JPS60176108A - External synchronism operation correcting system - Google Patents

Abstract

PURPOSE:To attain correction of synchronism operating position by shifting the synchronism operating position by a share of a correcting pulse when a robot is operated synchronizingly with an external device. CONSTITUTION:Since the count operation is inhibited, until a hanger of a trolley conveyor 1 comes to the synchronism start position, that is, until a detection switch 13 is turned on, the content of a counter section 21 is shifted by the amount of a correction pulse number and the hand of a robot is positioned to a synchronism start standby point. When the hanger comes to the synchronism start position, the switch 13 is turned on and the counter section 21 starts the count of an input pulse from an external device. The hand of the robot makes playback operation according to the taught operating order, that is, the component mounting operation onto the hanger, and since the position of the robot hand in this case is shifted by the share of synchronism operating position than the position at teaching, the component is mounted in synchronizing with the movement of the hanger.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to an external synchronized operation method in which a teaching player type robot is operated in synchronization with an external device. [Background of the Invention] An externally synchronized motion correction method for a robot includes, for example, teaching the robot a synchronized motion direction, a synchronized motion direction, and a synchronized motion direction, and then receiving information from an external device. There is a method in which the robot v is moved in the synchronous movement direction by the synchronous movement position corresponding to the number of input pulses.
Although it is possible to change the synchronous movement distance 7, it is only possible to shift it by an off distance in the synchronous movement direction, and the synchronous movement position cannot be corrected when the robot follows an external device with a delay. There is.

(Objective of the Invention) The object of the present invention is to eliminate the above-mentioned defective hair, external device ai
An object of the present invention is to provide an external synchronization motion correction system that makes it possible to correct the synchronization motion position of a robot by an amount equivalent to this delay even if the movement fL of the robot's follow-up position with respect to K occurs.

Summary of the Invention] The externally synchronized motion correction method according to the present invention sets the number of supplementary pulses so that a certain amount of compensation can be made to the number of input pulses to the robot device, and The correction is made by adding the number of shaft stopping pulses to the number of manual pulses.
This is used as the fc input pulse number to calculate the subsequent synchronization target position, and when the robot performs synchronized operation with an external device, the synchronization position is shifted by the correction pulse amount to achieve synchronization. This makes it possible to correct the operating position.

[Embodiments of the invention]

Hereinafter, embodiments of the present invention will be explained based on FIGS. 1 to 4.

Figure 1 is an external view of an embodiment of a robot device to which the externally synchronized motion correction method according to the present invention is applied. This is an example in which the parts are taken out and mounted on the parts Pt hanger 10 while operating in synchronization with the trolley conveyor 1 which is an external device.

Figure 2 is also a professional diagram.

In this embodiment, the robot device includes a trolley conveyor 1 which is an external device, a robot control device 2% and a robot robot main body 3. It is comprised of a teaching box 4 as a means for teaching the logger 9, a display 5 with a keyboard, and a parts supply device 6.

The trolley conveyor 1 includes a drive motor 11, a drive motor 1
1, a pulse generator 12 outputs a number of pulses corresponding to the rotation angle of the motor, that is, the travel distance of the trolley conveyor 1; a non-garter 10 that moves in the direction of the arrow in FIG. 1 due to the rotation of the drive motor 11; and the hanger IQy. It consists of a synchronous operation start position detection switch 13 that detects and outputs a synchronous operation start signal to the robot control device 2.

The robot control device 2 includes a counter section 21% that counts input pulses from the pulse generator 12 of the trolley conveyor 1.
A storage section 22 for storing teaching data, etc.; a calculation section 23 for calculating target positions, etc. based on information in the counter section 21 and storage section 22; robot body 3 at the target position set by the calculation section 23;
a position servo section 24 for operating the collar/removal section 21. Storage unit 22. Arithmetic unit 239 position servo unit 2A9f
It is composed of a control section 25 for controlling.

The robot main body 3 detects the rotational speed of each shaft driving motor 31 and each shaft driving motor S1, and controls the robot 9 to control device 2.
A speed detector 32 returns speed to the position servo section 24 of the robot controller 2, and a pulse generator 33 outputs a number of pulses corresponding to the rotation angle of each axis drive motor 31 and returns the position to the position servo section 24 of the robot control device 2. , and a robot hand 30.

The teaching box 4, which serves as a means for teaching the robot, is composed of a manual operation key, a key for teaching -1 in the number, a numeric display, and the like. After setting the number of the point to be taught with and confirming it with the numeric display.

Points can be taught using the teaching gear.

The Niceplay 5 with keyboard is used as a means to teach the operation order of the logger 9, the synchronous movement position of the robot, the synchronous movement ratio ys, the number of @stop pulses, etc. The part positioning mechanism is capable of taking out the part Pt at a fixed position, and performs F-sequence operation in communicating with the robot control device 2 with an interro call signal r.

In addition, FIG. 3 is a 70-chart of teaching contents regarding the second cause of FIG.

Now, the explanation will be divided into the actual implementation@Mutsu teaching and Ruibadaku.

The robot device according to the present invention is of a teaching river type, and it is necessary to teach the robot device.

To teach robot operation, first, hanger 1g2 of trolley conveyor 1, synchronization start position, bunker 1
0 is the synchronous operation start position detection switch 9ch 13' (H).
The teaching box 4 teaches the points necessary for loading the parts P and taking out the parts P from the parts supply device 6, and stores them in the storage section 22 as teaching data. At this time, the point at which the robot hand 30 waits until the )-linker 10 comes to the synchronization start position is taught as the synchronization start standby point.

Next, the operation order' (+-?- Display with board 5
and stores it in the memory s22.

The third figure line shows a 70-chart of this teaching content.

Next, teach the robot hand 30 to move onto the parts supply device 6, close the robot hand xo2, and move the robot hand 30 onto the parts supply device 6.
k Teach grasping. after that.

Teach the start of the synchronous operation code. When the seventh mode is reached, the synchronous operation position of the robot hand 30 is corrected by the number of correction pulses to be described later. After that, the logger 9 hand 30 is taught to move to the synchronization start standby point, and the bunker 10 is
Wait for yt to reach the synchronization start position. In the following, the robot hand 30 is taught to move above the finger 10, release the hand, and move to the synchronization start standby point. This is part p
2 Han: This is a teaching to be installed on #-10, and it needs to operate in synchronization with hanger 10 when using Ruiba, but when teaching, bunker 101! - The robot hand 3 is stopped at the synchronization start standby point, and the robot hand 3 is moved to the synchronization start standby point.
The synchronization operation of 0 to the hanger 1a is completed.

Therefore, the synchronous operation mode is not terminated, and the synchronous operation that adjusts the contents of the counter section 21 and the number of correction pulses as described later is stopped. The end of this synchronous operation mode is output at a position shifted by h synchronous start position at the time of playback 9, so it is necessary to teach whether fs has moved back to the original position, that is, the position where synchronous operation does not occur. At this time, we will teach you how to check the synchronous operation end signal generated inside the robot control device 2.

In addition to the above-mentioned teachings, the teaching of robot motion according to the present invention includes buttons, the direction of synchronous movement with an external device, and the synchronous movement ratio indicating how much movement distance r to perform synchronous movement with respect to the number of input pulses from the external device. It is necessary to teach AI and the number of pressure accumulation pulses Ill for the number of input pulses C.

2 different APs, to teach the synchronous motion direction.

P2, and the direction from point P1 to point P2 is taught.

Points P1*P2 can be taught from the teaching box 4, and the numbers of the two points that determine the direction of synchronous operation are -? - It is possible to teach from the display 5 with board.

Now, the x, y, z coordinates t1P1(P
lx IPI Y IPI z) 1P2(Pzx +
P2x IP2E) and Dz, the cosine in each direction between these two points is Dz+Dy+Dz, where mLo is the distance between the two points Pz-P2,
Lo-(P2-Psx)2-4-(Pzx-)'1y
)2−+(Pzx−Plx)2<2).

The itc% synchronous operation ratio kN indicates the distance traveled in the synchronous operation direction per input pulse. Therefore, the synchronous movement distance L8 in the synchronous operation direction is Ls-N-C(3). Here, C is the number of input pulses from an external device, and can be obtained by reading the contents of the counter section 21.

Each component 1 in the x, Y, and Z coordinate directions of this synchronous movement distance L8
ast, Ltrx, and Lsz are the synchronous movement distances in each coordinate axis direction, and can be calculated as follows.

That is, by teaching the synchronous movement direction and the synchronous movement specific gravity, X,! , Z axis directions can be taught.

It's a friend, and when the robot hand MO moves in synchronization with Huff-11-10, Mori, loga9tohand3o's hanger 10
The synchronous operation is delayed and the loading position deviates from the taught position.-I'cm synchronous operation start position detection switch 1
The position of 3 itself may shift and the mounting position may become blurred. In the present invention, this problem is solved by providing a correction means for the synchronous operation position. That is, the counter s2
Regarding content C of 1, if there is a delay in the synchronization operation, it is taught as a positive number, if it is ahead, it is taught as a negative number, and if it is neither, it is taught as the fundamental tone supplementary pulse number B, and when flavour, The content C of the counter section 21 and the number of corrected pulses B are added together, and the sum alt is used to calculate the synchronous movement distance Lsk, and the synchronous movement position km during the synchronous operation is stopped. At this time, the calculation formula is as follows.

In addition, the teaching line is inputted from the display 5 with a keyboard, and the teaching point P1+P is stored in the storage unit 22 by the control unit 25.
21 synchronous operation ratio force N and correction pulse number Bt are stored in this storage unit 22, tt, ;7
'(The above synchronized operation data is used during play and (crawl).

Next, the playback operation will be explained.

FIG. 4 tz is a flowchart for replenishing the operation of the robot device during play-pasting, and corresponds to the 70-chart during teaching in FIG. 3.

In the play bike, until entering the synchronous operation mode, the robot operates up to the teaching point according to the taught operation order, similar to the conventional teaching playback type robot apparatus. That is, with respect to the teaching example shown in FIG. 3, the robot hand 30 moves to the component supply device 6, closes the robot hand 30, and grips one component p2. continue,
When the synchronous operation mode is started or executed, the synchronous operation mode 7 lag is stored in the storage unit 22! and then enters synchronous operation mode. During this synchronous operation mode, the synchronous operation position shown by equation (7) is added to the teaching data of the taught point, and the position of the taught point is shifted from the position of the taught point by the synchronous operation position in the synchronous operation direction. Therefore, when L/7t pulses corresponding to the moving distance of the trolley conveyor 1, which is an external device, are input to the counter @21, the contents C (and C') of the counter section 21 increase.

In accordance with the moving distance of the trolley conveyor 1, the robot hand 30 also moves in position by the amount shown by equation (7), and performs a synchronous operation with the hand fj-1o of the trolley conveyor 1.

Now, the content C of this counter section 21 is cleared to zero and continues counting operation until the bunker 10 reaches the synchronization start position, that is, until the synchronization operation start position detection switch 13 closes FJ5t<ON). Since it is prohibited, m positive/(rus number B
Loga 9 hand 30 is synchronization start waiting AVC
Once the positioning is completed, the formula (7
Since the correction pulse number B is taken into consideration in ), the synchronization operation is performed with compensation equal to the shaft stop pulse number B.

Therefore, robot hand A (1q) waits until the bunker 10 reaches the synchronization start position at the synchronization start standby point (correction is applied for the number of correction pulses 8 minutes). Then, the synchronous operation start position detection switch 9 and 13 actuate, and as a result, the number of synchronous operation start position detection switches 9 and 13 is set to 5, that is, the number of stitches of the input pulse from the external device to the counter section 21 is 2.
Once started, the boat hand 30 performs the playback operation, that is, the operation of loading the parts onto the hanger 1o, according to the taught operation sequence.
Since the position of is shifted by the synchronous operation position from that at the time of teaching, it is possible to place the part p'ri in synchronization with the movement of the handle 6-10.

Total of 3 synchronous month number positions of robot hand 3o during synchronous operation
t is performed by the arithmetic unit 231CJ as shown in ).

First, the fi eye position 11 obtained from the teaching data is calculated. This method is obtained by calculating the distance between the points for each link period given in the teaching, and is a technique used in the conventional teaching player type robot insertion device.

x, y of the target position obtained from this teaching data.

2 Each coordinate position' (Lqx+ L!x* Ltz, and from equation (7), the synchronous movement distance 11H1+ Lsy+ L
sz I can claim it.

The synchronous target position is obtained by adding the synchronous movement distance obtained by equation (7) to the target position obtained from the teaching data. X, Y, and 2 coordinate positions of the synchronization target position It k
When Lx * Lx + Lx, it is expressed as.

Another way to calculate the synchronization target position is to add the synchronization movement distance shown in equation (7) to the data of the taught point every sampling period, and then calculate the interpolation between the taught point data after the addition. There is a way.

The calculation of the synchronization target position is performed by the arithmetic unit 23 every 19 sampling periods determined in the robot body, and the result is outputted to the position servo unit 241C. The position servo unit 24 causes the robot hand xo2 to follow the synchronization target position. Therefore, the robot hardware 30 can perform synchronous operation with respect to input pulses from an external device, while at the same time being able to perform complementary operations with respect to teaching data.

The above synchronous operation continues until the taught synchronous shade end command is executed. Synchronous mode end command output
Then, clearing 1 of the synchronous operation mode 7 and zero clear counting of the contents of the counter section 21 are prohibited, and the robot 9 is
move the hand 30. Therefore, the robot hand 3o returns to the synchronous operation standby point, which is the taught position, and outputs a synchronous operation end signal. Thereafter, the operation of grasping the next component p2 from the L91 component supply device 6 is started in the flyback of only the teaching data, and the above operation is repeated many times.

〔Effect of the invention〕

As described in detail above, the present invention can correct the synchronous operation position of the robot body having an external synchronization function, so even if there is a delay in the synchronous operation position with respect to the external device, the synchronous operation position can be corrected at the time of teaching. By maintaining an accurate positional relationship and operating the robot device in synchronization with an external device, remarkable effects can be obtained on the accuracy and efficiency of the robot body.

[Brief explanation of the drawing]

Fig. 1 is an external view of an embodiment of the acupuncture point device to which the externally synchronized movement shaft locking method according to the present invention is applied, Fig. 2 is a professional drawing, and Fig. 3 is a similar teaching content. 70-chiseto, Figure 4 line, 70-chi * - also of Ruiba 9ri movement
) "t' h '). 1...Trolley conveyor, 10...Han #-, 11...
・Trolley conveyor status motor, 12...Pulse generator, 13...Synchronized operation start position detection switch, 2...
・Robot control device, 21... Counter section, 22...
・Storage unit, 23... Calculation unit, 24... Position servo unit, 25... Control unit, 3... Robot body, 3d...
・Robotoha/de, 31...Motor for driving each axis 3
2... Fast generation detector, 33... Pulse generator, 4...
・Teaching box, 5...Display with keyboard, 6...
・Parts supply device. No. 11, Figure 2, Atsushi, Figure 3

Claims (1)

[Claims] 1. A teaching means for teaching the synchronous movement direction and the synchronous movement, a counter unit that counts externally input pulses, and a synchronous movement ratio &amp; Multiply by 1 synchronization distance kIi3
1LL, has an arithmetic unit that calculates the synchronous monthly salary position by adding the synchronous movement distance r to the target position set from the teaching position using L for interpolation, and a position servo unit that moves the robot 9 main body r to the synchronous target position. For a robot device using the teaching/ruiba hitting method, a means is provided for setting the required number r of correction pulses to compensate for the contents of the counter section and teaching the number of input pulses counted by the counter section. An external synchronization operation correction method in which the above-mentioned correction pulse number is added to the sum, and the sum is used as the cuff-rL nine-input pulse number for the subsequent synchronization target position It 311-.