JPS6151204A - Operation space identification system of robot - Google Patents

Abstract

PURPOSE:To minimize the inhibited space in limiting the operating space by providing a discriminating means storing position information of a specific space decided in the operating space of a robot and discriminating whether or not the present position is within the specific space. CONSTITUTION:The operator decides properly a protection space F enclosing an object P and inputs it to a space specifying means 5. Then the operator teaches a desired job and a discriminating means 6 calculates a space coordinate of a present positio of the robot 2 by using a signal from a sensor of each robot element. Should the operator made the robot 2 invade in error into the specific space F, an identification signal (g) is outputted from the discriminating means 6 and a controller 3 raises an alarm. When the reproduction is executed normally, the robot 2 does not invade to the specific space F at least at the taught point but if an interpolation point happens to be within the specific space F, the discriminating means 6 outputs the identification signal (g) and the controller 3 stops the robot 2 urgently.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The invention relates to a system for distinguishing characters between characters in a robot. (And the command (1'/, i+'?) to the robot enters a system that identifies whether it is inside or outside the object space set in the robot's operation space.

``Prior art and problems'' Conventionally, in order to limit the operating space of a robot, a mechanical stopper was attached to each robot element, or a limiter was provided to serve as an electrical stopper for each robot element. Additionally, the operating space of each robot element is restricted using software.

From one point of view, these are the robot's original
It can be seen as creating a specific kin 11-space between the characters and distinguishing that kin 11-space from other spaces.

However, in the conventional technology described in Section 7 and G, the space is restricted individually for each robot element without any relation to each other, so the shape of the prohibited space is limited to a simple one and cannot be set freely. It's inconvenient.

Further, there is an inconvenience that a prohibited space cannot be provided in the center of the original operating space.

This often creates an unnecessarily large forbidden space,
There are times when you have to do a &J. For example, as schematically shown in FIG. 4, a robot R has robot elements of a rotating base R1 and a telescopic arm R2, and its original operating space has an outer diameter r shown by a broken line. from the wall W to the pillar P
If it is different from the one that protrudes and intrudes into the fan shape by a length β, then the 1-limit of the telescopic arm R9 of the robot R is rl
(=r.

-/), and the fan-shaped part excluding fan-shaped A shown by the broken line and fan-shaped B shown by the two-dot chain line (this is the actual II work space of robot R) is designated as a prohibited space. However, this means that the fan-shaped spaces CI and C2 shown by the dashed-dotted lines are prohibited spaces even though there are no obstacles.

``Object of the Invention'' The present invention aims to provide a robot operating space identification system that allows a specific space of any shape and position to be provided in the operating space of a robot, and also makes it possible to identify the specific space. This system is useful for many purposes, such as making it possible to make only the column P in FIG. 4 a prohibited space.

"Structure of the Invention" The rIl pot operating space identification system of the present invention includes a space specifying means for storing position information of a desired specific space defined in the operating space of a robot having a plurality of robot elements, and a sensor for each robot element. The robot is configured to include a determining means for determining the current position of the robot based on position data from the robot and determining whether or not the current position is within the specific space.

In addition, from another point of view, space specifying means stores position information of a desired specific space defined in the operation space of a robot having a plurality of robot elements, and a robot command is provided based on command data output to each robot element. determining means for determining the position and determining whether the commanded position is within the specified space; determining the current position of the r1 bot based on position data from the sensor of each robot element; and determining means for determining whether it is in space or on a platform.

"Embodiments" The present invention will be further explained in detail below with reference to the embodiments shown in FIGS. 1 to 3. Here, FIG. 1 is an explanatory diagram of the configuration of a robot operating space identification system according to one embodiment of the present invention, FIG. 2 is an explanatory diagram of the configuration of another embodiment, and FIG. 3111I is an explanatory diagram of the operation of the embodiment shown in FIG. It is a space diagram for explanation.

The robot operating space identification system 1 shown in FIG. In addition to the control device 'ff3 and the position command means 4, the apparatus includes 'ζ', a space specifying means 5, and a determining means 6.

Robot 2. As the control device 3 and the position command means 4, basically conventionally known devices can be used. However, when the identification signal g is input from the determining means 6, the control device 3 is added with a function of urgently stopping the robot 2 by issuing an @ alarm to the operator at that time.

The space specifying means 5 selects a desired specific space as space 1'.
i' +i: i is input in advance and stored in 'C' memory. For example, if the specific space is spherical, you can enter the center point and radius of the sphere, and if the specific space is a rectangular parallelepiped, you can enter the appropriate four vertices. Manual input is also possible.Also, if it is a space with a more complicated shape and one position, it may be input by performing teaching work.

When the determination means 6 receives the position data C from the sensors of each robot element of the robot 2, the determination means 6 calculates the current position of the robot 2 based on the position data (in space) in small steps,
The current spatial coordinates of the robot 2 are compared with the spatial coordinates of the specific space stored in the space determining means 5 to determine whether the current position of the robot 2 is within the specific space. When the current position is outside the specific space, the identification signal g is not output, but when the current position is within the boat foot space, the identification signal g is output.

(As a specific example, robot 2 is an articulated robot and has the movement space A shown in Figures 1 and 3 as its original movement space. The operation will be explained by hypothesizing a situation in which an object P is erected and the robot 2 must never come into contact with the object P.

Operation! The notebook appropriately determines a protected space F that encloses the object P, and inputs this as a specific space F to the space specifying means 5. This can be done by combining the input space coordinates, for example (X, <X<X,.

Y, <Y<Y, , Z<Z, ).

Next, the operator gives instructions on the desired work, but
At this time, the determining means 6 determines the current position of the robot 2 in spatial coordinates (X', Y',
Z'), and its spatial coordinates (X', Y',
For Z') (X, <x/ <x2.Y, <y/ <
”/2.'z'<z.

) is checked to see if it holds true. Therefore, if the operator accidentally causes the robot 2 to enter the specific space F, an identification signal g is output from the determination means 6,
As a result, the control device fi+73 sends a W message, allowing the operator to immediately know the error. Therefore, the operator can easily identify the invisible specific space F and instruct the robot 2 not to enter the specific space F.

If playback is performed normally at the time of /-t, the robot 2 will not invade the specific space F, at least at the position of the teaching point, so the robot 2 will become the object I) 4. 'No contact. Also, the interpolation point happens to be 71゛Special 5''
Cospace I? 4), and robot 2 invades the specific space 1 due to a thunderbolt at 4t, and the same as in hi (・1).
．． The determining means 6 outputs the identification signal g, and as a result, the control device f/3 makes an emergency stop of the robot 2, so the robot 2 will not come into contact with the object (2).

In the end, every time robot 2 comes into contact with object P,
This will definitely be prevented.

Next, a robot operating space identification system 11 according to another embodiment of the present invention shown in Figure 2 will be explained.

2nd [LiliJ robot space identification system shown in 1! 1 is a robot 12. In addition to the control device 13 and the position indicator No. 14, the space specifying means 15 and the determining means 1
6.

Robot 12. Basically, conventionally known devices can be used as the control device 13 and the position command means 14. However, the control device 13 simply outputs the command data a inputted from the position command means 14 to the robot 12.
As a result, if the determination means 16 does not output the prohibition signal f, the command data a is output to the robot 12, but when the determination means 16 outputs the prohibition signal f,
The command data a is sent to the robot 126. When the function that does not output two outputs and the identification signal +F4g are input from the judgment means 16,
At that point, a function is added to issue an alarm to the operator and to emergency stop the RoboSotoE 2.

The space specifying means 15 has previously input and stored a combination of coordinates of each robot element of the robot 12 that defines a desired specific space. The method of inputting the combination of coordinates of each one-pot element may be by manual input using keys, but it is preferable to teach the method by using a robot as an example.

The determining means 16 determines whether the control value W? Command data from 13 (a)
When inputted manually, it is written in i'+ii space specifying means 15↑
Compare the coordinate alignment data C of the coordinates of each robot element and the command data (a), and calculate the command data (a).
) is determined whether the commanded position is within a specific space or on a platform. When the command position is not within the specific space, a prohibition signal f is output to the control device 13, but when the command position is within the specific space, a prohibition signal r is output.

Therefore, the robot 12 moves into the specific space! jl
There is no i L, that is, the specific space becomes a prohibited space. This prohibited space can be set to Q by the space specifying means 15, so in the end, it can be set as a forbidden space with a complicated shape or within the entire operating space of Roboso I-12, which is a closed space. You will be able to set up a closed space.

Note that, naturally, these spaces may be one-dimensional to three-dimensional.

Now, I will explain the following in more detail, but for convenience of explanation 1-
, the robot 12 is of a polar coordinate type in which arm length r and rotation angle θ1 are given as command data a, and the original operating space is a fan-shaped one-dimensional space shown by a broken line in FIG.

If a pillar P protruding from LJW invades the fan-shaped two-dimensional space by a length l, then in order to prevent the robot 12 from colliding with this pillar P, the intruding part of the pillar P must be It must be a prohibited space.

Therefore, the operator sets the space specifying means 15 to [θ1〈θ,
<θ2 and rl<r, input J. The specific space created by this is indicated by the dashed line C in FIG. What should be noted is that instead of inputting ``θI〈θ1〈θ2 J ``rl <rlj'' independently for each robot element as in the past, the combination of the coordinates of each robot ``Jχ element, that is, ′[θ, θ.

The method is to manually calculate <θ2 and rl><rLJ.

Command data a (=rL, θ1) from the position 'P command means 14
is input, the control value 'P13 determines it by the determining means 16.
and the determination means 16 outputs that (a) (=rL, θ□)
For [θ≦〈θ,〈θ2 and r.

Check whether 〈rl〉 holds true. If established, it is determined that the commanded position is within the specific space.

Inhibit 11 - Output signal f. If this is not true, it is determined that the space is outside the specific space, and the forbidden 1F signal f is not output.

Since the control device 13 outputs the command data ((a)) (-r□, θL) to the robot 12 only when the prohibition signal f is not output, the period between -1 and 1 of the robot 12 is the second B and C, which are not shown by dashed lines in the figure, are prohibited spaces. This operating space B is wider than the conventional operating space B (not shown).

Further, when position data e is input from the sensor blades of each robot element of the robot 12, the determining means 16 determines the current 71st position i-? of the robot 12 based on the position data e. is calculated in spatial coordinates, and the spatial coordinates of the current position are compared with the spatial coordinates of the specific space stored in the space specifying means 15 to determine whether or not the current position of the robot 12 is within the specific space. do.

Then, when '(Il, i) is outside the specific space, the identification signal g is not output, but when it is within the specific space, the identification signal g is output. This is the same as 6, and the explanation will be omitted.

Therefore, according to this robot operating space identification system 11, even if a command to move the robot 12 into a prohibited space is given by mistake, the execution is prevented, and
Even if the robot 12 enters the prohibited space for some reason, it will be immediately stopped in an emergency, making the robot even safer.

In another embodiment, the space specifying means stores not only the position information of the specific space but also the time information, and changes the shape and position of the specific space over time. According to this, it is also possible to avoid, for example, a workpiece transport device that periodically invades the operating space of the robot.

In addition, by setting up specific sections within the specific section and setting up multiple specific spaces, when entering the outer specific cavity 1, it is possible to make an emergency stop if the vehicle enters a specific section where the speed is slowing down, and multiple non-overlapping spaces can be set up. Examples include setting a specific section and changing the robot's operating mode for each section, such as making it high speed in one section and slow in another, or reducing the robot's movement in a certain section and locking it when it deviates from that section. It will be done.

"Effects of the Invention" According to the present invention, there is provided a space specifying means for storing position information of a desired specific space defined in the operation space of a robot having a plurality of robot elements, and position data from a sensor of each robot element. Provided is a system for identifying a robot's operating space, characterized in that it is equipped with a determining means for determining the current position of the robot based on the above and determining whether or not the current position is within the specific space. Since it becomes possible to set any specific space within the robot's original movement space and easily identify all of that specific space, it is possible to minimize the prohibited space when restricting the robot's movement space. Become. Furthermore, advanced work management that differentiates the level of work by dividing the movement discipline becomes possible.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of the configuration of a robot operating space identification system according to one embodiment of the present invention, FIG. 2 is an explanatory diagram of the configuration of another embodiment, and FIG. 3 is an explanatory diagram of the operation of the embodiment shown in FIG. 1. FIG. 4 is a space diagram corresponding to FIG. 1 for the conventional example. (Explanation of symbols) 1.11... Robot operating space identification system 2.1
2...Robo...3.13...Control device4.
14... Position command means 5.15... Space specifying means 6, 16... Judgment means A, B... Operation space C... Prohibited space F...
・Specific space a, (a>, ((a))...command data e・
...Position data f...Forbidden signal g...
identification signal.

Claims (1)

[Claims] 1. Space specifying means for storing positional information of a desired specific space defined in the operating space of a robot having a plurality of robot elements; A robot operating space identification system, comprising: determination means for determining the current position of the robot and determining whether or not the current position is within the specific space. 2. A storage system as claimed in claim 1, wherein the space specifying means is a means for storing position information of the specific space as a combination of coordinates of each robot element. 3. The system according to claim 1, wherein the space specifying means is a means for storing position information of a specific space in spatial coordinates. 4. Space specifying means for storing positional information of a desired specific space defined in the operating space of a robot having a plurality of robot elements; determining means for determining whether the commanded position is within the specific space; and determining the current position of the robot based on position data from sensors of each robot element and determining whether the current position is within the specific space. What is claimed is: 1. A robot operating space identification system, comprising: a determination means for determining whether the robot is moving; 5. The system according to claim 4, wherein the space specifying means is a means for storing position information of the specific space as a combination of coordinates of each robot element. 6. The system according to claim 4, wherein the space specifying means is a means for storing position information of the specific space in spatial coordinates.