JPS60237504A - Setting device for coordinate for operation of robot mounted on carriage - Google Patents

Abstract

PURPOSE:To operate the robot normally without correcting the position of a carriage by measuring the relative position to a reference plate provided at a specific position previously, and detecting the position shift of the carriage from the relative position and correcting the robot. CONSTITUTION:The NC robot body 6 is mounted on the carriage 1, run along the guide line of a run path, and stopped in front of objective facilities 12 such as a machine tool, and the hand 63, etc., of the robot body 6 are operated to perform specific operation. In this case, if the carriage 1 has a shift in position from a normal stop position, the robot fails in operating the objective facilities 12. For the purpose, the position shift of the carriage 1 is measured from the relative position relation between the reference rod 11a of the reference plate 11 and carriage 1 and the operation quantity of the operation program of the robot hand 63 stored in the memory of a numerical controller 70 is corrected according to the shift and the corrected operation quantity is commanded to the robot hand 63 to operate the objective facilities 12 normally.

Description

[Detailed description of the invention] [Technical field to which the invention pertains]

The present invention provides coordinates for numerical control when operating target equipment by a robot with a movable trolley carrying a numerically controlled robot stopped near a predetermined position beside the target equipment to be operated by the robot. Regarding the device for setting.

[Prior art and its problems]

Generally, this type of trolley travels between a parts storage area and a machine tool, or between target equipment, and a tower-mounted robot is used to supply parts to the machine tool or operate the target equipment. However, when the cart is in a normal stopped state, there is a positional deviation of several degrees or more between it and the target equipment, and unless the robot corrects this positional deviation, the robot will not be able to operate normally. Ta.

[Purpose of the invention]

SUMMARY OF THE INVENTION In view of the above-mentioned problems, it is an object of the present invention to provide a coordinate setting device for operating a cart-mounted robot, which allows the robot to perform handling operations as if the cart had stopped at a normal position.

[Key points of the invention]

According to the present invention, the above object is to obtain a numerical value when operating target equipment by the robot while a movable cart equipped with a numerically controlled robot is stopped near a predetermined position beside the target equipment to be operated by the robot. A device for setting coordinates for control, which has a nearly vertical reference plane and a nearly perpendicular reference line set at a predetermined position in the horizontal direction within the reference plane. and a reference plate fixed to the trolley, and a coordinate direction of the other from measurement points separated from each other in one direction of two coordinate axes in a horizontal plane fixed to the trolley to the reference plane of the reference plate. a first and a second measuring device each measuring a distance with the cart in a stopped state; and a first measuring device measuring a distance in the direction of the one coordinate axis of the reference line of the reference plate with respect to the origin of both coordinate axes with the cart in a stopped state. No. 3 measuring device; coordinate calculating means that calculates the stop position coordinates of the cart and its inclination from the reference plane of the reference plate from the measurement results by the second and third measuring instruments, and provides the calculated coordinates to the numerical control device as set coordinates for operating the robot; This can be achieved by being prepared.

[Embodiments of the invention]

An embodiment of the present invention will be described below based on the drawings. N
The configuration of the C-robot tower-mounted cart is shown in FIG. 1, and the relationship between the cart traveling and the stop position is shown in FIG. In FIGS. 1 and 2, the main body 6 of the NC robot includes a body 61, a rotating shaft 64, and a numerical control device 70.
It is divided into two main parts. A robot hand 63 equipped with a handling mechanism 62 is extendably provided in the body, and according to commands from a numerical control device 70, the robot hand 63 rotates or moves up and down on a rotation axis 64 and is aligned at a predetermined position. It is now possible to take parts and operate the target equipment. The trolley 1 carries the NC robot main body 6, has casters 4 at four corners, two drive wheels 3 at the center, and is equipped with two sets of direction detection sensors 13 facing each other, and is arranged on the running path. The vehicle travels in the direction of arrow 66 along the guided guidance M65,
Upon receiving a deceleration command from the switch 67, the traveling speed is decelerated.
Subsequently, upon receiving a stop command from the switch 68, the machine stops in front of the target equipment 12, such as a machine tool. FIG. 3 is a diagram showing the main part of the trolley stopping position. When the trolley 1 stops, it is fixed horizontally on the ground by extending four tread legs 2. Then, the target equipment 12 In front of the target equipment 12, a reference plate 11 is installed perpendicular to the running path at a position a certain distance S away from the target equipment 12. A reference line 11a of the protrusion as shown is provided. 11 has the following relationship. That is, the reference plate 11 is parallel to the virtual axis Y-Y' axis and is at a distance of m from the y-y' axis. Also, the reference line 11a is parallel to the virtual axis Y-Y' axis. It is located at a distance of E from the χ-X′ axis of the axis. on the axis of this reference axis, X-X', and the virtual axis X-X', Y-Y', y-y' axis and Y-Y
'If the axes coincide, the deviation of the stop position of the truck 1 will be zero. However, when the trolley 1 is in a normal stopped state, for example, x-x' in FIG. 3,
A positional shift occurs as shown by the relationship y-y', X-X'+Y-Y'. Therefore, by measuring this positional deviation,
Unless the NC robot 6 is corrected, the robot hand 63 will not be able to pick up parts aligned at predetermined positions or operate the target equipment. A specific configuration of the means for measuring this positional deviation is shown in FIG. 5, and will be explained. 20 is a position a distance L from the reference axis X-11' axis in the y-y' axis direction, and the distance from the y-y° axis to the reference plate 11 is measured in parallel to the x-x'' axis. The first measuring device 30 is a second measuring device that measures the distance from the reference axis y-y" axis to the reference plate 11 in the -X" axis direction.
It is a measuring instrument. This first. Second measuring instruments 20 and 3
0 are abutment members 8 and 9 that abut against the reference plate 11, respectively.
, a drive means 21 31 for driving the abutment member, and an encoder 22a for measuring the forward and backward movement of the abutment member. 32a, the driving means 21.31 is an abutment member 8.9
The encoder is a gear mechanism and a motor 22.32 that mesh with a rack 23.33 provided in the motor 22.32.
Each is included. A third measuring device 40 measures the distance from the reference axis x-x' axis to the reference line 11a in parallel to the y-y'' axis. x- so that the member is butted against the reference @11
A first driving means 45 for moving the abutment member forward and backward parallel to the x' axis, a detection means 44 for detecting that the tip of the abutment member abuts against a reference plate, and a first driving means 45 for moving the abutment member forward and backward in parallel to the y-y'' axis. a second driving means 41 for measuring the distance to the reference line 11a of the plate;
The first driving means 45 is an air cylinder, the second driving means 41 is a gear mechanism and a motor 42 that mesh with a rack 43 provided on the support of the air cylinder 45, and the encoder is a motor 42a. It is attached to 42. Further, the detection means 44 of the abutment member is a touch sensor. The motors 22, 32 and 42 are small motors equipped with an external resistor, and even if the abutment member hits the reference surface of the reference plate or the reference line 11a of the protrusion and stops, no excessive current will flow and external force can be applied. The output is enough to push back the abutting member. A block diagram of the coordinate setting device is shown in Fig. 6, a flowchart is shown in Fig. 7, and Fig. 8 shows a state in which the trolley 1 has stopped at its normal stopping position, and a state in which the trolley 1 has stopped at a position deviated from its normal stopping position. The state is shown in FIG. 9, and a method of setting the operating coordinates of the robot will be explained. The coordinate setting device includes a computer 41, which is a control center, and a ROM 42. Control functions such as a RAM 43 and input/output ink faces 44a and 44b are stored. In addition, the RAM 43 stores a temporary memory and a memory for a measurement program area for measuring coordinates, and when the trolley 1 is stopped at the normal position, the two abutment members 8 and 9 abut against the reference plate. The distance m from the y-y' axis to the reference plate 11 when applied,
n and a distance l1111 from the χ-X′ axis to the reference line 11a when the abutment member 10 abuts against the reference line 11a. Therefore, when the trolley 1 stops at a normal position, the robot can pick up parts aligned at a predetermined position or operate the target equipment by operating according to the program stored in the memory of the numerical control device 70 area. It is also now possible to do so. However, as described above, when the trolley 1 is in a normal stopped state, a positional deviation occurs between it and the normal stopped position. Therefore, when the truck I stops, the motor 22.32 and the air cylinder 45 are operated, and the pulse signals from the encoders 22a, 32a attached to the motor 22.32 are counted by the counters 22b, 32b. When the count ends, the contact of the abutment member 8.9 is confirmed and the motor 2
2.32 stops. At the same time. no is measured. On the other hand, when the contact of the abutment member 10 with the reference plate 11 is confirmed by the touch sensor 44, the motor 42 is operated and the abutment member 10 is moved again to the reference line of the reference plate.
1a and a pulse signal from an encoder 42a attached to the motor 42 is counted by a counter 42b. When this count ends, contact of the abutting member 10 is confirmed, the motor 42 is stopped, and lo is measured. Then, the abutment members 8, 9 and lO return to their original positions. Also, the measured value +s', n'. lo is stored in a temporary storage memory, and the computer 41 calculates the positional deviation ΔX ΔY and the inclination angle θ from the program stored in the memory of the measurement program area. That is, θ is determined between m', n', and L, and when θ is determined, ΔX is obtained. Δx'''n' cos θ-n! ΔY=n'5lns θ+1-- COS θ When ΔX, ΔY, and θ are determined as described above, the computer 41 executes the operation program of the robot hand 63 stored in the memory of the numerical control bag W70sJl area. The amount of movement is corrected, and the corrected amount of movement is commanded to the robot.As a result, the robot hand 63 can pick up the parts aligned at the predetermined position as if the trolley 1 had stopped normally, or pick up the parts aligned at the predetermined position as if the cart 1 had stopped normally. Fig. 10 shows another practical example of the present invention.1 The same components as shown in Figs. 1 to 9 are given the same reference numerals and their explanations are omitted. In this method, the second measuring device 30 and the third measuring device 40 described above are combined, and 50 is the measuring device. 59, a gear mechanism that meshes with the rack 53 provided on the abutment member 59, a motor 32 that drives the gear mechanism, and a gear mechanism that meshes with the rack 55 provided on the protrusion of the support that supports the abutment member 59. and a motor 42 that drives a gear mechanism, and encoders 32a, 4
2a are attached to the motors 32 and 42, respectively. Therefore, when the truck 1 stops, the abutting members 8 and 9 abut against the reference plate 11, and each
A distance 11Zfl' to 1 is measured. Next, the motor 42 is operated, and the abutment member 59 aligns with the reference line 11a of the protrusion.
is brought into contact with. A distance l° from the XX' axis to the reference line 11a is measured. The positional deviations ΔX, ΔY, and θ of the cart 1 are detected from the measured values of w', n', and 1°. Alternatively, the positional deviations ΔX, ΔY, and θ of the trolley 1 may be detected by sequentially measuring three points using the measuring device 50. In the above-mentioned embodiment, a measuring device in which the abutment members 8° 9 and 10 are in contact with the reference plate 11 has been described, but the present invention is not limited to this, and an optical measuring device may be used. Further, the coordinate axes set on the cart may be polar coordinates.

【Effect of the invention】

As described above, the present invention measures the relative position with respect to a reference plate provided in advance at a predetermined position, detects the positional deviation of the trolley between the normal stop position from the measured value, and corrects it in the robot. This enables efficient and economical operation of the trolley-mounted robot, which allows the robot to travel between parts storage areas and machine tools or equipment, and allows the robot to operate normally without having to correct the position of the trolley when the trolley stops. A coordinate setting device for use can be provided.

[Brief explanation of drawings]

1 to 9 show embodiments of the present invention, FIG. 1 is a front view showing the configuration of the NC robot tower-mounted cart, FIG. 2 is a plan view showing the relationship between the cart walking and the stop position, and FIG. Figure 3 is a plan view of the main part of the bogie stop position, Figure 4 is a plan view of the reference plate, and Figure 5
6 is a block diagram of the coordinate setting device, FIG. 7 is a flowchart showing the coordinate setting method, FIG. 8 is a configuration diagram showing the cart stopped at the normal stop position, and FIG. Figure 9 is a configuration diagram showing the trolley when it is removed from its normal stopping position.
FIG. 10 is a plan view of the main parts of a truck showing another embodiment of the present invention. 1: Trolley, 8, 9. 10: Abutting member, 11: Reference plate, 11a: Reference line, 20: First measuring device, 21°31
8 driving means, 22a, 32a, 42a: encoder;
30 + second measuring device, 40: third measuring device, 41: second
driving means, 44: detection means, 45: first driving means 1, -xl, y-yl, coordinate axes. Figure 1 2 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 y゛y' Figure 8

Claims (1)

[Scope of Claims] 1) Numerical control when the target equipment is operated by the robot in a state where a movable trolley carrying the numerically controlled robot is stopped near a predetermined position beside the target equipment to be operated by the robot. A device for setting coordinates for a target facility, which has a reference plane arranged in a nearly vertical direction and a nearly vertical reference line set at a predetermined position in the horizontal direction within the reference plane. a reference plate fixed to the carriage, and the other seat axis from measurement points separated from each other in one direction to the reference plane of the reference plate among two coordinate axes in a horizontal plane fixed to the trolley. first and second measuring instruments each measuring the distance in the direction when the trolley is in a stopped state; and the positional coordinates of the reference line of the reference plate in the one seat axis direction relative to the origin of the true coordinate axis are measured in the stopped state of the trolley. a third measuring device that measures with;
The coordinates of the stop position of the cart and its inclination from the reference plane of the reference plate are calculated from the measurement results by the first, second and third measuring instruments, and the coordinates are provided to the numerical control device as set coordinates for operating the robot. A coordinate setting device for operating a cart-mounted robot, comprising calculation means. 2. In the apparatus according to claim 1, the coordinate calculation means provides the numerical control device with the difference between the coordinates representing the stop position of the cart and the reference coordinates representing the reference position at which the cart should be stopped with respect to the reference plate. A coordinate setting device for operating a cart-mounted robot. 3) A coordinate setting device for operating a cart-mounted robot according to claim 1, wherein the coordinate axes fixed to the cart are orthogonal coordinate axes. 4) In the device according to claim 1, the first and second measuring instruments are arranged in the coordinate axis direction of the other so as to abut the rod-shaped abutment member with the tip of the abutment member toward the reference plate. 1. A coordinate type setting device for operating a cart-mounted robot, comprising: a drive means for moving the abutting member forward and backward along the same direction; and an encoder for measuring the movement of the abutting member. 5) In the device according to claim 1, the reference line of the reference plate is formed by the side surface of the protrusion protruding from the reference surface, and the third measuring device includes a rod-shaped abutment member and the abutment member. a first driving means for moving the abutment member forward and backward along the other coordinate axis direction so as to butt the tip of the abutment member toward the reference plate; a butt detection means for detecting that the tip of the abutting member has abutted against the reference plate; The second driving means drives the abutment member along one coordinate axis based on the detection signal of the abutment detection means, and the encoder measures the advance/retreat distance of the abutment member in the direction of one of the coordinate axes. Features: A coordinate setting device for operating a trolley-mounted robot. 6) In the device according to claim 5, the third measuring device further includes another encoder for measuring the advance and retreat distance of the abutment member in the direction of the other coordinate axis, and receives the advance and retreat distance signal from the another encoder. 1. A coordinate setting device for operating a cart-mounted robot, characterized in that: is used as a measurement value signal of a first or second measuring device. 7) In the device according to claim 1, the first.
A coordinate setting device for operating a cart-mounted robot, characterized in that an optical measuring device is used as the second or third measuring device. 8) A coordinate setting device for operating a cart-mounted robot according to claim 1, characterized in that a polar coordinate axis is used as the coordinate axis fixed to the cart. 9) The device according to claim 1, wherein the robot is a rotating operation type robot, and the post axis as the rotation operation axis is selected to pass through the origin of the coordinate axes. Coordinate setting device for operating tower-mounted robots.