KR19990036602U - Homing Device of Robot System - Google Patents

Abstract

The present invention relates to an apparatus for performing the home position of an industrial robot. In particular, when the initial power is turned on by using uneven type devices having different distances between the sensor dogs, the relative position from the initial origin to each section is performed by using a conventional method. After calculating in advance, the robot moves to the jog to memorize the pulse amount of the sensor on / sensor off section for each section as a parameter so that the robot can be moved to the minimum position in a short time at any position to perform the home position. Is improved, and it also provides convenience because it can flexibly cope with the interference of obstacles.

Description

Homing Device of Robot System

The present invention relates to an industrial robot, and more particularly, to an origin performing apparatus of a robot system.

In general, industrial robots can be divided into rectangular coordinate robot, horizontal articulated robot, and vertical articulated robot. Dual horizontal articulated robots are mainly used in high-speed and high-speed applications such as loading and unloading parts, assembling parts, palletizing goods, and sealing.

As shown in FIG. 1, the horizontal articulated robot is composed of horizontally moving A and B arms 11 and 12, a vertically moving Z axis, and a rotating W axis.

At this time, the robot must perform ORIGIN after starting the power and before starting work. That is, the operation of matching the mechanical origin position with the robot controller coordinate calculation reference point. At present, the encoder performs home position using encoder, sensor and sensor dog. All 4 axes (A, B, Z, W) are performed sequentially or simultaneously according to the order of the origin performance flow.

Figure 2 shows the type of sensor dog, Figure 2 (a) is an incremental sensor dog, Figure 2 (b) is a semi-absolute sensor dog, 2 (c) is a developed view seen from point AB of (b).

Conventional horizontal articulated and rectangular coordinate robots perform an origin operation by using an encoder (INCREMENTAL method), an origin sensor 14, and a sensor dog 13. That is, after turning on the power for the first time by rotating the motor in a certain direction to move the sensor dog 13 to the origin sensor position. At this time, immediately after the B contact home sensor 14 detects the sensor dog 13, the robot controller stops rotating the motor. At this time, immediately after detecting the sensor 14, the robot stops after several mm movement. Next, the sensor dog 13 is removed from the sensor 14 by reversing the rotational direction of the motor, and the motor is rotated until the Z phase of the motor encoder is detected. At this time, the position where the Z phase is detected becomes the origin position. The above origin is performed in all axes (AXIS) according to the origin flow of the robot controller.

At this time, A, B arms (11, 12) of the working radius of the horizontal articulated robot moves in the horizontal direction within 115 ~ +115, 135 ~ +135. And, the position of the origin sensor is usually at 0 degree position and moves the robot's arm to the origin sensor position according to the origin performance signal. However, for the accuracy of the home position, the home performance speed is fixed at a low speed, so if the arm of the robot is far from the home sensor position, it takes considerable time to perform the home operation. And there is a problem only in one location, where the origin sensor is located.

The present invention is to solve the above problems, it is an object of the present invention to provide a homing device of the robot system to improve the homing speed by moving the robot to a minimum in any position.

An apparatus for performing the origin of the robot system according to the present invention for achieving the above object is characterized by performing the origin using a mechanism composed of sensor dogs of the concave-convex structure.

1 is a cross-sectional view showing the origin performing apparatus of a general robot system

Figure 2 (a) is a cross-sectional view of the incremental sensor dog

(b) is a cross-sectional view of a semi-absolute sensor dog

(c) is an exploded view of the sensor dog seen from point A-B of (b)

3 is an exploded view showing the origin performing apparatus of the robot system according to the present invention

4 is a waveform diagram schematically showing FIG.

FIG. 5 is a waveform diagram illustrating a process of performing an origin when the initial power-on is performed in FIG. 3.

FIG. 6 is a waveform diagram illustrating a process of setting an origin when the current position is in an on section when the power is turned on.

7 is a waveform diagram illustrating a process of setting the origin when the current position is in the off section when the power is turned on.

Explanation of symbols for main parts of the drawings

11,12: A, B arm 13,31: sensor dog

14: origin sensor

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

3 is an exploded view of the originating device of the robot system according to the present invention, and is composed of a mechanism in which one sensor and uneven sensor dogs 31 are attached. That is, the origin of the sensor dog 31 is performed by using the irregularities having different intervals.

At this time, the instrument is circular but easy to understand the exploded view, Figure 4 is a simplified view of the exploded view of FIG.

In FIG. 4, when the intervals are divided by n (the intervals of each interval are the same), the distance on / off is determined, and thus may be represented by Equation 1 below.

Here, P _{1 = ON} is the pulse amount of the interval 1 to be turned on, n is the total interval, the total pulse is the total pulse up to n intervals, i is the interval divided by interval 1 1 / n.

Therefore, by using Equation 1, the pulse amount of the section to be turned on and the pulse amount of the section to be turned off can be known. At this time, the time to be on / off should have a certain ratio, when considering the manufacturing tolerances of the sensor dog, robot assembly tolerances, etc., since the precise origin can not be performed only with the above Equation 1 (Sequence) ).

First, at initial power-on, the origin is performed using a conventional method. At this time, section 1 is the origin in FIG. 5 and is performed once before shipment.

Then, the robot is moved to the jog and the pulse amount of the sensor on / sensor off section is stored as a parameter for each section. At this time, the relative position from the initial origin to each section is calculated in advance by the system. Therefore, the origin can be set in a short time at any position thereafter.

FIG. 6 is a waveform diagram illustrating an origin performing process when a current position is in an on section (off section) when the power is turned on. The polling edge is detected while moving the robot to the left or right side. When a falling edge is detected, an encoder (not shown) starts counting to detect a starting rising edge and stops counting when a rising edge is detected. At this time, the pulse amount stored in the parameter is examined to find a section matching the currently counted value. Then, you can know in which section the origin was performed. Therefore, the relative position can be known

FIG. 7 is a waveform diagram illustrating the origin performing process when the current position is in the off section (on section) when the power is turned on. The rising edge is detected while moving the robot left or right. When a rising edge is detected, the encoder starts counting to detect the falling edge, and when the falling edge is detected, the count stops. At this time, the pulse amount stored in the parameter is examined to find a section matching the currently counted value. Then, you can find out which section the origin has been performed and use it to know the relative position.

As described above, according to the origin performing apparatus of the robot system according to the present invention, since the origin is performed by using the irregularities having different distances between the sensor dogs, the origin can be performed by moving the robot to a minimum at any position. Speed is improved, and it is convenient because it can flexibly cope with obstacle interference.

Claims (4)

In the homing device of a robot system that matches an mechanical home position with a robot controller coordinate calculation reference point using an encoder, an origin sensor, and a sensor dog, An apparatus for performing homing of a robotic system, characterized by using a mechanism composed of sensor dogs having a concave-convex structure for sensor detection. The method of claim 1 wherein the sensor dog is A homing device of a robotic system characterized by using a semi-absolute sensor dog. The method of claim 1, The encoder performs a home position at initial power-on, calculates the relative position from the initial home position to each section in advance, and then moves the robot to a jog to store the pulse amount of the sensor on / off section for each section as a parameter; After the power is turned on, if the current position is in the on section, the robot detects the falling edge while moving the robot to the left or right, starts counting when the falling edge is detected, and stops counting when the starting rising edge is detected, and stores it in the parameter. An apparatus for performing the origin of a robotic system, characterized in that it proceeds in a step of detecting a relative position by finding a section coinciding with the current pulse amount and a current counted value, and detecting which section the origin is performed. The method of claim 1, The encoder performs a home position at initial power-on, calculates the relative position from the initial home position to each section in advance, and then moves the robot to a jog to store the pulse amount of the sensor on / off section for each section as a parameter; After the power is turned on, if the current position is in the off section, the robot detects the rising edge while moving the robot to the left or right, starts counting when the rising edge is detected, stops counting when the falling edge is detected, and is stored in the parameter. An apparatus for performing the origin of a robotic system, characterized in that it proceeds in a step of detecting a relative position by finding a section coinciding with a present pulse amount and a current counted value, and detecting which section the origin is performed.