JPS63200983A - Industrial robot - 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 [Field of Industrial Application] The present invention relates to an industrial robot that allows direct teaching to be easily performed.

[Prior Art] There are the following two methods as conventional teaching methods for industrial robots.

■Remote teaching A method in which the actuator is activated and teaching is performed using a correction board without touching the robot body.

■Direct teaching Method of teaching while holding and moving the robot body directly without starting the actuator.

In industrial robots capable of direct teaching, long and heavy objects such as arms are provided with an operating force reduction mechanism to reduce operating force during direct teaching. This operation force reduction mechanism consists of a spring for balancing the arm and a clutch interposed between the servo motor that drives the arm and the load. During direct teaching, the clutch connects the servo motor and the load. is separated to reduce the operating force. In addition, the arm usually has 1 to 3
Driven by a shaft.

[Problems to be solved by the invention] By the way, the distance between the fulcrum of the driving force and the point of application is short, such as the wrist, and it is difficult to maintain balance on an axis (usually,
Regarding the 4th to 6th axes that drive the wrist, if a clutch is installed to separate the driving side from the driven side, the balance will be disrupted and teaching will become difficult. The force remains heavy.

This invention was made against this background, and aims to provide an industrial robot that can perform teaching with light operating force by keeping the actuators of the axes that are difficult to balance in an activated state. purpose.

[Means for Solving the Problems] In order to solve the above problems, the present invention has a plurality of joint axes driven by actuators, and provides direct teaching in correspondence to some of the joint axes. In an industrial robot equipped with an operation force reduction mechanism that reduces operation force during direct teaching, driving of a joint axis equipped with the operation force reduction mechanism is prohibited, and the operation force reduction mechanism is activated. On the other hand, it is characterized by comprising a changeover switch means for setting the other joint shafts in a drivable state, and an operation switch means for operating the joint shafts set in the drivable state.

[Operation] According to the above configuration, the actuator of the joint shaft that does not have an operation force reduction mechanism is maintained in an operable state during direct teaching. By operating actuation switches corresponding to these joint axes, the designated joint axes can be moved in a desired direction. In other words,
Joint axes that have an operation force reduction mechanism are taught directly by human hands, while joint axes that do not have an operation force reduction mechanism are taught by remote teaching.
Can teach. This allows teaching to be performed with light operating force.

[Example code] Hereinafter, the present invention will be described in detail with reference to the drawings.

In FIGS. 1 to 3, 1 is a robot body, 2 is an arm, 3 is a wrist, and 4 is a worker. Arm 2 is 1, 2
．． The wrist 3 is driven by each servo motor M1, M2゜M3 of 3 axes, and the wrist 3 is driven by each servo motor M4, 4, 5, and 6 axes.
Driven by M 5 and M 6. The servo motors M1 to M3 for the arm 2 are powered by a driver power source 5A, and the servo motors M4 to M6 for the wrist 3 are powered by a driver power source 5B.

Driver power [5A, 5B are 3
It converts the phase current into direct current and supplies it to the servo motors M1-M6. Here, commercial power supply and driver power supply 5
Three contacts mal, which are turned on/off by a magnetic contactor MCI, are inserted between the commercial power supply and the driver power supply 5B, and three contacts mal, which are turned on and off by a magnetic contactor MC2, are inserted between the commercial power supply and the driver power supply 5B. A contact mc2 is inserted.

The electromagnetic contactor MC2 is connected in series with the emergency stop switch 6 and the start switch SWI. In addition, the electromagnetic contactor MCI includes an emergency stop switch 6 and a start switch SW.
I and the start switch SW2 are connected in series. Further, a relay RYI is connected in parallel with the electromagnetic contactor MC2, and its contact ryl is connected in parallel with the starting switch SWI. As a result, the electromagnetic contactor MC2, which was partially turned on by the start switch SWI, is turned on by the start switch SWI.
Even if the power goes out, it will remain on. Note that the emergency stop switch 6 is normally on, and all other switches and contacts are normally off.

A teaching handle 7 is provided on the lower side of the arm 2, and a hand switch 8 consisting of six switches for driving four to six axes is attached. By operating any switch of this hand switch 8, 4~
It can be moved left, right, up and down, and rotated on 6 axes.

Next, the operation of this embodiment will be explained with reference to the flowchart in FIG.

■Turn on the power to the robot control panel (path shown) (step Sl).

- Operate the switch on the robot control panel to select one mode from teaching mode, remote mode, correction mode, and playback mode (steps 82 to 5).

■When remote mode, correction mode, or playback mode is selected, the power to the actuators of all axes is turned on. That is, the start switches SWI and SW2 are turned on, the electromagnetic contactors MCI and MC2 are activated, and the driver power supplies 5A and 5 are turned on.
Commercial power is supplied to B. As a result, DC power is supplied to the servo motor M1-M6 (step S6).

■On the other hand, when the teaching switch on the robot control panel is pressed to set the direct mode, only the start switch SWl is turned on and only the electromagnetic contactor MC2 is activated. Therefore, only the contact mc2 closes, commercial power is supplied only to the driver power supply 5B, and only the 4th and 5th axes become operable (
Steps S7, 8).

In addition, the clutches of the 1st to 3rd axes are disengaged, and the servo motors M1 to
M3 and arm 2 should be separated. Since the arm 2 is balanced by a balance spring, it can be moved with a light operating force.

■The worker 4 grasps the teaching handle 7 attached to the bottom of the arm 2 and moves the arm 2 and wrist 3 to a certain target point (teaching point). At this time, if the wrist 3 does not point toward the target point, press the switch indicating the axis and direction of the movement among the six switches on the hand switch 8.
This axis is driven in a designated direction, allowing the wrist 3 to approach the target point. In case, servo motor M4~M6
Even if the robot moves out of control, it will be safe if the teaching handle 7 is attached outside the maximum movement range of the wrist 3, as shown in FIG.

[Effects of the Invention] As explained above, in the present invention, direct teaching is performed for axes that have an operating force reduction mechanism, and so-called remote teaching is performed for axes that do not have an operating force reduction mechanism. It is possible to obtain the effect of

■Reduced operating force during direct teaching.

■Teaching data can be created more quickly than conventional direct teaching.

■ Less physical energy is consumed during direct teaching.

(2) Since it is easier to operate the axes that do not have an operation force reduction mechanism, stable data can be created regarding the movements of the other axes (1 to 3 axes in the above embodiment).

- Direct teaching can be done by people.

■Even when the robot's wrist is placed in a narrow hole, there is no need to touch the robot's wrist, so direct teaching is possible.

[Brief explanation of the drawing]

Fig. 1 is a schematic diagram showing the appearance of an industrial robot according to an embodiment of the present invention, Fig. 2 is a block diagram showing the configuration of the main parts of the embodiment, and Fig. 3 is a hand-held robot attached to a teaching handle. FIG. 4 is a perspective view showing an example of a switch, and is a flowchart for explaining the operation of the same embodiment. l...Robot body, 2...Arm,
3...wrist, 4...worker, 7...
...Teaching handle, 8...Hand switch (operation switch), MCI, MO2...Magnetic contactor (selector switch).

Claims (1)

[Claims] It has multiple joint axes driven by actuators,
In an industrial robot equipped with an operation force reduction mechanism that reduces the operation force during direct teaching corresponding to a part of the joint axis, the joint axis equipped with the operation force reduction mechanism is not driven during direct teaching. a changeover switch means for setting the inhibited state and the operation force reduction mechanism in the operating state, while enabling the other joint axes to be driven; and an activation switch means for operating the joint shaft that has been set in the driveable state. An industrial robot characterized by comprising: