JPS62292375A - Working robot device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION 3. Detailed Description of the Invention Field of Industrial Application The present invention relates to a working robot device, and in particular to improvement of control at the start of operation thereof.

Prior Art FIG. 8 shows the main parts of a welding robot device, which is an example of a conventional work robot device.

A welding torch 55 and a welding line sensor 56 are attached to the wrist 54 of the robot. The welding line sensor 56 is
It consists of a laser projector 561 and a CCD camera 56h, and can be rotated around a welding torch 55 by a motor 58.

The sensing point S of the welding line sensor 56 is located at the welding torch 55.
The position is set at a distance l from the tip point T of the welding point, but this is because it is necessary to sense a little beyond the welding point.

FIG. 7 schematically shows the operation when welding the section of the welding line from the welding start point A to the welding end point B using the welding robot device. (5) Tol is a side view and a plan view at the time of teaching, respectively, and tc+ is a plan view showing the locus at the time of reproduction.

First, in teaching, the standby position W of the welding torch 55 and welding line sensor 56 is taught.

Next, the welding torch 55 is positioned at the welding starting point A, and the welding starting position iP is taught so that the welding line is within the field of view of the working line sensor 56 at that time.

At this time, the welding line sensor 56 detects a position is on the welding line which is a distance l from the welding start point A.

Next, the welding torch 55 is positioned at the work end point B, and the f6 tangent sensor 56 is appropriately positioned to reach the welding end point ii! Teach Q.

During regeneration, the 78-touch torch 55 and the welding line sensor 56 first move from the taught standby position W to the taught welding start position P. The tip point T of the welding torch 55 moves from the standby position W to the taught f8Vj starting point A.

Then, the arc starts from there, and welding proceeds toward the taught welding end point B. Here, it was taught /8
If the tangent line differs from the actual weld line L', since we have the weld line sensor 56, the actual weld 1! ! Since L' is correctly traced, welding after the sensing point S1 is performed correctly along the actual welding line L'.

When the welding torch 55 reaches the welding end point B' on the actual welding line L' which corresponds to the welding end point B on the taught f4 tangent, the arc is stopped and welding is completed.

Problems with the Prior Art As can be understood by referring to FIG. There is a problem that welding is not performed correctly along the f4 tangent L'.

Furthermore, for the same reason, when welding a small item whose welding length is smaller than the distance l, there is a problem that tracing by sensing is impossible.

Purpose of the Invention It is an object of the present invention to solve the above-mentioned problems caused by the distance between the tip point of a working tool and the sensing point of a work line sensor, and to perform tracing by sensing from the operation start position. To provide a working robot device capable of performing work correctly along the actual work line.

Composition of the Invention The working robot device of the present invention has a working tool and a working sensor on the wrist of the robot, and moves the working tool along a working line detected by the working sensor. An operation start position storage means for storing the operation start position; a sensing start position storage means for storing the position of a work sensor capable of detecting the operation start position of the work tool or the work line before that and the position of the work tool at that time; , and controls the robot to move the work line sensor and the work tool to the sensing start position, and then advance the work tool to the operation start position while tracking the work line with the work line sensor, so that the work tool moves to the sensing start position. The present invention is characterized in that it includes operation start control means for starting the operation of the power tool when the power tool reaches the operation start position.

Function: In the working robot device of the present invention, the working tool does not immediately move from the standby position 1 to the operation start position, but moves through the sensing start position.

At the sensing start position, the work line sensor is positioned so that it can detect the work line at or before the operation start position.

Therefore, the actuation start position is included in the sensing section, and even if the taught work line position is different from the actual work line position, it can be suitably corrected, and the tip point of the work tool and the work line sensor Even if there is a distance between the sensing points, the work can be performed along the actual work line from the start position without being affected by the distance.

EXAMPLES Hereinafter, the present invention will be explained in more detail based on examples shown in the drawings. Here, FIG. 1 is a schematic external view of a welding robot device as an embodiment of the working robot device of the present invention, and FIG.
8) is a schematic side view showing fg contact work by the welding robot device shown in FIG. 1, FIG. 2 fbl is a schematic plan view corresponding to FIG. 2 fal, and FIG. A schematic plan view, FIG. 2+dl is a trajectory diagram of the welding torch corresponding to FIG. Fig. 5 fa) is a schematic plan view of an example of a state in which the sensing start position is taught, Fig. 5 (bl is a schematic plan view of an example of a state in which the welding start position is taught, and Fig. 5 cl is a schematic plan view of an example of a state in which the welding start position is taught. FIG. 6 is a schematic plan view showing an example of a position teaching state, and FIG. 6 is a flowchart corresponding to FIG. 5 fa) to tc). Note that the present invention is not limited to the embodiments shown in the figures.

In FIG. 1, the welding robot device l consists of a robot 2, a control device 3, and a fgl attached to the tip of the wrist portion 4).
-15 and a weld line sensor 6. The welding line sensor 6 is connected to a laser projector 6a and a CC
The sensing point S is located a predetermined distance l from the tip fiT of the welding torch 5.

Although the above configuration is superficially similar to a conventional welding robot device, the configuration for the /8 contact start control performed by the control device 3 is different from the conventional welding robot device. This point will be mainly explained below.

When teaching this welding robot device 1, the second
As shown in the figures (al to icl and FIG. 3), first, the standby position W is taught.

Next, move the welding line sensor 6 by remote control so that the welding start position A is included in the detection range (or so that the welding line before the f4 welding start position 8 is included in the detection range), and the welding line sensor 6 and the appropriate position of the welding torch 5 at that time are stored in the sensing start position storage means 31 in the control device 3. This sensing start position is the second
(a) (indicated by N in bl), this operation is shown in steps S1 and S2 in FIG.

Next, the f4 contact toe 5 is guided to the welding start point A, and the welding line is placed within the field of view of the welding line sensor 6, and the welding start position P is stored in the fg contact start position storage means 3. let This operation is shown in steps S3 and S in FIG.
4.

Note that the order of steps S3 and 54 may be reversed.

Next, the welding torch 5 is moved to the welding end point B, and the welding end position Q is stored in the welding end position storage means 3. This operation is shown in FIG.
It is shown in

This completes the teaching and then reproduces. The playback operation is
The following explanation will be given with FIG. 2 (d+) and FIG. 4 in the 0 vertical position.

When the operator instructs the start of regeneration, the operation start control means 3J of the control device 3 moves the welding torch 5 and the f4 tangent sensor 6 from the standby position W to the sensing start position N. As a result, the welding line sensor 6 moves to a position where it detects the vicinity of the fg contact starting point A on the taught welding line. Correspondingly, the welding torch 5 moves from the standby position W to T, but at this time the welding torch 5 is not yet activated.

At the sensing position N, the weld line sensor 6 detects the actual f
4. Detect the tangent line L' and detect the actual welding start point A'. This is step Sll shown in FIG.

The operation start control means 3- moves the weld line sensor 6 along the detected actual weld line L'. As for the welding torch 5, the position W at the sensing start position N is
The relative rotation between the sensor 6 and the welding torch 5 is automatically performed when the welding torch 5 is moved from Ta toward the actual welding start point A' detected earlier. These are step S shown in FIG.
12 and 313.

Actual welding start point A' where f6 contact torch 5 was detected first
When the arc is reached, the operation start control means 3d starts the arc, and welding is started at this point. This is step S14 shown in FIG.

Thereafter, the welding line sensor 6 tracks the actual f4 contact sensor L', and welding is performed along the detected welding work line L'.

When the welding torch 5 reaches the actual welding end point B' corresponding to the taught welding end point B, the arc is stopped,
Welding work is completed.

(Then, as shown in Fig. 2 fdl, the actual welding line L
Welding is suitably performed from the welding start point A' above to the welding end point B'.

Next, in Figure 5, there is a wall R on the welding start side of the welding line,
This shows a teaching method when the welding line sensor 6 and welding torch 5 cannot be lined up along the welding line.

First, as shown in Figure 5+al, the welding I! is placed at a position where the welding start point can be detected by remote control! Move the Ii line sensor 6. At this time, the welding torch 5 should be placed at an appropriate position where it does not hit the wall R, and this sensing start value ii
! N is stored in the sensing start position storage means 3.

These are steps S21 and S22 shown in FIG.

Next, as shown in FIG. 5(b), the welding torch 5 is positioned at the welding start point, and the f4 contact start position P is stored in the welding start position storage means 3b.

Next, as shown in FIG. 5 (C1), the welding torch 5 is positioned at the welding end point, and the welding end position Q is stored in the welding end position storage means 3c. This is done in steps S25 and 326 shown in FIG. be.

This completes the teaching and then reproduces.

Regarding playback, the operation is the same as that described earlier, so
Although a detailed explanation will be omitted, the welding torch 5 skillfully accesses the welding start position near the wall R while avoiding the wall R, and welding is performed along the actual welding line L'.

As can be understood from the above explanation, according to this welding robot device 1, even if there is a distance between the tip point T of the welding torch 5 and the sensing point S of the welding line sensor 6, the desired By sensing the section from the welding start point to the welding end point, it is possible to suitably perform f4'& while correcting the deviation. Furthermore, even a welding line that is shorter than the distance Hi between the tip point T of the welding torch 5 and the sensing point S of the welding line sensor 6 can be suitably welded.

Effects of the Invention According to the present invention, in a work robot device that has a work tool and a work sensor on the wrist of the robot and moves the work tool along a work line detected by the work sensor, when the work tool starts operating. An operation start position storage means for storing the position, a sensing start position storage means for recording the position of a work sensor capable of detecting the operation start position of the work tool or the work line before it, and the position of the work tool at that time. ,and,
The robot is controlled to move the work line sensor and the work tool to the sensing start position, and then advance the work tool to the operation start position while tracking the work line with the work line sensor, and the work tool moves to the operation start position. A work robot device is provided, characterized in that it is equipped with an operation start control means for starting the operation of a work tool when the work tool reaches a position, and thereby a working robot device is provided that is equipped with an operation start control means for starting the operation of a work tool when the work tool reaches a position, and thereby a working robot device is provided that allows the robot to operate the work tool at a position between the tip end surface of the work tool and the sensing position of the work line sensor. Even if there is a distance, it is possible to sense the distance from the desired work start point to the desired work end point without being affected by the distance, and to perform the work suitably while correcting the deviation.

[Brief explanation of the drawing]

FIG. 1 is a schematic external view of a welding robot device according to one embodiment of the work loft equipment (il) of the present invention, and FIG. 2 is a conceptual explanatory diagram showing welding work by the welding robot device shown in FIG. 1.
Fig. 3 is a flowchart for teaching the welding robot device shown in Fig. 1, Fig. 4 is a flowchart for reproducing the same, and Fig. 5 (
al is a schematic plan view of an example of a state in which the sensing start position is taught; FIG. FIG. 6 is a schematic plan view showing an example of a teaching state, and FIG. 6 is a flowchart corresponding to FIG.
The figure is a view corresponding to FIG. 2 of a conventional welding robot device, and FIG. 8 is an enlarged view of a portion near a welding torch of the welding robot device. (Explanation of symbols) 1... Welding robot device 2... Robot 3... Control device 38... Sensing start position storage means 3I,... Operation start position storage means 3c... Operation end position Memory means 3d...Operation start control means 4...Wrist part 5...Welding torch 6...Welding line sensor 6,...Laser projector 6b...CCD camera T...Tip of welding torch Point S...Sensing point W of 78 tangent sensor...Standby position N...Sensing start position P...Welding start position Q...Welding end complaint L...Taught welding line L'...・Actual welding line A
...Taught welding start point B...Taught welding end point A'...Actual welding start point B'...Actual welding end point.

Claims (1)

[Claims] 1. In a work robot device that has a work tool and a work sensor at the wrist of the robot and moves the work tool along a work line detected by the work sensor, (a) an operation start position storage means for storing the operation start position; (b) a sensing start for storing the position of a work sensor capable of detecting the operation start position of the work tool or the work line before it and the position of the work tool at that time; (c) controlling the robot to move the work line sensor and the work tool to the sensing start position, and then moving the work tool to the operation start position while tracking the work line with the work line sensor; 1. A working robot apparatus, comprising an operation start control means for causing the work tool to advance and start operating the work tool when the work tool reaches the operation start position. 2. The working robot device according to claim 1, wherein the work tool is a welding torch and the operation start position is an arc start position. 3. The work robot device according to claim 1 or 2, wherein the work line sensor is a camera and is rotatably mounted around the work tool.