23P 21/00 303 B62D 65/00 M B62D 65/00 B66F 19/00 KBB66F 19/00 G05B 19/42 B

Claims (9)

[Claims] A control means for detecting a transfer position of a work and controlling a rotation range of each of the plurality of arms so that the work is transferred along a predetermined path in an assisting arm including a plurality of arms. A helping arm with a trajectory control function characterized by the provision of 2. An assisting arm comprising a plurality of arms, wherein: a turning position detecting means for detecting a turning position of the plurality of arms; and a turning position of each arm detected by the turning position detecting means. Transport position calculating means for calculating the transport position of the work based on the control member; a regulating member for mechanically regulating a rotation range of at least one of the plurality of arms; and a set position of the regulating member. Regulating member position detecting means, storage means for storing the positional relationship between the work transfer position and the regulating member of each arm, driving means for driving the regulating member, and transfer of the work calculated by the transfer position calculating means Control means for controlling the driving means so as to refer to the storage means based on a position and to set the regulating member at a set position corresponding to a transfer position of the work. Trajectory regulation function with assistance arm, characterized in that. 3. A teaching button for teaching a transfer position of the work and an allowable operation range at the transfer position, wherein the control unit is configured to execute the transfer position calculation unit when the teach button is pressed. 3. The assisting arm with a trajectory regulating function according to claim 2, further comprising a function of storing the calculated work transfer position and operation allowable range in the storage means. 4. An operation mode switch for switching between an operation mode and a teaching mode, wherein the control means, when being switched to the operation mode by the operation mode switch, the work calculated by the transfer position calculation means. While referring to the storage unit based on the transfer position of the control unit, and controlling the drive unit to set the regulating member to a set position corresponding to the transfer position of the work, while being switched to the teaching mode,
4. The assisting device with a trajectory regulating function according to claim 3, wherein when the teach button is pressed, the work transfer position and the allowable operation range calculated by the transfer position calculation unit are stored in the storage unit. arm. 5. An assisting arm comprising a plurality of arms, a brake unit attached to a rotating shaft of each of the plurality of arms, a turning position detecting unit detecting a turning position of the plurality of arms, Transfer position calculating means for calculating a work transfer position based on the rotation position of each arm detected by the rotation position detection means; relational data between the work transfer position and the allowable operation range at the transfer position A storage means for storing the work position calculated by the transfer position calculating means, and referring to the relational data of the storage means based on the transfer position of the work. And a control means for operating the two brakes. 6. A teaching button for teaching a transfer position of the work and an allowable operation range at the transfer position, wherein the control unit is configured to execute the transfer position calculation unit when the teach button is pressed. 6. The assisting arm with a trajectory regulating function according to claim 5, further comprising a function of storing the calculated work transfer position and the allowable operation range in the storage means. 7. An operation mode switch for switching between an operation mode and a teaching mode, wherein the control means, when being switched to the operation mode by the operation mode switch, the work calculated by the transfer position calculation means. Referring to the relation data of the storage means based on the transfer position, when the transfer position of the work is out of the allowable operation range, at least one brake is activated, and when the mode is switched to the teaching mode, When the teach button is pressed,
7. The assisting arm with a trajectory regulating function according to claim 6, wherein the work transfer position and the allowable operation range of the work calculated by the transfer position calculation means are stored in the storage means. 8. The brake means has a notch formed in a part thereof for accommodating a rotation regulating projection formed in a part of the arm, and the arm has a shape such that the rotation regulating projection is accommodated in the notch. 6. A disk rotatably mounted on a rotary shaft of the vehicle, and a brake pad and a caliper for stopping the disk.
Auxiliary arm with trajectory control function described in. 9. A notch for accommodating a rotation restricting projection formed on a part of the arm, even when the disk is stopped, due to an overrun due to a delay in operation of the brake means. 9. The assisting device with a trajectory regulating function according to claim 8, wherein the auxiliary member has a rotation width enough to pull the work back into the operation allowable range when the object comes out of the operation allowable range. arm.