WO1994009950A1 - Procede de commande d'un robot a double bras - Google Patents

Procede de commande d'un robot a double bras Download PDF

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Publication number
WO1994009950A1
WO1994009950A1 PCT/JP1993/001578 JP9301578W WO9409950A1 WO 1994009950 A1 WO1994009950 A1 WO 1994009950A1 JP 9301578 W JP9301578 W JP 9301578W WO 9409950 A1 WO9409950 A1 WO 9409950A1
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WO
WIPO (PCT)
Prior art keywords
arm
robot
work
arms
dual
Prior art date
Application number
PCT/JP1993/001578
Other languages
English (en)
Japanese (ja)
Inventor
Hiroaki Takechi
Original Assignee
Kabushiki Kaisha Komatsu Seisakusho
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kabushiki Kaisha Komatsu Seisakusho filed Critical Kabushiki Kaisha Komatsu Seisakusho
Publication of WO1994009950A1 publication Critical patent/WO1994009950A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39083—Robot interference, between two robot arms

Definitions

  • the present invention relates to a dual-arm robot for hand-held work, such as when a teaching-playback-type mouth-boat having two arms is used to carry a work in and out of a processing machine for performing a press operation or the like.
  • the present invention relates to a method of operating a dual-arm robot when performing a robot. Background art
  • the press machine is used as a so-called single-shot press machine that is not installed in a line, the robot dedicated to the line described above cannot be used, and the press technology Vol.
  • a single-shot press dedicated machine as disclosed in claim numbers 66, 35, 8 (Prior Art 6), or as shown in Press Machine Vol. 29, No. 11, P 51 (Prior Art 7).
  • one vertical robot or horizontal articulated robot which is an ordinary industrial robot, was sometimes installed in front of the press.
  • the robot operation method in which a robot is installed between press machines and the press machine does not work when the press machine is in line. It is suitable for low-mix high-volume production, but for high-mix low-volume production, the equipment was large and productivity was poor.
  • the method of installing one general-purpose port bot in front of the press machine as shown in Prior Art 7 has a high degree of freedom and can perform the same work as humans, and the setup time is simple. There was a problem that the cycle time was longer for the work.
  • the robots shown in the prior arts 1 to 5 have no problem when used as a line, but cannot be used when each press machine is operated alone.
  • the robot shown in the conventional technology 6 has a problem that it cannot be used when the press is used as a line.
  • the robots shown in the prior arts 1 to 6 are basically robots that supply and carry out to and from a press machine with one robot. could be supplied and unloaded.
  • the robots can be prevented from interfering with each other, the dual-arm robot can be easily used with various systems without interference, and a single dual-arm robot can work on multiple presses without reducing the cycle time. Since loading and unloading is now possible, the mouth bot can be used efficiently.
  • a single robot has been able to use a single robot that could not be used alone with a conventional line-dedicated robot, or a line that was not possible with a single press machine. It is intended to provide a method of operating a dual-arm robot. Disclosure of the invention
  • a dual-arm robot having a side arm and an unloading side arm for unloading a work from the work machine, a state in which the work is not gripped and the arm is out of the interference area between the arms.
  • a signal for identifying each of the state outside the area (1), the state within the interference area between the arms while gripping the work (3), and the state (4) within the interference area between the arms without gripping the work is output for each arm.
  • the other arm moves.
  • the arm is moved after its condition is confirmed, preventing interference between the arms.
  • the interference between the arms of the adjacent two-armed robots can be prevented, and the work can be switched between the arms and received without interference.
  • multiple working machines and multiple dual-arm robots they can be used as a line or independently, and can flexibly respond to machining workpieces.
  • one dual-arm robot can carry in and out of multiple work machines without interference.
  • the interference area with respect to the adjacent double-armed robot in state (2), within the interference area with the adjacent double-armed robot, in state (3),
  • the state outside the interference area for the arm robot and the state outside the interference area for the adjacent dual-arm robot may be added to the state II.
  • FIG. 1 is a perspective view showing an example of a use state of a dual-arm robot operated by the method of the present invention.
  • FIG. 2 is a schematic structural explanatory view of the dual-arm robot shown in FIG.
  • FIG. 3 is a first operation flowchart of the dual-arm robot shown in FIG.
  • FIG. 4 shows a second operation flowchart of the dual-arm robot shown in FIG.
  • FIG. 5 shows the dual arm robot installed before each of multiple presses.
  • FIG. 6 is a plan view showing an example of the arrangement.
  • FIG. 6 is an operation flowchart of the dual-arm mouth bot shown in FIG.
  • FIG. 7 is a plan view showing an example in which a plurality of presses are installed around one dual-arm robot.
  • FIG. 8 is an operation flowchart of the dual-arm robot shown in FIG. BEST MODE FOR CARRYING OUT THE INVENTION
  • reference numeral 1 denotes a press
  • 2 ′ denotes a carry-in machine arranged on the front right side of the press 1, for example
  • 3 denotes a carry-out machine arranged on the front left side of the press 1.
  • Reference numeral 4 denotes a double-arm robot installed in front of the press 1 and between the above-mentioned two carry-in units 2 and the unloading unit 3.
  • the dual arm robot 4 has a structure as shown in FIG.
  • reference numeral 5 denotes a vertically installed support
  • a four-axis type first arm 6a and a second arm 6b are provided on both sides of the support 5 in a double arm shape.
  • the arms 6a and 6b have the same structure, and a bracket 7 is supported so as to be able to move up and down along a linear guide 8 provided at a position symmetrical on both sides of the support column 5.
  • the bracket 7 is provided vertically on the side of the column 5 and is screwed to a feed screw rod 9 driven to rotate by a motor 9a.
  • a first arm 10, a second arm 11 and a hand 12 are sequentially connected rotatably in the horizontal direction, and each arm and hand is connected to a drive motor (not shown). Thus, it is rotated over a predetermined rotation angle.
  • the first arm 10, 10 which is the rotation fulcrum of the left and right arms 6 a, 6 b
  • One-rotation fulcrums 01 and 02 are separated by the same distance L and L on the left and right of the column 5, and the operating ranges of both arms 6a and 6b are partially overlapped and have a so-called interference area. are doing.
  • L and L may be L ⁇ L.
  • the motor 9a for the feed screw 9 of the arms 6a and 6b and the motor of each joint are operated by the controller 13 without interference between the arms 6a and 6b in the interference area.
  • the operation is automatically controlled as described above, and the operation is performed by a teaching device 14 provided in the controller 13.
  • the left and right arms 6 a and 6 b are operated by a command signal from the controller 13, for example, the work is supplied from the work supply table 2 by the left arm 6 a, and the work is supplied by the right arm 6 b.
  • the processed work is discharged onto the work discharge table 3.
  • the supply and discharge of the work may be performed by the both arms 6a and 6b.
  • the arms 6a and 6b operate independently in accordance with the command of the controller 13, and the arms 6a and 6b have the above-mentioned area despite the interference area.
  • the controller 13 is operated without interference based on the data previously taught.
  • each of the arms 6a and 6b detects its own operating state, and transmits the state signals to the other arm and the adjacent arm.
  • the robot is sent to the corresponding arm of the dual-arm robot placed at the location. And the arm that receives this partner's status signal Based on this, it does not interfere with the opponent's arm.
  • the operating states of the arms 6a and 6b are the four states of 1, 2, 3 and 1 shown in Table 1 below.
  • FIG. 3 is an operation flowchart showing a first operation example of the dual-arm robot 4 shown in FIG.
  • the operation shown in this operation flow chart is as follows.
  • the arm 6a on the loading side moves the work out of the interference area again after putting the work into the press 1 in the interference area, and the arm 6b on the unloading side At the end of the press working, the work is taken out of the press 1 in the interference area and moved out of the interference area.
  • the workpiece is gripped by a vacuum or the like, and is gripped by the hand 12 of the loading arm 6a.
  • the arm 6a on the loading side grips the workpiece 15 gripped by the loading machine 3 above, and when it is confirmed that the workpiece is released, a work release finger signal is sent to the loading machine 3 side, and the loading machine 3 Is released from the gripping of the work. Then, it is confirmed that the work is released by the carry-in machine 3, and immediately before the carry-in arm 6a moves to the press 1 side, that is, just before moving into the interference area, the state of the carry-out arm 6b side becomes 1. Whether or not there is, that is, the status signal from the unloading arm 6 confirms that the unloading arm 6b is out of the interference area. After that, the arm 6a on the loading side moves into the interference area, and after confirming that the press 1 has risen to reach the top dead center, the work is set in the press 1 and the work is set in the press 1. Release and move out of press 1
  • the carrying-in arm 6a completes the workpiece carrying-in operation and the carrying-out arm 6b detects a signal indicating that the carrying-in arm 6a has changed to the 1 state
  • the arm 6b moves into the interference area, confirms the unloader signal from the press 1, and then grasps and carries out the processed work in the press 1.
  • the carry-in arm 6a is moved to the interference area after checking the state signal of the carry-out arm 6b (work carry-in), and the carry-out arm 6b is also moved into the carry-in arm. 6 After confirming the 1 status signal in a, it is moved into the interference area. '
  • FIG. 4 is an operation flowchart showing a second operation example of the dual-arm robot 4 shown in FIG.
  • the operation shown in this operation flowchart is basically the same as the above-described first operation example shown in FIG. 3, and only different portions will be described below.
  • the workpiece is gripped by the loading arm 6a, and a part of the workpiece is loaded into the press 1. Then, a start signal is given to the press machine 1 from the arm 6a, and punching by the press 1 is performed. After that, the work is fed by a predetermined amount, and the start signal is given again by press 1 to perform punching. By repeating this operation, products are sequentially punched from the workpiece. The number of punching depends on the size of the work, etc., and is counted by a counter.
  • the gripped part will be in the way, so grip the already punched part with the arm 6b on the unloading side. Switch and punch the remaining part a predetermined number of times.
  • the carry-in arm 6a moves into the interference area
  • the carry-out arm 6b is output from the signal in the state (1) in which the carry-out arm 6b outputs. Is moved to state, that is, “between the unloader and press” (confirmation outside the unloading arm interference area).
  • the arm 6a on the loading side is gripping the work, and therefore is in the state 2, and the signal in the state ⁇ ⁇ from the arm 6a on the loading side is checked.
  • FIG. 5 shows an embodiment in which dual-arm robots 4a, 4b, 4, 4d are installed on the front sides of a plurality of presses 1a, 1b, 1c, Id, respectively.
  • the operation (third operation example) in this embodiment is, for example, that the work is gripped from the supply table 16 by the left arm 4 aL of the first dual-arm robot 4 a arranged on the leftmost side.
  • To the first press 1a To the first press 1a.
  • the work is carried out with the right arm 4aR of the first double-arm robot 4a, and the first arm provided between the first and second presses la and lb. Unload to intermediate stand 17a.
  • the work 15 of the intermediate table 17a is carried into the second press lb by the left arm 4bL of the second double-arm robot 4b.
  • Work 15 was processed by the second press lb, then unloaded by the right arm 4 bR of the second dual-arm robot 4 b and provided between the second and third presses lb and lc. Unload to the second intermediate table 17b.
  • the work 15 on the second intermediate table 17b is carried into the third press 1c by the left arm 4cL of the third dual-arm robot 4c.
  • the work 15 is unloaded to the unloading section 18 by the right arm 4cR of the third dual-arm robot 4c.
  • the state signals of the left and right arms of each dual-arm robot and the state of the mutually-interferable arms of the adjacent dual-arm robot are recognized and interfere with each other. I try not to.
  • the right arm 4 a confirms that the outside of the carrying-arm interfering area is present, and 4 a R performs a series of operations in states 1—3—2—1. Then, when the right arm 4 a R ends and returns to the state ⁇ ⁇ again, the left arm 4 b L of the second dual arm robot 4 b becomes the first dual arm robot 4 a After confirming that the right arm 4aR of the left arm 4aR is in the state ⁇ , the same operation as the left arm 4aL of the first dual-arm robot 4a is performed. After the operation of the left arm 4aL is completed, the right arm 4aR performs the same operation as the right arm 4aR of the first dual-arm robot 4a.
  • Fig. 7 shows a case where multiple (two) presses la and 1b are installed around one dual-arm robot 4. 5 shows an operation example.
  • the two presses 1a and 1b are arranged on the front side and right side of the dual-arm robot 4, and the first press 1a located on the right side is supplied with the coiled work 19 from the loading machine 18 Is done.
  • the supplied work 19 is punched out to a predetermined size by the first press 1a, and is then carried out of the first press 1a by the right arm 4R of the dual-arm robot 4. At this time, the waste material after the punching is automatically discharged to the scrap container 20.
  • the work 19 carried out from the first press 1a by the right arm 4R is supplied to the second press 1b arranged in front of the dual-arm robot 4, and is again supplied to the second press 1b. Pressed in lb.
  • the work 19 is carried out to the unloader 21 by the left arm 4L.
  • the first and second presses 1a and 1b are moved synchronously, and the left and right arms 4L and 4R of the robot are moved in accordance with the timing, thereby making both arms 4L , 4R can carry in and out the work 19 without interference.
  • the operation flow chart at this time is as shown in FIG. This place
  • the arm on the loading side (arm 4R on the right side) and the arm on the unloading side (arm 4L on the left side) confirm that the other party's state is ⁇ immediately before entering the respective interference areas. After that, a predetermined operation is performed.
  • the present invention by always outputting the state of each arm of the dual-arm robot, it is possible to prevent interference between the arms of the dual-arm robot, and also to prevent the robots of multiple robots from interacting with each other. Interference can be prevented, the dual-arm robot can be easily used in various systems without interference, and a single 2-arm robot can carry in / out workpieces to multiple presses without reducing the cycle time. Robots can be used efficiently. In addition, a single robot can use a stand-alone robot that was not possible with a conventional line-dedicated robot, or a line that was not possible with a single-shot press machine. .
  • the method for operating a dual-arm robot according to the present invention is extremely useful for loading and unloading a work to and from a processing machine that performs a press operation or the like.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Feeding Of Workpieces (AREA)
  • Press Drives And Press Lines (AREA)

Abstract

L'invention concerne un robot à double bras doté d'un bras fonctionnel interne destiné à effectuer un travail dans une machine d'usinage, et d'un bras fonctionnel externe destiné à effectuer un travail à partir de la machine d'usinage, les deux bras étant ménagés sur les deux côtés d'un montant de support de manière que ces bras fonctionnent avec une région d'interférence mutuelle, ainsi qu'un procédé de commande de robot à double bras caractérisé en ce qu'un signal destiné à distinguer l'état (1) des bras ne saisissant pas de pièce et positionnés hors de la région d'interférence mutuelle, l'état (2) des bras saisissant une pièce et positionnés hors de la région d'interférence mutuelle, l'état (3) des bras saisissant une pièce et positionnés dans la région d'interférence mutuelle, ainsi que l'état (4) des bras ne saisissant pas de pièce et positionnés dans la région d'interférence mutuelle l'un par rapport à l'autre, est produit pour chaque bras de manière à déplacer un des deux bras dans une position se trouvant dans la région d'interférence, après avoir déterminé en référence à ce signal d'état produit par l'autre bras, que ce dernier bras se trouve en dehors de la région d'interférence. Selon ce dispositif, un bras est déplacé dans la région d'interférence une fois déterminé l'état de l'autre bras, de manière à empêcher les interférences entre les bras. De même, on peut empêcher les interférences entre un bras d'un robot à double bras et un bras d'un robot à double bras adjacent, et le passage d'une pièce d'un bras à l'autre ainsi que le transfert d'une pièce entre les bras peuvent être effectués sans qu'un bras ne gêne un autre bras. Même lorsqu'on utilise une pluralité de machines d'usinage et une pluralité de robots à double bras, on peut les mettre en ÷uvre sous la forme d'une chaîne de production ou indépendamment, c'est-à-dire qu'on peut les utiliser dans des tâches de manière flexible. De plus, des tâches peuvent être effectuées dans et à partir d'une pluralité de machines d'usinage par un robot à double bras, sans que les bras ne se gênent mutuellement.
PCT/JP1993/001578 1992-10-30 1993-10-29 Procede de commande d'un robot a double bras WO1994009950A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP29295792A JPH06143084A (ja) 1992-10-30 1992-10-30 双腕ロボットの作動方法
JP4/292957 1992-10-30

Publications (1)

Publication Number Publication Date
WO1994009950A1 true WO1994009950A1 (fr) 1994-05-11

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PCT/JP1993/001578 WO1994009950A1 (fr) 1992-10-30 1993-10-29 Procede de commande d'un robot a double bras

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JP (1) JPH06143084A (fr)
WO (1) WO1994009950A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0845723A1 (fr) * 1996-06-18 1998-06-03 Fanuc Ltd Procede empechant les interferences de robot industriel
WO2000003837A1 (fr) * 1998-07-14 2000-01-27 Siemens Production And Logistics Systems Ag Dispositif d'usinage automatise de pieces

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Publication number Priority date Publication date Assignee Title
WO2006103868A1 (fr) 2005-03-25 2006-10-05 Kitagawa Seiki Kabushiki Kaisha Dispositif de presse
JP5187048B2 (ja) * 2008-07-29 2013-04-24 株式会社安川電機 ハンドリングシステム
JP5521330B2 (ja) * 2009-01-16 2014-06-11 株式会社安川電機 移送システム
JP5423415B2 (ja) * 2010-01-19 2014-02-19 株式会社安川電機 生産システム
US9138802B2 (en) * 2012-03-30 2015-09-22 Nittan Valve Co., Ltd. Forging system for forging a valve
JP5403120B2 (ja) * 2012-07-25 2014-01-29 株式会社安川電機 ハンドリング方法
JP6229324B2 (ja) 2013-06-14 2017-11-15 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットの制御方法
JP6307835B2 (ja) * 2013-10-28 2018-04-11 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットシステム
JP6408835B2 (ja) * 2014-08-29 2018-10-17 三ツ星ベルト株式会社 ベルト搬送システム
JP6521021B2 (ja) * 2017-10-18 2019-05-29 セイコーエプソン株式会社 ロボット、ロボット制御装置およびロボットの制御方法
JP7423178B2 (ja) * 2018-04-20 2024-01-29 住友重機械工業株式会社 加工システム
CN114749981B (zh) * 2022-05-27 2023-03-24 中迪机器人(盐城)有限公司 一种基于多轴机器人的上下料控制系统及方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59107883A (ja) * 1982-12-09 1984-06-22 三菱電機株式会社 複数腕ロボツトの制御装置
JPS59129691A (ja) * 1983-01-18 1984-07-26 株式会社日立製作所 ロボット間衝突防止方法
JPH02198782A (ja) * 1989-01-23 1990-08-07 Sony Corp 多関節型ロボット

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59107883A (ja) * 1982-12-09 1984-06-22 三菱電機株式会社 複数腕ロボツトの制御装置
JPS59129691A (ja) * 1983-01-18 1984-07-26 株式会社日立製作所 ロボット間衝突防止方法
JPH02198782A (ja) * 1989-01-23 1990-08-07 Sony Corp 多関節型ロボット

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0845723A1 (fr) * 1996-06-18 1998-06-03 Fanuc Ltd Procede empechant les interferences de robot industriel
EP0845723A4 (fr) * 1996-06-18 2000-04-26 Fanuc Ltd Procede empechant les interferences de robot industriel
WO2000003837A1 (fr) * 1998-07-14 2000-01-27 Siemens Production And Logistics Systems Ag Dispositif d'usinage automatise de pieces
US6412622B1 (en) 1998-07-14 2002-07-02 Siemens Aktiengesellschaft Apparatus for the automated processing of workpieces

Also Published As

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