JPS58225406A - Industrial robot - Google Patents

Abstract

PURPOSE:To simplify the teaching work of an industrial robot of playback system, by correcting the shift amount to the works of different lengths of shift direction after giving teaching of one time for the standard work. CONSTITUTION:When the automatic welding is carried out between a standard work W and a deformed work W', a mode changeover switch 10 is set at an automatic mode. Accordingly a switch 3c is closed. Then a shift amount L, e.g., DELTAL=+200 is set by means of a key switch +and a ten-key 15. Finally a start switch 18 is pushed to start the program of a computer 6. If a shift instruction is given, the position information P2 is corrected to a position P3 which is shifted by DELTAL=200mm. in the +shift direction on the X axis coordinates. Then a welding torch 2 carries out welding from the position P1 to the position P3 based on a program and from the information on the position P3, the speed, the welding conditions and the ''linear interpolation'' respectively.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement of an industrial robot for the purpose of simplifying teaching work.

Controls the relative position of the workpiece and processing equipment (e.g., welding torch, fusing tool, grinder, etc.) according to instructions from a control means including a computer, and moves the relative position of the processing equipment along the processing line of the workpiece. So-called playback type industrial robots that automatically perform machining operations are well known.

In this type of playback type industrial robot,
A program obtained by teaching one workpiece in advance can be used in common if the workpiece and the machining part have the same shape, dimensions, and position; If they are different, the program cannot be used. That is, for example, if the workpiece has almost the same shape but the length of the machining line changes in various ways in a certain direction, the data for the changed part in the program must be retrieved each time even if the changed part is known. Corrections must be made by actually moving the processing tool, and this work is extremely time-consuming and troublesome.

In view of the above-mentioned circumstances, the present invention includes means for selecting a coordinate axis to be shifted, means for storing the coordinate axis in the control means, means for setting a shift amount ΔL, and a shift direction ( or e), the control means sets the position information of the position including the shift command in the teaching content by the shift amount Δ in the shift direction set on the coordinate axes before executing the automatic machining operation. The aim is to provide an industrial robot that only requires one initial teaching of a standard robot, even for various types of workpieces with different lengths in the shift direction. be.

Hereinafter, a detailed description will be given based on the embodiments shown in the drawings.

Reference numeral 1 denotes an articulated robot adopted as the main body of the industrial robot of the present invention, which has five rotation axes α1 to α5 as shown in FIG. In this robot 1, a processing tool serving as an end effector is a MIG welding torch 2.

Reference numeral 8 denotes a welding power supply device, which is equipped with an electrode feeding means 8a. The electrode 4 drawn out from the electrode feeding means 8a passes through the flexible tube 5 and reaches the welding torch 2. It penetrates inside.

Further, the welding power supply device 8 has a built-in welding power source 8b, one end of which is directly connected to the electrode 4, and the other end connected to the workpiece W via an open/close switch 8c.

Reference numeral 6 denotes a known computer as a control means for comprehensively controlling the entire industrial robot, and includes a CPU and memory. The pass line B of the computer 6 is connected to the open/close switch 8C.

7αl to 7α5 are servo systems for the α1 to α5 axes of the robot 1, and each includes a power source [phase] for each axis and an encoder [F] that outputs its position information. Each of the servo systems 7α1 to 7α5 is connected to the pass line B.

8 is a remote control panel, which consists of the following configuration. That is, 9 is a group of manually operated switches, which are orthogonal absolute coordinate axes x, y, z and Φ axis (swivel of the welding torch 2) fixed to the robot 1;
θ axis (inclination of welding torch 2) A snap switch is provided for each ζ, and if you tilt each snap switch to the rUJ side, the position of the control axis 5. In the direction of increasing information, you can tilt it to the fC "D" side. This is for moving and rotating the welding torch 2 in the direction in which the position information decreases. Of course, coordinate transformation is required between the rectangular coordinate system and the multi-joint system, but this is performed using a well-known algorithm built into the computer 6.

10 is a mode changeover switch, "Manual", "Test",
It is possible to switch between eight "automatic" modes.

Reference numeral 11 denotes a speed setting rotary switch, which is used to set the moving speed of the welding torch 2 (specifically, the welding point P at the tip of the electrode 4) in the "automatic" mode.

Reference numerals 12 and 18 indicate first and second selection switches, each of which allows selection of five welding conditions "Wl" to "W5" and each function of "linear" interpolation and "circular" interpolation.

14 is a keyboard with a numeric keypad 15 for setting the desired shift amount ΔL, and six key switches x, y, z,
T'o, S,! : and a display panel 16. Among these, key switches x, y, and z mean the coordinate axes to be shifted, X-axis, Y-axis, and Z-axis, respectively, key switches ■ and e mean the shift direction in the preselected coordinate axes, and key switch S means "setting" the shift amount ΔL, and also serves as a display command to the display panel 16. Further, the display panel 16 is made up of display lamp sections 16a for ■ and e, and a display section 16b for shift amount ΔL.

17 is a shift command switch, which specifies the position to shift during teaching. O18 is a start switch, which is a signal switch for starting each mode. During teaching, it passes each data including the keyboard 14 in the operation panel 8. It has the role of providing input to the computer 6 through line B, and issues a start signal for program execution in "test" mode and "auto" mode.

Hereinafter, the operation of the industrial robot having the above-mentioned configuration will be explained. A standard workpiece W shown by a solid line in FIG. 1 is a horizontal member Wa elongated in the X-axis direction and a vertical member wb extending in the X-axis direction and two axes directions. It is assumed that fillet welding is performed from one end position P1 of the self-welding line WL to the other end position P2 horizontally separated in the X-axis direction.

In addition, the deformed workpiece W prepared has almost the same shape as the standard workpiece W, but as shown by the dotted line in FIG. 1, the vertical member wb is slightly extended in the X-axis direction. , from one end position Pi to the position P
2 to the other end position P3.

For convenience of explanation, it is assumed that it is known in advance that the shift amount ΔL (that is, the distance from position P2 to position p3t) of the deformed workpiece W relative to the standard workpiece W is 200 m in the shift direction of ■ on the X coordinate axis. 0 First, before teaching the standard workpiece W, the operator selects the coordinate axes to be shifted and imports them as part of the system program of the computer 6.

That is, set the mode changeover switch 10 to the "manual" mode, press the key switch
225406 (3) - If you press the tosinochi 18, the computer 6 stores the coordinate axis to be shifted as "rX axis".

Next, teaching of the standard workpiece W is performed. While in the "manual" mode, operate each snap switch in the manual operation switch group 9 to move the welding point P of the welding torch 2 to the welding start position P.
1 and press the start switch 18. As a result, the computer 6 imports the position information of the position P1 into the first step of the user program.

Next, operate each snap switch in the same way as above.
The welding point P is positioned at the welding end position P2, and the speed setting rotary switch 11 and the first and second selection switches 12 and 18 are operated to select the optimal welding speed, welding conditions, and "linear interpolation", respectively. Furthermore, since the position P2 is scheduled to be shifted by the deformed workpiece W, the shift command switch 17 is also pressed.

Finally, by pressing the start switch 18, the computer 6 will enter the second step of the user program to include the position information of position P2, welding speed, welding content (voltage and current), "linear interpolation" (i.e. welding 9 shape of the line) and the "shift command".

This completes the teaching operation for the standard workpiece W.

Next, the operator switches the mode selector switch 1O to the "test" mode and presses the start switch 17, so that each step of the user program is executed without welding, and any errors are corrected as appropriate.

Then, the operator selects the standard workpiece W or the modified workpiece W.
Perform the following operations to perform automatic welding. For example, in the case of automatic welding of a deformed work W.

First, the mode selector switch 10 is switched to "automatic" mode. In response to this, the open/close switch 8C closes, but no voltage is applied to the electrode 4 yet.Then, the shift amount △L
Set. In this case, since △L=■200,
After pressing the key switch ■, press the numeric keypad 15 to 2.0.
0 in that order, and then the key switch S, the display panel 16 lights up the rung - of the display lamp section 16a and displays the numerical value "200" on the display section 16b. Most 1
0 Afterwards, when the start switch 18 is pressed, the computer 6 executes the following steps according to the program.0 (1) First, the steps of the user program are called.

(2) Determine whether the current step to be called includes a shift command.

(3) If there is a position that includes a shift command, the position information is corrected by the shift amount ΔL in the shift direction set in the selected coordinate axes.

(4) Output the contents of the current step as command information.

(5) Determine whether the current step is the final step of the user program. If it is the final step, the series of processing ends. If not, update step (1) above.
Return to

Explaining the execution operations in sections (1) to (5) above in conjunction with the execution operations of the welding torch 2, first, in section (1), the first step of the user program is called (0th order (
In section 2), it is determined that no shift command is entered at position P1, which is in the first step, and the process moves to section (a).Therefore, welding point P of welding torch 2 is positioned at position Pi. When entering item (5), it is determined that the first step is not the final step, so the process returns to item 1) and the second step is called.

In step (2), it is determined that a shift command has been entered at position P2, which is in the second step, and the process moves to step (8), where the position information of position P2 is shifted by ■ on the selected X-axis coordinate axis. It is corrected to position P3, which is displaced by ΔL=200sa* in the direction.

Then, moving to item (4), since the shifted position P31 speed, welding conditions, and "linear interpolation" that have entered the second step are output as command information, the welding torch 2 is moved to position P1.
From there, automatic welding is performed toward position P3. At the same time, in item (5), the second step is determined to be the final step, and the entire process is terminated.

The above-mentioned embodiment is merely an example, and modifications as shown in FIG. 3 are also possible. That is, in FIG. 8, it is assumed that the standard workpiece Wc has been taught to weld from position to position. The above-mentioned deformed workpiece bud corresponds to the deformed workpiece We 1 whose position is shifted (Pa-~) in the direction (■) in FIG. Similarly, deformed works Wc2, Wc3,
Wc4, Wc5, and Wc6 are each at the position P
Shift b in the e direction (pa-+Pb2), shift the position P in the direction (PBl = Pb) % Shift the position P8 in the e direction (pa□-Pb), shift in the direction of both positions Pa and Pb≦Pal →pb1), position Pa@Pb is both shifted in e direction (Pa□→Pb2) 0 or more As will be described in detail, according to the industrial robot of the present invention, the positioning position of the machining line is determined by the known coordinate axes. Even if there are many types of workpieces that have been moved in parallel, if you teach one workpiece, you can actually teach the other workpieces by simply setting the shift direction (■ or e) and shift amount ΔL when performing machining operations. The teaching work can be completely omitted and the teaching time can be significantly shortened, which has an immeasurable effect on improving the actual operating rate of the robot.

[Brief explanation of drawings]

All drawings show embodiments of the present invention, and
FIG. 1 is a schematic diagram of the entire industrial robot, FIG. 2 is a flowchart of the control means, and FIG. 8 is an explanatory diagram showing some examples of possible deformable workpieces. In the figure, 1 is an articulated robot, 2 is a welding torch, 3 is a power supply device, 6 is a control means, 8 is a remote control panel, W is a standard workpiece, - is a modified workpiece, and ΔL is a shift amount. Applicant's agent Takashi Higashi

Claims (1)

[Claims] (1) In a playback type industrial robot that performs automatic processing work by appropriately controlling the relative positions of a processing tool and a workpiece using a control means, the control means includes a means for selecting a coordinate axis to be shifted, and a means for selecting a coordinate axis to be shifted; , means for setting a shift amount ΔL, and means for setting a shift direction (■ or e) on the coordinate axes, and the control means controls the teaching contents before executing the automatic machining operation. An industrial robot characterized in that the position information of the position including the shift command is corrected by the shift amount ΔL in the shift direction set by the coordinate axes.