JPS58126088A - Hand replacing system of industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a hand exchange system for industrial robots, and is suitable for application to hand exchange control for industrial U-bots that perform assembly work by exchanging hands one after another. Regarding.

In a teach/replay type industrial P-bot, the robot's movements are taught in advance from the teaching operation panel, and the taught content (also called "bottom command data") is stored in the memory in the rosette control station, and then the machine side Each time a service request is made, a series of robot command data is read out sequentially and the machine is repeatedly serviced.

By the way, it has recently become necessary for such teach-and-play industrial robots to have a function that allows their hands to be replaced. For example, when considering an industrial robot that performs a series of assembly operations, it is necessary to equip the industrial robot with various hands and to grip various tools depending on the task. This is because in some operations it is necessary to hold a screwdriver in order to tighten a screw, and in another operation it is necessary to hold a drill in order to make a hole. That is, the assembly work is performed by changing tools one after another depending on the work.

On the other hand, when gripping a drill, for example, a hand that rotates the drill at a predetermined rotational speed is required, but when gripping a screwdriver or other tool, a hand that rotates the tool at a predetermined speed is not necessary. For this reason, the hand must be replaced depending on the work being done. Note that hereinafter, not only the hand but also the work tool X will be referred to as the hand.

However, conventional robots only perform other tasks such as attaching and detaching workpieces to and from machine tools, exchanging tools, etc. based on robot command data taught in advance, and the robot itself exchanges its own hands. The object of the present invention is to provide a hand exchange method for an industrial pot that allows the container to be replaced with a hand and also allows a robot control device to manage the handle.

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

FIG. 1 is an explanatory diagram illustrating an outline of a hand exchange system for an industrial robot according to the present invention.

In the figure, 101 is an industrial P-bot, which has an arm 1o11 and an automatic hand changer (referred to as AHC) 1011). The arm 101aFi is configured to be movable in the up-down direction (X-axis direction), expansion/contraction direction (R-axis direction), and turning direction (θ-axis direction) K by a servo motor (not shown). 102 ijo - This is a hand arrangement table with a tally-type conveyor structure, and on the armpit hand arrangement table there are many hand feeder barres that are rotationally driven by driving means such as a motor 104 and a chain 105) 104゜106...・・・・・・
is placed. An attachment 107 is added to each hand feeder pallet 104, 104, . . ., and a hand is accommodated in each core attachment. 108Fi industrial robot 10
1 and a robot control device that controls the hand array table 102, and 109 cables.

2 and 5M are structural schematic diagrams of a hand feeder pallet. still,#! In Fig. 0, the same parts as in Fig. 1 are given the same reference numerals and their detailed explanations are omitted, 106IL is a pallet main body, 106b is a support member screwed to the bottom gAs of the pallet main body IQ6B, 106c is a dog, The dog 106c and the chain 105 are connected to the support member 106.
It is fixed to b. Further, the dog 106e Fi@2 is disposed so as to come into contact with a forward rotation limit switch 108n and a reverse rotation limit switch 108r, which are disposed on the travel system of the hand feeder pallet 106, as shown in FIG. 2(B). 106d and 104 are pallet bodies 106
It is a wheel attached to the bottom of the hand arrangement stand 102.
It is designed to move above. In addition, in place of the dog 106 and limit switches 108n and 108r,
As shown in C), the proximity sensor dog 106f and the proximity sensor. A sensor 106g may also be used.

Now, if the motor 104 (Fig. 1) is rotated, the chain 1
05 rotates, and the feeder pallet 106 also rotates together with the cough chain. Then, when the hand feeder pallet 106 containing the desired hand is positioned at the hand exchange position and activated (AIIClolm) (FIG. 1) 1, the hand is exchanged using the A ring C. still,
As shown in FIG. 5, hand feeder pallets 106 are arranged so as to be packed at equal intervals in the cutting section. 10
4... are designed to open at a certain angle at the corner s, as shown in FIG. .

FIG. 4 is a top view of the main parts of the hand array table, and the same reference numerals are given to the parts as in FIGS. 1 to 5. In the figure, 1
10, 110, . . . are hands, and are accommodated in the hand holding portions formed in the attachment 107. Further, the position occupied by the eleventh feeder pallet 106 shown in the shaded area in the figure is the hand exchange position.

FIG. 5 is a diagram showing an example of the hand 110, in which the grip part 1
A drill 110b is attached to 10a.

Also, the trunk 11 to be gripped by An'0101b (Fig. 1)
A switch 110d is attached to 0C, and a head KFi-v=-p 11o of the body 110c is attached. Al
When the hand 110 is gripped by the 2O device 101bK, the switch 1N)d is activated, which causes the motor 110 to rotate and the drill 110b to rotate at a predetermined rotational speed.

FIG. 6 is a ninth block diagram for realizing the hand exchange system according to the present invention, and shows the case where the attachment is equipped with only one hand.

In the figure, 201 is a new hand indexing circuit, 202 is a speed control circuit, and 205Fi motor (compared to 104 in Figure III)
, 204rIi This is a detector that detects the position of the hand feeder pallet 1D4, and the friend is composed of a proximity sensor dog 106f and a proximity sensor 104g1 (shown in Figure 2), and each time the proximity sensor dog 106f faces the proximity sensor 104gY. One position pulse PP is generated.

In the new hand indexing circuit 201, 201. 201b is a hand code register that stores the hand code H mouth when a hand exchange command is given, and 201b is a table that stores the correspondence between hand codes and hand positions. Note that the hand position refers to the reference position (fourth position) on the hand feeder 102.
(The position occupied by the hand feeder pallet indicated by diagonal lines in the diagram)
It is the number of hand feeder pallets from to the predetermined hand. For example, the standard hand feeder pallet 106V
r When the chain 105 is positioned at the reference position on the upper hand array table and in good condition, rotate the chain 105 in a predetermined direction until a predetermined hand feeder pallet is positioned at the reference position by the rotation of the chain. Detector 204
The number of pulses generated from is the hand position. 201c is the hand position Hn of the new hand specified by the hand exchange command
t is a new hand position register to store, 201d is a current hand position register to store the hand position Ho of the currently selected current hand, 201@ is an AND gate, and 201f is a difference between the new hand position Hn and the current hand position He. , and outputs the aberration difference and outputs the aberration difference) 201.1-opening H
This is an arithmetic circuit that stores a as llo in the current hand position register 101d. It is also possible to correct the difference and output it so that it rotates quickly. 201g is a reversible counter in which the fm distribution difference is preset, and which reversibly counts position pulses PP generated from the detector 204 each time the chain 105 rotates by a predetermined amount (pitch between hand feeder pallets) according to the direction of rotation; 201htlj This is a DA converter that converts the contents of the reversible force counter 201g into DAffi.

When a hand exchange command is given, the new hand indexing circuit 201 attaches the old hand to the attachment on the empty hand feeder pallet 106 at the reference position fliK6, and then controls the positioning of the new hand as follows. The commanded new hand code is converted into a hand position and stored in the new hand position register 201C. Next, the difference between the new hand position Hn and the current hand position no is reversibly colored/re2.
Preset to 01g. After that, reversible counter 201
The motor 205 is rotated so that the count value of g becomes zero, the chain 105 (Fig. 4) is rotated, and the new hand is positioned at the reference position (the diagonal line s in Fig. #I4). The position is set in the current hand position register 201d via the AND gate 201. Finally, 10bots 101 arms to1aK! The hand exchange operation is completed when the new hand is gripped by the first arriving hand (1tcto11). The above description has been about a hand array table with a single-lid conveyor configuration, but as shown in FIG.
Movable table facing x-y7 (hand arrangement table) 30
Hand feeder pallets 502, 502, vertically and horizontally on 1
... may be placed thereon, and a desired node may be positioned at the tool exchange position by controlling the positioning of the skeleton table.

6 to 10 are explanatory diagrams of other embodiments of the present invention, FIG. 8 is a perspective view of a hand arrangement shelf, FIG. 9 is an explanatory diagram of nine cases in which hands are accommodated in the hand arrangement shelf, and FIG. FIG. 10 is an explanatory diagram of the grip state when the p-bot grips the hand. In FIG. 8, reference numeral 401 denotes a hand arrangement shelf, which has five shelves 402, 408, and 404. Each column 402-4
04 has a roughly semicircular notch that accommodates five hands.A02@, 405@, 40
4m is provided, and each hand accommodating section is equipped with various hands 11.
0B, 110b, 110@... are housed as shown in FIG. Hand exchange in the case where hands are accommodated in the above hand arrangement [401] is performed as follows. First, the robot's AHC device 101 is activated by a hand exchange command included in the robot command data.
b is positioned at a position opposite to the leftmost hand accommodating portion 4021 of the uppermost shelf 402 (referred to as the hand exchange origin position) as shown by the dotted line in FIG. Next, the AHC device is positioned at a position opposite to the hand accommodating portion of the hand currently being held (current hand), and is housed in the cough hand accommodating portion of the current hand 1 (dotted chain line in FIG. 8).

After that, a command is given to ask for the new hand position of the *# hand as described later, and the robot's ABC device 101b is moved as shown by the two-dot chain line and placed in the new hand storage section based on the broken hand position data and the current hand position data. Stop facing each other. Next, the AMC device 101bt is moved forward in the direction of the new hand, grips the new hand as shown in FIG. 10, and thereafter AHCii! The hand exchange operation is completed by returning the device 01b to the I-hand exchange origin position shown by the dotted line in FIG.

FIG. 11 is a block diagram showing the hands accommodated on the hand arrangement shelf.

In the figure, 200 is a robot control unit and 411q is a new hand position indexing circuit, both of which are incorporated into the robot control device. In the new hand position indexing circuit 411, 41
14 is a hand code register that stores eight hand codes output from the robot control unit 200 when a hand exchange command is read, and 411b is a table that stores the correspondence between hand codes and hand positions. ζ
\, and the hand positions are explained with reference to Figure 8. From the top column, #11, #I2, 5th stage...
The first shelf from the hand receiving part at the left end of each column,
1, 2nd, 3rd, etc., the hand position of the mlR nth test is (m, n)
In other words, m indicates the position in the X direction from the hand exchange origin, and n indicates the position in the Y direction. 411c
is commanded by the hand exchange command and the hand position I of the nine new hand is
A new hand position register 411d that stores n is the structure hand position Ho of the current hand currently held by the gun C device.
A current hand position register 411 is an AND gate, and a new hand position Hn is set as the current hand position in the dust hand position register 411d by the hand exchange completion signal HED.

Next, the operation shown in FIG. 11 will be explained.

When the hand exchange command taught in advance and included in the robot command data is read out, the robot control unit 200
The AC device 101b is placed on the hand arrangement shelf 401 (Fig. 8).
The hand exchange origin (the dotted line position in FIG. 8) K is positioned, and the hand code 8 is output to the new hand position indexing circuit. This hand code is stored in the hand code register and the new hand position (#, corresponding to the *# hand code) is written.

yn) is read out from the table 411b, located at the new hand position, and set on the disk 4114.

On the other hand, when the A ti C device 101b is positioned at the hand exchange origin, the robot control unit 200 determines the current hand position from the current hand position register 411d.

ν), and based on the current hand position data, Aht
Positioning the C device at a position facing the tax hand storage section,
The current hand is stored in the current hand housing section. After that, the robot control unit 200 registers the new hand position register 41.
New hand potential from 1c (#.

yn) and find the incremental values ΔX and ΔY using the following equations.

ΔX=sn-go, ΔY-Wn-1°, then four bot control units) 200ti ATC! i position is positioned opposite to the new hand accommodating part based on the incremental value jLΔYK, and IIA) the ffc cover is attached and the new hand is gripped. After grasping the new hand, the hand exchange is completed by positioning the new hand in the armpit at the hand exchange origin, a hand exchange completion signal HID is generated from the one-pot control unit 200, and the new hand position (Vn e Vn) is set to the current hand The current hand position register 411dl (is stored) via the AND gate 411@.

51112 figures and #! FIG. 15 is a detailed explanatory diagram of the present invention in the case where two hands can be accommodated in the actuator 107 of each hand feeder pallet in the hand array table having the rotary conveyor structure shown in FIGS. , 112 is a perspective view of the main parts when the hand is housed in the attachment, and FIG. 13 is a block diagram of the embodiment, in which the same parts as in FIG. 6 are given the same reference numerals.

In FIG. 12, reference numeral 107 indicates an attachment arranged on each hand feeder pallet, which accommodates three hands (5107m, 1071), 10
It has 7. In addition, attachment 10706 hand storage @ 107. ~at least 1 of IQ7c
does not contain a hand.

@15 In Figure 2016, 2016 is a table that stores the correspondence between hand codes and pallet numbers, 201d, 201
・respectively new palette number Pn and offensive palette number P
These are the new pallet number storage register and the current pallet number storage register stored in o1.

+*j, pallet number #i Referring to FIG. 4, it is attached to each hand feeder pallet 106 (FIG. 4) as follows. That is, the reference hand feeder pallet (pallet number 1
104 (hand feeder pallet) 104, and feed pallet number 2 to each hand feeder pallet in order in a clockwise direction.
．． 'S, 4... is added from K.

Therefore, in other words, the pallet number indicates the position of each hand feeder pallet. Reference numeral 501 is a table that stores the correspondence between pallet numbers and the hands (referred to as hand accommodation data) attached to the hand feeder pallets 107 (FIG. 12) KM designated by the pallet numbers. Each attachment 107 has three hand accommodating parts 1o7&~to7et- as described above, two of which accommodate hands and one which does not accommodate a hand, and is currently a hand feeder pallet with pallet number 15. Assuming that hands with hand codes HO2 and H21 are installed in the hand storage section 107m *107bK, hand storage data 15: HO2, H21, On are stored in table 5 (XK. The address register 50s is a read/write control circuit in which the pallet number read out from the table 201 is set. Wrinkle address Klfr Hand accommodation data is written. 5o4 is a register that stores hand accommodation data read from the table 501. 505 is a register that stores new hand accommodation data generated in the robot control unit 200.

Next, the operation of Figure @15 will be explained.

The robot control unit 200 sequentially reads out robot command data including hand exchange commands from memory to control the robot, and also controls the robot when the hand exchange commands are read out.
For example, the command is output to the new hand index circuit 201. still,
The robot control unit 200 reads ahead the robot command data one block ahead from the memory, and if the robot command data includes a hand exchange command, outputs a replacement command to the new hand index 1 circuit 201.

Now, if the hand code of the hand attached to the ANC device is %Hot#, and the pallet number of the hand feeder pallet accommodated before the hand is attached to the ATC device is 151, then the hand code is %HO9#. are stored in the current hand position register 2 (NbK), and are stored in the current hand position register 201.

In this state, when the robot controller 200 inputs the pre-read hand exchange command of the four Z command data to the new hand indexing circuit 201, the new hand indexing circuit 201
starts positioning control of the hand feeder pallet 106 in parallel with the robot operation. That is, first, the commanded new hat code (assuming that H21 was commanded) t-
The new hand code register 2 (N, 1C) is stored. The read/write control circuit 2011 brings out the pallet number 115# corresponding to the hand code %H21# from the table 201c, and sets this as the new pallet position to the new pallet storage register. 201d and the address register 502.

Next, the difference between the new palette number pg (x15) and the current palette number Po (=5) is calculated, and the difference is preset in the reversible counter 201jK. Thereafter, the motor 205 is rotated so that the count value of the reversible counter 201j becomes zero, the chain 105 (FIG. 4) is rotated, and the new pallet is positioned at the reference position K (the shaded area in FIG. 4).

When the new pallet reaches the reference position, the reversible counter 201
The content of j becomes zero, and the zero determination circuit 201m outputs a positioning completion signal PEN. This result and gate 2
01f is opened and a new pallet number 115# is stored in the current pallet number storage register 201e.

On the other hand, the robot is operating based on the robot command data of the current block under the control of the robot control unit 2000. When the robot operation based on the robot command data of the ghost block is completed, the robot operation based on the next robot command data (hand exchange command) that has already been read in advance is completed.
The command exchange operation starts. That is, the robot's At (C device! 1101b) is first positioned at the /-nd exchange origin (the leftmost position indicated by the dotted line in FIG. 12) in a position opposite to the •-nd accommodating portion 107a) according to the command for replacing the command. , the A1flC device may be positioned at the hand exchange origin using the robot command data of the previous block).

Next, the robot control unit 200c1. p (Reads the hand accommodation data %HO2, H21, Go I read out in the register 504 based on the let number 1151.Then, the hand accommodation data is checked and the third (rightmost) hand accommodation section 107C is It is determined that it is empty, and the AII'C device tube is positioned along the one-dot chain line in FIG.

After that, check whether the positioning completion signal PEN has been generated.0 If the positioning completion signal PEN has not yet been generated, wait until the positioning of the new pallet is completed.0 If the positioning completion signal PICN has been generated, At
flC1jl 1θ1b Move forward toward the empty housing part, store the currently held hand of No. 1nd Coat "HO9" in the empty hand housing part 107C, and move back again after storing it (two-point chain II in Figure 12) .

Next, the robot system cape unit 200 has a hand code%
No.1 hand storage l1 where the new hand of H21# is stored.
107b using the hand accommodation data, and AT
C device 1 is moved along otbt point M (figure $112) and the new hand is grasped.

Then, after jll, the AIAC device 101b is returned to the hand exchange origin and the hand exchange operation is completed.

By the way, the hand code is HO after the above hand exchange. This means that the old hand is stored in the f42nd (middle) hand storage section 107b of pallet number 15.

As described above, when the hand exchange is completed, a hand exchange completion signal HOD is output to the robot control unit 200 and the new hand index (GL 201).

When this hand exchange completion signal HCD is generated, the successive write control circuit 2011 reads %1(2115ft-%HDW 1sz Kl!) stored in the table 201C.
New. That is, the successive write/write control circuit 201i uses the current pallet number Pn (=15) stored in the current pallet number storage register 201 to calculate % from the table 201C.
After reading H21151, the arrival/write control circuit 2011 generates %[0915# using the current node code (!II%H09) stored in the current node code register 201b, and reads this. Table 201C
If the data is written to , the updating operation of the table 201c is completed. When the update operation is completed, an update completion signal RND is generated, and the update completion signal RND changes the new hand code %H21# to the current hand code and stores it in the current hand code register 201.
bKla is remembered.

On the other hand, new hand accommodation data HO2,)109,00 are generated in the robot control unit 2200 before and after the hand exchange completion signal HCD, and are set in the register 505. and,
After that, the contents of atrace register 502 (%151)
%H02゜1 in the memory location of parlet number 15 based on
(Hand accommodation data of 09,00# is stored, and all hand exchange operations are completed.

In the explanation of FIG. 15, a table 201C is used to store the correspondence between hand codes and pallet numbers, and a table 501 is used to store the correspondence between pallet numbers and the hands housed in the pallets indicated by the mirror pallet numbers. Although the case where the table 501 is provided has been clearly explained, it is also possible to store only the correspondence between the hand code and the pallet number and delete the table 501. For example, the table 501 can be removed from K by attaching a readable hand identification symbol (hand code) to each hand and attaching a reading sensor to the robot II.

As described above, according to the present invention, the robot can now exchange nodes. In addition, the hand exchange management is handled by a robot @
This can be done by a device, and there is no need to provide a separate f+nl hand arrangement table control device, resulting in cost reduction.

- According to the present invention, even hand-laying plaster shelves with various configurations can be replaced.

[Brief explanation of drawings]

A schematic diagram of the shield part, FIG. 4 is a top view of the main parts of the hand array table, FIG. 5 is a diagram showing an example of the hand, FIG. 6 is a block diagram for realizing the hand exchange system according to the present invention, and FIG. 7 is an explanatory diagram of another hand arrangement stand, FIG. 8 is a perspective view of a hand arrangement shelf,
Fig. 9 is an explanatory diagram when the hand is stored in the hand arrangement shelf, Fig. 10 is an explanatory diagram of the grasping state when the robot grasps the hand, and Fig. 411 is another example block for realizing the hand exchange system. 12 and 15 are explanatory diagrams of still other embodiments of the present invention. 101 --- Robot, 101, --- Arm, 10 l
b ・A N C (hand exchange device), 102...
Hand arrangement stand, 106... hand feeder pallet,
107... Attachment, 108... Robot control device, 110... Hand, 201... New hand indexing circuit, 202... Speed control circuit, 205... Motor, 204... Detector , 401...hand arrangement shelf,
402-404...Shelf, 411...New hand position indexing circuit Patent applicant: Fujii Fanuc Co., Ltd. Agent: Patent attorney Minoru Tsuji, and 2 others 1st 5th Tei side 2 (δ) Rod 4 (C)

Claims (4)

[Claims] (1) In the hand exchange method of industrial robots, data on the arrangement status of the replacement hands arranged on the replacement hand arrangement stand or replacement hand arrangement shelf is stored in the memory built into the robot control device, and A hand exchange method for an industrial robot characterized by controlling hand exchange based on situation data. (2) A pallet movable arrangement table is used as the replacement hand arrangement table, and each pallet provided on the cough arrangement table is equipped with at least one replacement hand.
A hand exchange system for an industrial robot according to claim (1). (3) The arrangement status data is exchanged for each exchange hand using the method described above. (4) For each pallet, store the correspondence between the pallet and the hand for which the pallet kill value has been set in the memory as the array data, and attach a hand identification within the pallet to each hand and detect a good identification symbol. The hand exchange method for an industrial robot according to claim 8 (2), characterized in that the hand exchange method for an industrial robot is performed.