JPS6059402A - Method for controlling original point position of industrial robot - Google Patents

Abstract

PURPOSE:To reduce the variation of the original point of position information with the control method for original point position of an industrial robot, by setting the switching position of a limit switch which detects the original point of an arm at the intermediate position of a rotary pulse. CONSTITUTION:The 1st arm 2 of an industrial robot 1 is shifted to the unadjusted original point by an original point reset signal given from an operation board. The shift pulses given from the 1st pulse encoder 6 are counted for a period during which a limit switch is turned on and a rotary pulse is produced. Then the drive of the 1st motor 4 is stopped. The count value of this time point is controlled to half the value obtained when the motor 4 has one rotation. In this case, the switching timing of the limit switch is set at the intermediate position of adjacent rotary pulses. Thus the original point of the position information has no variation despite some variation of ambient temperatures. This ensures positioning with high accuracy.

Description

[Detailed description of the invention]

The present invention relates to a method for adjusting the origin position of an industrial robot having the following. Recently, in tilted work for high-mix, low-volume production, ? FI. Industrial Kawaguchi bots are used for a wide variety of tasks, but these types of industrial robots store given operating conditions and position information in a storage unit, The robot body is configured to be moved by sequentially calling the position information 'S' to drive the motor and move the robot body.In this industrial robot, the robot body is moved from the origin Kit# determined before starting work. Distance index corresponding to stored position information
The I-work position is calculated, and the robot body is configured to move to this work position. However, since a limit switch is used to detect the original single point position, the method of the switching circuit operated by the limit switch is
Since the timing may vary depending on the ambient temperature, etc., depending on the fixed position of the limit switch, in other words, as shown in Figure 5, after the limit switch is activated at room temperature, the motor will rotate one revolution immediately. If the limit switch is located at a position where the rotational pulse is immediately transmitted, the motor will rotate further than the operating position at room temperature.
The limit switch will operate at the same position, and the rotation pulses detected at room temperature may not be detected. Therefore, the rotation pulse that is detected for the first time after the limit switch is turned on will have an error equivalent to one rotation of the motor, and the work that is calculated by one rotation based on the origin 1) and 7 positions obtained from this rotation pulse will occur. There are also disadvantages such as positional errors and the inability to perform accurate positioning. The present invention aims to eliminate the above-mentioned drawbacks, and embodiments thereof will be described below with reference to the drawings. In Figure 1, (1)
There are two articulated industrial robots τ, the first arm (2
) and the second arm z, (3).
i). The 17th-no.(2) is connected to the support (5) by the 1st ν-motor (4) (hereinafter referred to as the 1st motor).
This first motor (
4) At the top, there is a first pulse engine that transmits two types of pulses, a rotation pulse and a movement pulse, in response to the rotation of A: I-
Da(6) is 4=J down. The rotation pulse is the first
One pulse 111 is generated each time the motor (4) rotates once, and N movement pulses are generated each time the first motor (4) rotates once. At the tip of the 17th-No. (2), there is a center, a first rotating shaft (
7) is held rotatably, and this first rotation ￥1+
The second arm (3
) is retained. A second pulse engine: J-da (9) is disposed above the second L-tor () (), and transmits rotation pulses and movement pulses for the second motor (8). J
, ). Further, a knitting machine (10) is attached to the tip of the second arm (3). The first arm (2>27th-), (
3) is configured to move to a desired work position. The pillar (5) has a striker/damper hole (as shown in Fig. 3).
; 1 plate (11) which also serves as a stopper;
2) is fixed, and the dog (12) is placed at a position at a predetermined interval on the outer periphery of the stopper holder (=J plate (11)).
It is configured so that it can be read once. On the other hand, several limit switches (14) are mounted on the first arm (2) via switch handles (13), and the gap between the limit switches can be freely adjusted and the IJ position of the limit switch can be adjusted. It is configured to be movable along and along a hole (not shown). The industrial Kawaguchi bot (1) has an A-11 drive device (15)
The first motor (4) and the second motor (8) are controlled to control the movement of the work J and the leek 1-(Hl). This arm drive'j4 j;tj
(15) adopts the feeding play 1<tsuk method using FTP control.

[The device is configured to drive the robot body (16) based on the given motion (7 position information).The ground and drive device (15) has a control panel (17). , this control panel (17) is connected to the first
, 2nd: Driven by C, - evening (4M + 1), storage unit (18) that stores the operating conditions of \r + point body 1G), position information of any point, etc.; and this storage unit ( The human output including 1B is determined by L), and the ir
A central control unit (19) and a central control unit (1
The motor drive unit (2(9) operates according to the command signal from
+). A separate Brokrama device (λI) is connected to the control panel (17) through a cable for removably connecting the bot body (17) to the control panel (17).
6) Operating conditions, 91 at any point 1i'/device, etc., to avoid operating the main body (16). After inputting this button +s
+') The llama device (21) is configured to be removed. Even after removing the block controller (21), the control panel (17) is operated by the operation command signal from the operation panel (22), and the robot body is moved as it is.
) is configured to create 71 children. As shown in FIG. 2, the operation panel (22) has various switches that send the operation (l+command I^enable) to the central control unit (19), namely an automatic manual changeover switch (23), and a step continuous switch 7-(2).
4), Bono, (noikuru switch 7-(25), skip -・time stop city switch (2+;), origin switch <2
7) Converter switch '7''(2++> and switch L1'
Rano, Shil/Taktoitch (29) and C. In the switch group, when the automatic manual changeover switch 23) is set to automatic, the other switch groups are automatically set to continuous switch T, (neucle switch T, and pause switch), respectively, and vice versa. When set to manual, the teaching box (30') is connected to the teaching box (30') through the cable for the teaching 74. <The tact (3F+) has a key switch (3+) that causes each motor (4XIJ) to rotate forward or reverse Φi, a constant QIIilφ rotation in the direction, and with the Giesuit 7-(31) single or continuous key switch 7'' (32)] The robot body (16) can be moved to any desired position by using the teaching mode.
33), and when modifying the 117 position information previously stored in the storage unit (18) by the block master device (21), turn on the teaching key (:(:+)) 1. Lever operation. The teaching box (:1
4), and the operation 1'11 Order I5 issued the operation 1'11 to store the 14 information corresponding to the correct position of the 1st position of the 1st book A) and (lfi) in the 1st office. It will be done. L sea urchin composition 3 view C
There is. In addition, on the control panel () 7), there is a work Sl, (Hl
) is connected to the industrial tool (10) so as to drive the tool (10) according to the predetermined work content.
point 17-la(ko([i) is placed lVI'+,
It is structured so that you can select sequence blogs with different work contents for 11 points. Is this Sigesniint L? - Raku: 16) sends an output signal to the central control unit (19) to call the position information of the next point and the G-T' sense program, and also sends out the robot body mobile phase <'i (t?). Robot body (16
), the called sequence block is set by sequence end No. 18. That is, the central control unit (19) receives command signals from the operation panel (22) and the sequence controller (36).
), as shown in Figure 4, 1) I') f1 origin switch 1 (
27), the 1-1 pot main body (IEi) is moved 11i to the origin. 2) At this time, the Bono cycle switch (25) confirms the Bono movement 1 hour order signal and moves the robot body to the Bono position. Simultaneously, set the sequence block 1 at the 2nd position to execute u111F=. 3) Once the movement of the L1 bot body (1(i)) to the Bohm 1 standing position is complete, prepare for the next equipment ('lS start bracket No. 5). 4) When the work start signal is received, automatic manual switching When the switch (23) automatically outputs the voltage rfai;
5) The sequence end signal is sent from the sequence controller 36) and scans the sequence block and log until it appears. 6) Move the robot body 16 and call up the position information of the next step point and the I/J club 11 by the instruction command. 7) Move the robot body (1G) to the next point. 8) When sequence end No. 18 is sent out, the next step 2
Step 1-1 is executed on the condition that the movement of the robot body (V) is completed. 9) 5) Go back. 10) When the sequence end signal of the final step of the progera 11 is sent out, the process returns to 3). (Description of manual operation 1 will be omitted. 6) It is configured to be driven according to the flowchart 1 described above. Moreover, as shown in FIG.
Explanation about the arm) 1) Perform additional point calibration. ] Earth, returning to the origin of (2) 5+
1+, when the limit switch (14) is turned on, the rotation pulse transmitted thereafter causes the first motor (
4) Stop. At the same time, the limit switch (14) is turned on, and the movement pulses from the first pulse encoder (6) are detected until the ρ1 rotation pulse is obtained from the beginning.2) The count value of the movement pulses is disturbed. If the value is within a predetermined range from the calculated N/2 values, the position of limit switch 7' (14) is set as the origin position. Jump to ()(). 3) When the IT value of the movement pulse is not within the predetermined range, a device failure at the origin is displayed. 4) Having the origin adjustment operation No. 4M, and receiving the origin adjustment operation No. 1A, drive the first motor (4) so that the count of movement pulses becomes N/2. 4) Stop. 5) Limit switch (+4) c7)' Displays the A on/off status. (1) If the origin return signal is not received, the process returns to step 5). 7) Upon receiving the layer origin return signal 4J, return to 1). 8) Send the origin calibration completion signal. 9) F:N1) - [, according to the flowchart described above]. In the above-mentioned industrial Kawaguchi bot, the operation panel (22) No. I) is completed. Upon receiving the origin return signal, the first arm (2) moves to the unadjusted origin. When the limit switch (14) is turned on, the movement pulses emitted from the first pulse cone encoder (6) start counting by 1, and after that, the rotation pulses are emitted from the first pulse encoder (6). When fI-; is generated, the counting of movement pulses is stopped and the first motor (4) is stopped 1
．． Let's go. If the Fushimi 1 value at this time is around N/2, the switching timing of the limit switch (14) is at the intermediate position between adjacent rotation pulses, so even if there is a slight fluctuation in the surrounding temperature, the limit switch (14) will always switch. Limit switch 7-
When (14) is turned on, the rotation pulse that is transmitted for the first time becomes an origin pulse, and the rotation speed of the motor (4) corresponding to the position information is determined based on this origin pulse. On the other hand, if the count value of the moving pulse is outside the predetermined range from N/2, the switching position of the limit switch (14) is set to the position of the rotating pulse approaching the In this case, drive the first motor (4) to match the ≦1 value to N/2. Then, set the limit switch (14) to the Sui-Sochi IJ tool (1).
3) Relax and move the position slightly, reach one of the identified thorns (12) to the strut (5) and turn on the limit knob J-(+4). This is j
At this point, securely re-fix the limit switch (14), perform the origin calibration 1E again, set the switching position where the limit switch (+4) turns on to the middle of the adjacent rotation pulses, and complete the origin calibration. After that, when the industrial robot performs single-motion operation, the limit switch 7-(14) is activated. The number of revolutions of the first motor (4) can be calculated by
Since the position is set to be the intermediate position of the rotation pulse transmitted during the rotation cycle, E Iji (even if the switching timing of the limit switch changes slightly due to temperature fluctuations, the limit switch will not change to the set switching position). It is possible to reliably detect the rotational pulse that is emitted only after the rotational pulse is reached, and there is no fluctuation in the origin of the position information, which has the advantage of being able to perform positioning with extremely high precision.

[Brief explanation of drawings]

FIG. 1 is an overall explanatory diagram of the industrial robot according to the present invention, FIG. 2 is a wiring diagram showing the connection state of the present invention, FIG. FIG. 5 is a flowchart explaining the operation of such an industrial robot, FIG. 5 is a flowchart of the present invention, and FIG. 6 is an explanatory diagram of main parts showing a conventional example. (1) Industrial robots, (2) No. 17-No. 1, (No. 3
) No. 27-no. (4) No. 14 motor, (5) Strut, (6) First pulse encoder, (7) First rotating shaft, (I) No. 2 +)- motor, (
1υ 2nd pulse encoder, (In) working unit, (11) stopper plate, (
+2)) G, (Gl) Switch removal tool, (14) Limit switch ', (15) Arno, drive device, (I
lli) LSI pot body, (17) control panel, (1
8) Storage unit, (19) Central control unit, (20) Motor drive unit, (21) 10-krama device, 22) Operation 1'1 panel, (23) Automatic manual changeover switch, (2) Sdep continuous switch , (25) Bow 11 (Noikuru Switch f゛, (2Ei) Skip/time stop switch, (27) Origin switch, (
2B) -1-Nitor switching switch f", (29) Program left switch, (3 (1) D-Ting box, (31) Key switch, (: ≧ 2) Continuous key switch
I, (33) Tee 1 key, (34:)] - key, (35) External input/output circuit, (36) Sequence controller, Agent Ishi 1) Tomio Figure 3 Figure 6

Claims (1)

[Scope of Claims] It has an arm rotatably held on a support column, and is constructed so that the ground is driven by a motor to stop the tip of the arm 11 at a desired position. The limit switch or barb to be detected is fixed at any position relative to the pillar and can be moved freely, and the dog or limit switch is fixed to the arm, and rotation pulses and movement pulses are transmitted in accordance with the rotation of the motor. In an industrial Kawaguchi bot equipped with a pulse encoder, the %I +
While detecting the number of movement pulses from when the limit switch is turned on until the pulse encoder emits the first rotation pulse, this number of movement pulses is obtained during one rotation of the motor. 1 in number of moving pulses
``Drive the motor so as to reach the HI value, and further move the limit switch or dog with respect to the arm 11 in this position, and fix the limit switch or dog at the position ζ where the limit switch is turned on. Features: J, 9-point position adjustment method.