Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
  • B25J19/06—Safety devices
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
  • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
  • B25J9/041—Cylindrical coordinate type
  • B25J9/042—Cylindrical coordinate type comprising an articulated arm
  • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J13/00—Controls for manipulators
  • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
  • B25J13/085—Force or torque sensors
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
  • B25J19/06—Safety devices
  • B25J19/063—Safety devices working only upon contact with an outside object
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
  • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
  • B25J9/041—Cylindrical coordinate type
  • B25J9/042—Cylindrical coordinate type comprising an articulated arm
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Program-control systems
  • G05B19/02—Program-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
  • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by monitoring or safety
  • G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference

Definitions

• the present invention relates to a robot control device in which control is performed based on detection of a force in a Z-axis of the robot.
• the device according to the present invention is used, for example, for industrial robots that perform assembly work, etc.
• a control device for a robot which is characterized in that:
• FIG. 1 is a diagram schematically showing an entire configuration of a mouth-bottom control device as one embodiment of the present invention
• FIG. 2 shows a configuration of a mouth bot to which the apparatus of FIG. 1 is applied.
• FIG. 3 is a view schematically showing a configuration of a pulley, a ball screw nut, and a ball spline nut in the apparatus of FIG.
• Fig. 4 is a schematic diagram showing the configuration of the pole splint in Fig. 3.
• Figure 5 shows an example of the movement of the tip of the ⁇ -bot
• FIG. 6 is a flowchart showing an example of the operation of the FIG. 1 apparatus
• FIG. 7 is a characteristic diagram showing operating characteristics of the FIG. 1 apparatus. [Best mode for carrying out the invention]
• Fig. 1 shows an overview of the overall configuration of the robot control device f! As an example of the present invention, and Fig. 1 shows an industrial port lock for assembly work to which the device is applied.
• the bird is shown in FIG. -
• the third axis mechanism as the Z axis of robot 1 is shown in the left part of Fig. 1.
• a band] 5 having a band base 151 and gripping fingers 152'153 is mounted.
• the gripping wing grips the workpiece 2 and performs a perforation into the opening 31 in the object 3.
• the shaft 4 is driven by a motor 5 through a conduction system of a boory driving section 4 1 -Private 4 2 -Ball screw nut # 7, and moves up and down as a linear motion.
• the rotation il motion is transmitted from the pulley conduction system to the ball screw nut 17, and thereby a rotation driving force acts on the shaft ⁇ 4, but is provided below the ball screw nut 17.
• Due to the action of the ball spline nut the movement of the shaft 14 to rotate appears as a vertical movement of the shaft 14 as a linear movement.
• a row of balls 161 is interposed between the inner surface of the nut and the shaft 14, and the movement of the shaft 14 trying to rotate due to the circulation of the ball row is performed. It will appear as a vertical movement of foot 14.
• ⁇ na ffl pi-bot The power transmission mechanism that flows through the ball spline nuts is called ⁇ na ffl pi-bot.
• a support 111 is provided on a base 111, a first arm 121 rotating around a first shaft 101 is provided, and a tip of the first arm 121 is provided.
• a second arm 122 that rotates around the second shaft 102 is provided in the section, and a distal end of the second arm 122 is housed inside the shaft housing cylinder 13, and a third shaft 122.
• a shaft 14 that moves up and down along 103 is provided.
• the first arm 121, the second arm 122, and the shaft 14 are driven by a motor (not shown). '
• the work 2 gripped by the hand 15 is being normally inserted into the opening 3 1 of the object 3, for example.
• the motor driving force will continue to act unless a special measure is taken. 2 may be strongly pressed against the object 3, damaging the object 3, the work 2, the hand 15, or other parts, possibly causing inconvenience such as stopping the subsequent pi-bot operation. There is.
• the apparatus of FIG. 1 has an advantage of eliminating such inconvenience. The operation principle of the apparatus of FIG. 1 will be described below.
• the pitch (lead) of the screw engraved on the shaft i4 is ⁇ Zrev, and the reduction ratio of the timing belt of the pulley is 1-
• the motor torque T m is proportional to the reaction force I 7 w acting on the peak ffl.
• reaction force (F w) acting on the work can be monitored by monitoring the motor torque (T m ) command.
• the electric machine 5 is driven by the output of the drive unit 62 in the subunit 6.
• the output of the drive unit 62 is fed back to the drive unit f; 2 as the current return signal S (62-FB).
• the position feedback signal S (P0S-FB) and the speed feedback signal S (SP-FB) from the motor 5 are returned to the torque measure determination unit 61 in the sub-unit G.
• the output of the torque command determination unit 61 is supplied to the drive unit 62 and transmitted to the control unit 7 as a torque command INS (TQ).
• the control unit includes a CPU 71. OM 72, a RAM 73, an input / output device 74, and the like.
• the position deviation signal S (P0S-DRV) is supplied from the servo unit 6 to the control unit 7, and the position command signal S (Pi) S-! NS) is supplied from the control unit 7 to the servo unit fi.
• Threshold t The torque threshold fi T II R (TQ) from the input unit 8 is supplied to the control unit 7. This supply is used, for example, as a program. The operator can control the threshold value by keyboard or the like. This is performed by storing the data in the RAM 73 in the memory. The control unit 7 compares the torque command I NS (TQ) with the torque threshold THR (TQ).
• the electric motor 5 is driven based on the operation of the servo unit 6, but the work 2 moved by the shaft 14 does not match the opening 3 1 in the object 3, and the work is inserted.
• the rotation speed of the motor decreases and a position tracking error occurs in the motor operation control.
• the torque command I NS (TQ) will increase.
• THR (TQ) in the control unit 7 indicates that the threshold value has been exceeded, it is determined that a failure state has occurred in which the workpiece has failed to be inserted. Based on this, an alarm is generated in the alarm generation unit # 5, and after that, countermeasures are taken for abnormal situations.
• the threshold value TH R (TQ) is supplied to the control unit 7, and the control unit 7 compares the motor torque command value with the threshold value, and performs the servo control.
• the torque measure is determined and the motor drive J signal is generated based on the transmission and reception of signals to and from the control unit 7 and the motor 5, and the motor 5 drives the shaft as a Z-axis linear motion in the T-bottom. Exercise is performed c
• Torque threshold iTil R ('rU) is a pi-bot! ] Work n Gram J: If it is set and the mouth-bot performs multiple tasks, it is possible to select individual thresholds corresponding to each task.
• FIG. 5 An example of the movement of the robot tip is shown in Fig.5.
• each of ⁇ 1 to ⁇ 8 represents a teaching point.
• ⁇ 9 is the standby position at the tip of the mouth bot.
• the arrow indicates the track at the tip of the mouth.
• the torque command value INS (TQ) may be converted to F ⁇ (kg) by the above formula (1).
• the torque threshold value THR (TQ) is expressed as a ⁇ on the ⁇ program.
• FIG. 1 An example of the operation of the device in Fig. 1 is shown in the flow chart of f; 1 ( Assuming that the work i was inserted into the work 2 by the luck of the shaft i 4 in step S1, In step S2, -1
• step S3 Determine whether the INS (TQ) exceeds the threshold THR (TQ). If it does not exceed, proceed to step S3 to proceed with the normal work, or if it exceeds, proceed to step S4 to determine that the work insertion has failed.In step S5, the alarm is generated by the alarm generation unit 75, and the abnormality is detected. The situation is dealt with.
• FIG. 7 is a characteristic diagram showing four characteristics of the time vs. torque command for explaining the operation of the apparatus in FIG.
• the torque command INS (TQ) is at a low level
• the torque command INS (TQ) force is low.
• the level is higher than 10 (1), but has not reached the threshold tiTHR (TQ). After that, when the torque command suddenly increases and enters the abnormal operation state of (3), the torque command INS (TQ) exceeds the predetermined threshold value TIIR (TQ). By detecting the abnormal operation state of (3), an alarm is generated and an abnormal condition is dealt with.
• the control unit compares the motor torque command value with the threshold value, and issues an alarm when the motor torque command value exceeds a predetermined threshold value. At the same time, the process proceeds to an abnormal situation and the control operation based on the detection of the Z-axis force of the robot can be performed accurately.

Landscapes

• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Human Computer Interaction (AREA)
• Manufacturing & Machinery (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Manipulator (AREA)

Priority Applications (1)

Applications Claiming Priority (2)

Publications (1)

Family

ID=13541669

Family Applications (1)

Country Status (5)

Families Citing this family (15)

Citations (3)

Family Cites Families (13)

• 1987
  • 1987-03-30 JP JP62074248A patent/JPS63245388A/ja active Granted
• 1988
  • 1988-02-24 EP EP88902200A patent/EP0310672A1/en not_active Withdrawn
  • 1988-02-24 US US07/283,991 patent/US4904911A/en not_active Expired - Fee Related
  • 1988-02-24 WO PCT/JP1988/000193 patent/WO1988007442A1/ja not_active Ceased
  • 1988-11-18 KR KR1019880701489A patent/KR890700440A/ko not_active Ceased

Patent Citations (3)

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