JPS62278610A - Controller for working robot - Google Patents

Abstract

PURPOSE:To improve reliability of a working robot as well as the working efficiency of a production line by restarting automatically the operation at a time point when the robot detects the abnormality of its working state. CONSTITUTION:If a signal is delivered from a coating device control circuit 26 to show that the coating state of a sealer material 9 is abnormal, the coordinates of a nozzle 6 set when the abnormality occurred is stored in a RAM 30 together with the coordinates of the nozzle 6 set after after a working robot is stopped. Then the return position of the nozzle 6 is calculated based on the coordinate data stored in the RAM 30. The nozzle 6 is sent back to the return position and at the same time a coating device 17 is actuated. Thus the robot restarts its operation at the position where the abnormality occurred.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention (Field of Industrial Application) The present invention monitors the state of work performed by a work robot, and when an abnormality is found in the work, the work robot The present invention relates to a control device for a working robot that has a function of restarting work from the location where an abnormality has occurred.

(Prior Art) In recent years, in the automobile manufacturing industry, intelligent working robots having visual functions and the like have been used to perform tasks such as assembling vehicles and manufacturing vehicle parts.

An example of such an intelligent work robot is
A sealer coating robot as shown in FIG. 9 is installed. This sealer application robot is a robot that applies waterproof and rust-proofing sealant to vehicle body panels in a predetermined position and with a predetermined width during the vehicle assembly process, and is configured as described below. ing.

As shown in the figure, arm 1 of the playback robot
A coating gun 3 and a detection device 4 are provided on the lower end surface of a cylindrical holder 2 which is pivotally supported at the tip of the holder 2 instead of a hand.

The applicator gun 3 is fixed to the lower part of a fixed shaft 5 fixed to the holder 2 with the center axis of a nozzle 6 aligned, and sealant is supplied under pressure through a hose 7 from a sealant supply source (not shown). , the sealant 9 is applied linearly onto the panel 8, which is the member to be coated, by discharging it from the tip of the nozzle 6.

The detection device 4 includes a pupil shadow lens 1 on the lower surface of a case 12 rotatably attached to a fixed shaft 5 via a ball bearing 11.
3 and an illumination lamp 14 are installed, and inside the case 12 there is a line that converts the image of the sealer material 9 applied on the panel 8 formed by the copying lens 13 into an electrical signal corresponding to its brightness. A sensor and a circuit board including a driving circuit thereof, a signal processing circuit, etc. are provided.

Application control of the sealer material 9 supplied to the application gun 3 is controlled by a coating device control circuit (not shown), and the detection device 4 is controlled by the coating control device 10 via the connector 15 and cable 16. The arm 1 of the playback robot described above is controlled by a robot control device (not shown), and the coating control device 10 and the robot control device are connected to each other.

In the coating robot configured in this way, if the detection width of the sealer material 9 detected by the line sensor built in the detection device 4 is not within a predetermined range, the coating control device 10 outputs an NG signal. , coating control system @10
This is displayed on a display device provided at the terminal, and the operation of the arm 1 is stopped as necessary.

(Problems to be solved by the invention) However, in such conventional work robots,
A robot control device that controls the robot itself, a control device that controls a work device attached to the robot, and a control device that controls a monitoring device that monitors the work status performed by the work device are interconnected, and the monitoring device When the equipment detects an abnormality in the working state, it outputs this abnormality signal to the robot controller and the controller that controls the work equipment, but the robot controller itself does not have this signal. When an abnormality signal is input, the navigation work device does not have the function of returning to the position where the abnormality in the working condition was recognized and restarting the work from that position. Therefore, the robot and the work equipment must be stopped, or the work must be continued without stopping, and the abnormality must be corrected manually in the next process, resulting in a reduction in the production line's utilization rate and a reduction in work efficiency. There was a problem in that it led to a decrease in efficiency.

The present invention has been made in view of such conventional problems, and is directed to a monitoring device that monitors the working state of a working device that performs a predetermined work on a workpiece, and detects abnormalities in the working state. It is an object of the present invention to provide a control device for a working robot that has a function of, when an abnormality is recognized, returning the working device to the position where the abnormality is recognized and restarting the work from that position.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a working device that is attached to a robot and performs a predetermined work on a workpiece;
a driving means for driving the robot; a working position detecting means for detecting the working position of the working device; a teaching data storage means for storing teaching data regarding the working trajectory of the working device; a work monitoring means for monitoring a working state of the bending work; a determining means for determining whether the bending work state is good or bad based on a signal output from the work monitoring means; and a determining means for determining that the working state is not good. storage means for storing the current position data of the working device outputted from the working position detecting means, and the current position data of the working device stored in the storage means and the teaching data storage means a work start position calculation means for calculating a work start position of the work apparatus based on teaching data regarding the work trajectory of the work apparatus stored in the work apparatus; and a work start position calculated by the bending work start position calculation means; return command means for issuing a command to return the work device to a predetermined position based on teaching data regarding the work trajectory of the work device stored in the teaching data storage means; If it is determined that the working state is not correct, the working device and the driving means are controlled based on the position data from the working position detecting means and the teaching data storage means, and the determining means determines whether the working state is If it is determined that this is the case, the drive means is operated to return the work device to a predetermined position based on the position data output from the return command means, and the work start position is calculated by the work start position calculation means. and a control means for operating the working device from a work starting position.

(effect) The present invention will be explained in detail below based on FIG.

The state of the work performed by the work device 17 that performs a predetermined work on the workpiece is monitored by the work monitoring means 4 that constantly monitors the work state, and based on the signal output from the work monitoring means 4, the state of the work performed by the work device 17 is monitored. A judgment means 18 determines whether the state corresponds to a specified work state. If this judgment is normal (good), the control means 19 causes the drive means 22 to control the working device 1.
Based on the position data outputted from the working position detection means 20 for detecting the working position of No. 7 and the teaching data storage means 21 storing positional data regarding the working trajectory of the working device 17, the working device 17 is moved to a preset working trajectory. At the same time, the working device 17 is operated to perform a predetermined work.

On the other hand, if the determination in M is abnormal (failure), the control means 19 stops the operation of the work device 17 and the drive means 22, and the current position data of the work device 17 output from the work position detection means 20. is stored in the storage means 23. Based on the current position data of the work device 17 stored in the storage device 23 and the teaching data regarding the work trajectory of the work device @ 17 stored in the teaching data storage device 21, the work start position calculation means 24 calculates The position at which the work device 17 is restarted and the position to which it is returned are calculated.

The position at which the work device 17 is restarted and its return position calculated by the work start position calculation means 24 are outputted to the control means 19 by the work start position calculation means 24 and the return command means 25. The control means 19 operates the drive means 22 based on these outputs, and moves the working device 17 to the working position determined to be abnormal by the determining means 18.
Alternatively, return the work device 17 to the teaching position before the work position on the work trajectory, operate the work device 17 when the work device 17 passes the work position, and continue to perform the predetermined work on the work. Let's go.

(Example) Below, an example of the present invention will be described in detail based on the drawings.

FIG. 2 is a schematic configuration diagram of a control device for a working robot according to the present invention.

The camera 4 as a work monitoring means and the coating device 17 as a working device that applies a sealer material based on the video signal output from the camera 4 are part of the compensating capability of the determining device 18 and the controlling device 19. Coating device control circuit 26 with
It is connected to the.

On the other hand, robot control iI that controls the operation of the working robot
The D device @ 27 is connected to a CPU 28 as a control means 19 and a return command means 25 for calculating signals necessary for the operation of the working robot, and stores basic programs necessary for the operation of the working robot. R doing
Storage means 23 and teaching data storage means 2 for storing various data necessary for the operation of the OM 29 and the working robot.
1, an I10 port 31 that exchanges various data input from the outside and various data output from the CPU 28 to the outside, and an operation signal output from the I10 port 31 to control the working robot. The I10 boat 3 is configured with a drive circuit 22 as a drive means for driving a motor that operates the constituent arms.
1 is connected to a coating device control circuit 26 and a position sensor 20 that detects the position of a nozzle 6 that is part of a working device 17 mounted on a working robot.

Roughly, based on the video signal output from camera 4,
When an abnormal signal related to work is output from the coating device control circuit 26, the control device 32, which calculates the work start position of the coating device 17, constantly grasps the working position of the coating device 17 and detects when the abnormal signal is output. In this case, the CPU 24 serves as a work start position calculating means for calculating signals necessary for the returning operation of the working robot, the ROM 33 connected to the CPU 24 and storing programs necessary for the returning operation of the working robot, and the ROM 33 connected to the CPU 24 and storing a program necessary for the returning operation of the working robot. A storage means 23 for storing various data necessary for the operation of the working robot, a RAM 34 as a teaching data storage means 21, various data outputted through the I10 port 31, and a CPU 24.
The I10 port 35 is configured to exchange various data output from the I10 port 35.

The control device for the work robot configured as described above is based on the operation flowcharts shown in FIGS. 3 and 4.
It operates as described below. This operation flow chart will be explained in detail below with reference to FIGS. 2, 7, and 8.

Step 1 First, when the program starts, the camera 4, the coating device 17, the coating device control circuit 26, and the CP in the control device 32
The U 24 and the CPU 28 in the robot control device 27 are initialized, and the camera 4 conveys an image of the application width of the sealer material 9 and sends an electric signal corresponding to this image to the device control circuit 2.
Output to 6.

Step 2 The coating device control circuit 26 determines whether the coating width of the sealer material 9 is within a preset range based on this electrical signal. If this judgment is 0, step 3
On the other hand, if this determination is NG, the process proceeds to step 5.

Step 3: The CPU 28 provided in the 0-bot control device 27 determines whether the 1st shift of the work repetition counter N is O. If this judgment is YES, the process proceeds to step 4, whereas if this judgment is negative, the process proceeds to step 18.

Step 4 If YES is determined in Step 3, the sealant 9 application work is being performed normally, so CPL
J28 processes the subroutine program (normal processing) stored in the ROM29, and outputs the I10 port 31.
The working robot is operated normally via the drive circuit 22 and the coating device control circuit 26 operates the coating device 17. In this case, the CPU 28, as shown in FIG.
1>, a teaching point passage confirmation signal is sent to CP via I10 port 31 and I10 port 35 every time the nozzle 6 passes through
The signal U24 is outputted, and the CPU 24 grasps the passage status of the nozzle 6 based on this signal.

Step 5 If the width of the sealant 9 is outside the preset range, the CPU 28 increments the value of the counter N by 1 and stores this in the RAM 30.

Step 6: The CPU 28 determines whether the value of the counter N is greater than or equal to the count value ■ preset in the ROM 29. As a result of this judgment, if N≧I, the process proceeds to step 7, and if N<I, the process proceeds to step 8.

Step 7 If it is determined as YIES in Step 6, the sealant 9 application work has not been performed normally, so C
The PU 28 processes the subroutine program (abnormality processing) stored in the ROM 29 and executes the I10 boat 31.
Through the drive circuit 22, the working robot is stopped, and a stop signal is output to the coating device control circuit 26 to stop the operation of the coating device 17.

Step 8 As shown in FIG. 7, the coating device control circuit 26
When an abnormality such as breakage is detected in the coating of the sealant 9, the CPU 28 inputs the NG judgment signal output from the coating device control circuit 26 via the I10 port 31, and at the same time, the CPU 28 inputs the NG judgment signal output from the coating device control circuit 26 through the I10 port 31, and at the same time, the CPU 28 inputs the NG judgment signal outputted from the coating device control circuit 26 through the I10 port 31, and at the same time The current position coordinates PO of the nozzle 6 shown in FIG. Note that this NG determination signal is also input to the CPU 24 via the I10 port 31 and the I10 port 35.

Step 9 The CPU 28 connects the drive circuit 22 to the drive circuit 22 via the I10 board 31.
outputs a signal to stop the operation of the work robot, causing the work robot to stop.

Step 10 The CPtJ 28 outputs a signal to stop the operation of the coating device 17 to the coating device control circuit 26 via the I10 port 31, thereby stopping the coating device 17.

Step 11 After a predetermined period of time has elapsed (after the work robot has stopped), the CPU 28 calculates the current position coordinates P2 of the nozzle 6 shown in FIG. 20, and data regarding this coordinate is stored in the RAM 30.

Step 12 The CPU 28 outputs a signal to the coating device control circuit 26 via the I10 port 31 to stop the servo related to the detection of the coating width of the sealer blade 9, and the coating device control circuit 26 stops this servo.

Step 13 The CPU 24 in the calculation bag @32 calculates the current position coordinates PO and P2 of the nozzle 6 stored in the RAM 30.
28, I10 port 31 and I10 port 35, and based on the return position calculation program stored in ROM 33, perform the following calculations and store the results in RAM 34.

First, as shown in FIG. 8, the coating device control circuit 26 determines the current position coordinates of the nozzle 6 when the coating device 17 detects an abnormality in the coating operation.

The abnormality occurrence position of the sealer shrine 9 when the abnormality in the coating operation is detected is Pl, the position coordinates where the nozzle 6 stops is P2,
The offset between the detection position of the camera 4 and the working position of the nozzle 6 is determined by setting the teaching point of the A2 working opening hot to N-1, N-1, N-1, N-1, N-1, N-1, N-1,
N÷1. Then, the vector from P2 to Pl is approximately Pl-P2 = (PO-P2 > +((N
−1) −PO).

Step 14 The CPU 24 outputs data regarding the return position coordinates of the nozzle 6 and its return route stored in the RAM 34 to the CPU 28 in the robot control device 27 via the I10 port 35 and the I10 boat 31. Based on the drive circuit 22 via the I10 port 31
is controlled to return the nozzle 6 to a predetermined position (position Pi where an abnormality occurs in the sealer material 9 during application work).

Step 15 The CPU 28 outputs a signal to the coating 1 device control circuit 26 via the I10 port 31 to activate the NAPO related to the detection of the coating width of the sealer material 9, and the coating device control circuit 26
Operate this Nervo.

Step 16 The CPU 28 outputs a signal for operating the coating device 17 to the coating device control circuit 26 via the I10 port 31, thereby causing the coating device 17 to operate.

Step 17 The CPU 28 connects the drive circuit 22 via the I10 port 31.
Outputs a signal to operate the work robot to operate the work robot.

Step 18 The CPU 28 inputs the current position of the nozzle 6 attached to the arm of the working robot via the I10 boat 31 using the position sensor 20 installed at the working opening, and the nozzle 6 returns as shown in FIG. It is determined whether the point P1 has been passed. As a result of this judgment, if the nozzle 6 has passed the return point, the process proceeds to step 19, and if it has not passed the return point, the process returns to step 1.

Step 19 The CPU 28 resets the value of the work repetition counter N to O.

As described above, in this embodiment, when the applicator control circuit 26 outputs a signal indicating that the application state of the sealer material 9 is abnormal, the coordinates of the nozzle 6 at the time of the abnormality and the working robot are The coordinates of nozzle 6 after stopping are stored in RAM3.
The return position of the nozzle 6 is calculated based on the coordinate data stored in the RAM 30, and the nozzle 6 is
is returned to the return position and the coating device 17 is operated,
The work robot will resume work from the position where the abnormality occurred.

Briefly, FIGS. 5 and 6 show operational flowcharts showing other embodiments of the present invention.

In this operation flowchart, only the steps that perform operations different from those in the above-described embodiment are given different step numbers from those in the above-described flowchart.

In the following, only the parts of this operation flowchart that are different from the above-described embodiments will be explained with reference to FIGS. 2, 7, and 8.

Step 20 The CPU 24 calculates the work start position of the coating device 17 by performing calculations similar to step 13 shown in FIG.

Step 21 The CPU 24 inputs the NG judgment signal outputted by the CPU 28 based on the NG judgment signal output from the coating device control circuit 26, and determines which teaching point of the nozzle 6 the position where this judgment NG signal is output is. The path to return the nozzle 6 to the nearest teaching point through which the nozzle 6 has passed is calculated by performing the calculations described below.

For example, as shown in FIG. 8, if a sealant application error occurs between teaching points N-1 and N, the RA
49 for the position where the nozzle 6 stopped which is stored in M30
P2 and the coordinates of the teaching point N-1 stored in the RAM 34, calculate N-1-P2, and the CPU 2-1 uses this calculated value to control the robot via the I10 port 35 and the I10 port 3]. Output to CPU28 in bag @27,
Based on the data, the CPU 28 selects the I10 port 3.
1 to return the nozzle 6 to a predetermined position (teaching point N-1).

Step 22 The CPU 28 determines whether the nozzle 6 has passed the coating start position calculated in step 20.

As described above, in this embodiment, when the applicator control circuit 26 outputs a signal indicating that the application state of the sealer material 9 is abnormal, the coordinates of the nozzle 6 at the time of the abnormality,
The coordinates of the nozzle 6 after the work robot has stopped are stored in the RAM.
30, and calculates the work start position of the coating device 17 based on the coordinate data stored in the RAM 30, returns it to the nearest taught position passing through the nozzle 6, and the work robot starts playing from the taught position. When the nozzle 6 passes through the work start position, the work device 17 is activated, and from then on, the work robot performs a predetermined work.

(Effects of the Invention) As is clear from the above explanation, according to the present invention, when a work robot detects an abnormality in the work state it is performing, it automatically starts work from the position where the abnormality is detected. Since the operation can be restarted, it is possible to improve the reliability of the working robot, the operation rate of the production line, and the work efficiency.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a control device for a work robot according to the present invention, FIG. 2 is a schematic configuration diagram of a control device for a work robot according to the present invention, and FIG. 3 to FIG. 7 and 8 are diagrams for explaining the operation flowcharts shown in FIGS. 3 to 6, and FIG. 9 is an example of a conventional working robot. This is a sealer coating robot showing the following: 1... Arm, 2... Holder, 3... Coating gun, 4... Detection device (work monitoring means), 5... Fixed axis, 6 ... Nozzle, 7... Hose, 8... Panel, 9... Sealer material, ]O... Application control device, 11
...Pole bearing, 12.Case, 13.Rakuei lens, 14.
...Illumination lamp, 15...Connector, 16...Cable, 17...Coating device (work device), 20...Position sensor (work position detection means), 22...
・Drive circuit (drive means), 24...CPU (work start position calculation means), 26・
... Coating device control circuit (judgment means, control means/means), 27... Robot control device, 28... CPtJ (control means, return command means), 2
9.33...ROM. 30.34...RAM (storage means, teaching data storage means), 31.35...I10 boat, 32...control device. Figure 1 Figure 2

Claims (1)

[Scope of Claims] A working device that is attached to a robot and performs a predetermined work on a workpiece; a driving device that drives the robot; a working position detection device that detects a working position of the working device; teaching data storage means for storing teaching data regarding the work trajectory of the device; work monitoring means for monitoring the state of the work performed by the work device; a determining means for determining acceptability; and a storage means for storing current position data of the working device output from the working position detecting means when the determining means determines that the working state is not good; Based on the current position data of the working device stored in the storage means and the teaching data regarding the work trajectory of the working device stored in the teaching data storage means,
a work start position calculation means for calculating a work start position of the work device; and teaching data regarding the work start position calculated by the work start position calculation means or the work trajectory of the work device stored in the teaching data storage means. a return command means that issues a command to return the working device to a predetermined position based on the above; and when the determining means determines that the working condition is good, the working position detecting means and the teaching The working device and the driving means are controlled based on the position data from the data storage means, and when the determining means determines that the working state is negative, the position output from the return command means is controlled. control means for operating the drive means to return the work device to a predetermined position based on the data and operating the work device from the work start position calculated by the work start position calculation means. Features: Control device for working robots.