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
  • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
  • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
  • B25J9/1666—Avoiding collision or forbidden zones
• • 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
  • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
• • 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—Programme-control systems
  • G05B19/02—Programme-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 programme 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 programme data in numerical form characterised by monitoring or safety
  • G05B19/4061—Avoiding collision or forbidden zones
• • 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—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
  • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
• • 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
  • G05B2219/39082—Collision, real time collision avoidance
• • 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
• • 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
  • G05B2219/39085—Use of two dimensional maps and feedback of external and joint sensors
• • 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
  • G05B2219/39105—Manipulator cooperates with moving machine, like press brake
• • 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
  • G05B2219/45—Nc applications
  • G05B2219/45143—Press-brake, bending machine
• • 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
  • G05B2219/49—Nc machine tool, till multiple
  • G05B2219/49137—Store working envelop, limit, allowed zone
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
  • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
  • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
  • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

• the present invention avoids interference between an industrial robot and another cooperating device including another industrial robot when performing work using the industrial robot.
• the method is
• the work area of the industrial robot and the work area of the cooperating equipment may overlap and be shared. I do. In such a case, you must ensure that they do not interfere with each other.
• the method used to avoid this interference is that if there are instructions to move to the interference area in the teaching program of the industrial robot, Check the input / output signals, and if there is a risk of interfering with other equipment, wait for the operation, and check that there is no fear of 1000 km by the input / output signals and move. Let's start by starting.
• industrial robots must be used to prevent co-operation from occurring even when cooperating equipment is operated even if the equipment operates. After moving to an area where Chiwara does not occur, it is necessary to output an operation command to the cooperating equipment. First, transfer the robot to the cooperating device because the command to the cooperating device and the operation command to the robot cannot be issued at the same time. After moving to a position where an operation command can be output, that is, a position where interference does not occur, operation to cooperating devices is performed. It is instructed to output a command. In addition, the robot must be taught an operation command for the subsequent operation. Even when one operation is performed on the robot, it is necessary to teach the robot in two operations in order to output a signal for operating the co-operating device. It is necessary to always provide a standby point for teaching. For example, the teaching of an operation program for a robot is as follows.
• An object of the present invention is to provide an industrial robot with a method of easily teaching an operation program to a robot and avoiding interference with cooperating devices.
• the present invention provides a method for avoiding interference between an industrial robot and a cooperating device that works in cooperation with the industrial robot.
• the work area of the industrial robot and the work area of the cooperating device overlap each other, and a common area that interferes with the robot is set in advance in the industrial robot and the cooperating device.
• an intrusion prohibition signal is output that prohibits the moving part of the cooperating device from entering the shared area.
• the intrusion prohibition signal for prohibiting the reference point of the industrial robot from entering the common area is output.
• the industrial robot If the reference point of the industrial robot is outside the common area and an intrusion prohibition signal is output from the cooperating device, the industrial robot is decelerated and stopped, and The standby makes it possible to prevent interference between the industrial robot and cooperating devices. Also, working together When the output of the intrusion prohibition signal from the equipment has ceased, the operation of the industrial robot is automatically restarted.
• the industrial port Decelerate and stop the bot and wait.
• the reference point is a command that enters the shared area can be determined based on the movement command for each distribution cycle of the movement command, and this movement command is a command that enters the shared area. If there is, the output of the movement command is suspended, and the robot is decelerated and stopped. Alternatively, the judgment can be made based on a command in which the reference point enters the shared area or a movement command specified by a block of the force teaching program.
• this movement command is a command that intrudes into the shared area
• FIG. 1 is a block diagram showing the operation of an interference avoiding process according to an embodiment of the present invention.
• FIG. 2 is a continuation of the flowchart of FIG.
• FIG. 3 is a diagram illustrating a ⁇ -chart of a thousand-avoidance processing according to another embodiment of the present invention.
• FIG. 4 is a block diagram of a robot control system for carrying out the present invention.
• FIGS. 5a to 5c are conceptual diagrams showing press work performed by a press machine that cooperates with an industrial robot.
• Figure 6 is a conceptual diagram showing the common areas of industrial robots and press machines.
• FIG. 7 is a conceptual diagram illustrating a method of determining a position of a reference point for determining interference between an industrial robot and a cooperating device.
• FIGS. 5A to 5C are illustrations of the press work performed by the industrial robot 1 and the press machine 2.
• Fig. 5a shows a state in which the upper mold, which is the movable part of the press machine 2, is lifted and the mold is open, and the robot 1 installed beside the press machine 2 is shown in Fig. 5a.
• the unprocessed work W is gripped from the work mounting table or the like, transported, and placed on the lower die of the press machine 2.
• FIG. 5b after the robot 1 has left the working space of the press machine 2, the press machine 2 lowers the upper die and presses the press machine. Do the work.
• FIG. 5b shows a state in which the upper mold, which is the movable part of the press machine 2 is lifted and the mold is open, and the robot 1 installed beside the press machine 2 is shown in Fig. 5a.
• the unprocessed work W is gripped from the work mounting table or the like, transported, and placed on the lower die of the press machine 2.
• FIG. 5b after the robot 1
• the work W on which the robot 1 has been processed is taken out, and the processing is performed.
• the work W is transferred to a mounting table or the like.
• the press machine 2 and the robot 1 repeat the press work as described above in cooperation.
• Press machine 2 starts press operation in the state of Fig. 5a.
• the press machine 2 and the robot 1 interfere with each other, and may damage the robot arm and the like. Also, even if the robot 1 moves to the press machine 2 in the state of FIG. 5B, the two will also interfere with each other. Therefore, in this embodiment, as shown in FIG. 6, as shown in FIG. 6, the shared area A where the press machine 2 and the lopot interfere (for example, the X-axis coordinate values are X0 to X1 and the y-axis coordinate is The robot is instructed to the robot 1 in advance with the values y0 to y1 and the z-axis coordinate values are ⁇ to zl), and the robot 1 is in the shared area A.
• the operation prohibition signal for instructing the press machine 2 to prohibit the operation is turned on, and the robot enters the common area A. If not, turn off the operation prohibition signal. Even if the press signal is on, the press 2 does not execute the press while the operation prohibition signal from the robot is on, and the press 2 does not execute the press. When the output signal of this terminal is turned off, the press is executed.
• a switch is set at the position where the upper die, which is the movable part of the press machine 2, starts to enter the common area A, and the common area is set. That is, when the upper model is below the switch, the intrusion prohibition signal for instructing the mouth port 1 to prohibit intrusion is turned on, and the switch is turned on. If the upper model is above the touch, the intrusion prohibition signal is turned off.
• the operation program is taught as the operation locus of the tool tip point, and it is determined whether or not the robot 1 enters the area A. It can be determined by the position of the tool tip. And then, depending on the robot operation, the robot There is a danger that parts other than the tool tip point of the tool may enter the area A and cause interference. Therefore, in a part where interference may occur, a point that is representative of that part is determined as a reference point, and whether or not this reference point is within the above-mentioned area A Judge.
• the tool tip point P 1 and the tip point P 2 of the arm A 1 driven by the joint J 1 can be obtained by the usual processing from the tool point P1 which is the teaching point.
• the coordinate position of the tip point P2 of the arm A1 is obtained as follows. Let the length of the arm A 1 be L2, the column C rotates by ⁇ 1 around the Z axis, and the joint J1 rotates by about 2 times from the SZ axis force. The coordinates of the position. The position is obtained from the length L2 of the arm A1 and the rotation angles ⁇ 1 and 62 as follows.
• the rotation angle of each joint of the robot the length from the arm joint to which the reference point is set to the reference point, and the joint from the first joint to the reference point
• the coordinate position of an arbitrary reference point can be obtained.
• the length of each arm is determined, and the length from the position set as a reference point to the joint that drives the arm with the reference point set is measured. It is necessary to set the measured value and the length of the arm.
• ⁇ And the rotation angle of each axis is obtained when the teaching program is executed. It is possible to obtain the coordinate position of the reference point set at an arbitrary il'L position.
• FIG. 4 is a block diagram of a control system of the mouth bot used in the present embodiment.
• the control device 10 for controlling the mouth bottle 1 includes a mouth sensor 11 and a ROM 1 for storing a system program.
• RAM 14 used for processing operations, etc., nonvolatile memory 15 for storing teaching programs, axis control circuit 16, and I / O interface 1 7 is connected by a bus 18, and the axis control circuit 16 is a position Z speed detector (not shown) provided in a servo motor that drives each joint of the mouth bot.
• the servo motors of each joint of the mouth-bot are controlled via the servo amplifier 19 of each axis.
• the top entry output interface 17 is connected to the press machine 2 of the external device, and an operation prohibition signal (this signal) for instructing the press machine 2 to prohibit the operation. Is turned on, the operation of the press machine is prohibited.) Is output to detect the lowering state of the upper mold of the press machine provided in the press machine 2 and output the intrusion prohibition signal.
• the intrusion prohibition signal from the switch that outputs the signal is input.
• the configuration of the mouth control device 10 is the same as that of the conventional control device, and the detailed description is omitted.
• the non-volatile memory 15 includes an operation program instructed by using the teaching operation panel 13 or a tape drive (not shown). It stores an operation program input from an external storage device such as a disk driver, and the processor 11 processes based on the operation program. To control the robot 1. It should be noted that, in the instruction of the operation program, it is sufficient to merely instruct the operation of the robot without considering the operation state of the press machine 2.
• FIG. 1 and FIG. 2 are flowcharts of a process performed by the processor 11 in this embodiment for each movement command distribution cycle.
• step S1 one block of the teaching operation program stored in the non-volatile memory 15 is read (step S1), and a program end command is issued. Judgment is made (step S2), and if it is not an end command, it is judged whether or not a flag indicating a hold state described later is set up (step S3). If it is not (it is not standing at first), calculate each axis movement command amount in the distribution cycle from the movement command by the block read in step S1 ( In step S10), the target position of the reference point is calculated based on the calculated movement amount (step S11). Next, the current position of the reference point is obtained based on the current position of each axis, and it is determined whether or not the current position is within the setting sharing area A (step S12).
• step S18 the target position of the reference point obtained in step S11 (the current period) According to the movement command Judge whether the position of the reference point to be moved) is within the shared area A.
• step S10 the movement command amount of each axis determined in step S10 is output (step S10).
• step S24 the operation prohibition signal to the press machine 2 is turned off, and the press operation of the press machine 2 is enabled (step S25).
• step S6 the output movement command is filtered, subjected to acceleration / deceleration processing, converted into an actual command, and output to the axis control circuit 16 (step S6).
• step S7 the flow returns to step S3.
• step S7 If it is detected that the end point has been reached in step S7, the process returns to step S1, reads the next block, and repeats the processing described above. Return and drive the robot.
• step S18 determines whether or not the intrusion prohibition signal from press machine 2 is on.
• the upper model of press machine 2 has shared area A. Judgment is made as to whether or not intrusion has been made, and if it is not "on", the same as step S24.
• the movement command amount of each axis determined in step S10 is output (step S22), and the operation prohibition signal to press machine 2 is turned on (step S22). Press S2 3), press operation of press machine 2 is prohibited.
• the processing in steps S6 and S7 described above is executed, and the process returns to step S3 or step S1.
• step S 19 if the intrusion prohibition signal from the press machine 2 is turned on in step S 19 and the press machine 2 is performing the press operation, the step is performed.
• the movement command amount obtained in step S10 is stored in the register and not output, and a flag indicating a hold state is set (step S20).
• the operation inhibit signal is turned off, and the operation of the press machine 2 is enabled (step S21).
• step S6 when the movement command is not output, the movement amount of the actual command output after performing the acceleration / deceleration processing by the finoletor. The movement of the robot is reduced and the speed is reduced and stopped.
• step S7 the flag indicating the hold state is set and the step S3 is performed.
• step S4 it is determined whether the intrusion prohibition signal from the press machine 21 is on. If the intrusion prohibition signal is on, the upper model of the press machine 2 is in the shared area A. If so, the state shifts to step S6 while keeping the hold state (step S5). Thereafter, the processes in steps S3, S4, S5, S6 and S7 are repeated until the intrusion prohibition signal from the press machine 2 is turned off, and the robot is Keeps the stopped state outside the shared area A.
• step S4 When the mold rises and moves out of the common area A and the intrusion prohibition signal from the press machine 2 is turned off, the process proceeds from step S4 to step S8, and is suspended.
• the movement command that has been executed is output, and the flag indicating the hold state is lowered (step S8).
• step S9 Further, the operation inhibition signal to the press machine 2 is turned on to inhibit the press operation of the press machine 2 (step S9), and the process proceeds to step S6. . Since the movement command amount is output, the actual command is output and the robot starts moving. If it is determined in step S7 that the end of the block has not been reached, the process returns to step S3, and a flag indicating the hold status is set up.
• step S12 it is determined whether the current position of the reference point is within the shared area A (step S12). In this case, since the current position of the reference point is within the shared area A, the step is performed. The process proceeds to step S13, and it is determined whether or not the intrusion prohibition signal from the press machine 2 is on.
• step S7 Normally, since this signal is off (the upper model of the press machine is at the position where it is raised), the movement command amount obtained in step S10 is output and the press command is output. By turning on the operation prohibition signal to the step machine 2, the press operation of the press machine 2 is prohibited (steps S 16 and S 17), and the process proceeds to step S 6. . If the movement command output is output and the filter processing is performed in step S6 from the output, the actual command is output, and if the end point of the block has not been reached ( Step S7), return to step S3, and return to steps S3, S10, S11, S12, S13, S16, S17, S The processing in steps 6 and S7 is repeated, and the robot moves to the target position. At the end of the block, step S7 returns to step S1 to process the next block.
• step S1 is executed. The process moves to step 8 and the above-mentioned processing is performed.
• steps S12 to S15 is an operation that cannot be a normal operation. That is, the current position of the reference point is within the shared area A, and the input signal from the press machine 2 is turned on (a state in which the upper model of the press machine 2 is within the shared area A). This is a state in which normal operation is not possible.However, if such a state occurs due to disturbance or the like, a movement command is issued in step S14. The operation is suspended, a flag indicating the suspension is set, and the operation prohibition signal to the press machine 2 is turned on (step S15). When the operation inhibition signal is turned on, the press machine 2 also stops the press operation, and maintains the stopped state at that position. This prevents interference between the robot 1 and the press machine 2 and prevents damage to the robot 1's hand drum and the like.
• the operation prohibition signal to the press machine 2 of the external device is set to “ON”. (Steps S15 and S17), prohibiting the press operation of press machine 2
• the next target position to be moved is the shared area A ⁇ , and the input signal from the press 2 is off.
• the operation inhibition signal to the press machine 2 is set to “ON” (step S23) to inhibit the press operation.
• the press machine 2 starts press operation first and the intrusion prohibition signal from the press machine is on.
• the movement command is suspended, the movement of the robot is stopped, and the reference point is prevented from entering the shared area A (steps S20 and S21). Then, the robot operation is stopped until the upper die of the press machine 2 comes out of the common area A (steps S4 and S5).
• step S24 If the current and target positions of the reference point are not in the shared area A, the robot moves freely (step S24) and the press Machine 2 can also start the press operation freely (step S25).
• the press machine 2 of the external device only has to operate based on its own sequence program. Immediately, when the press machine 2 detects that the work is placed on the lower mold from the state where the work is not placed on the lower mold (for example, when the work detection signal is When it changes from off to on), you only need to start one cycle of the sequence program. Even if there is a sequence command from the sequence programmer, if the operation prohibition signal from the robot is "on" (step S1 5, S 17, S 23), when the press operation is not started, and when the press operation is started and the upper model has entered the shared area A, Stop the operation of the robot and prevent it from entering the shared area (steps S20, S21, S5). As a result, it is possible to prevent the robot 1 and the press machine 2 from interfering with each other. However, when teaching the mouth-pot program, it is possible to teach without considering the state of the press machine 2. Gram is easy to teach.
• FIG. 3 is a flowchart of a process of another embodiment of the present invention executed by the processor of the control device 10 of the robot 1.
• the configuration of the robot, the use of the press machine 2 as a control device and an external device, and the like are the same as those of the first embodiment described above, and are shown in FIGS. 1 and 2. The only difference is that the processing with the flowchart shown in FIG. 3 is performed instead of the processing of the chart.
• the reference point is set as the tool tip point, and the tool tip point is set in accordance with the movement command of one block by the taught operation program.
• the block When moving in from the outside of the shared area A, the block is moved from the movement command block to the area boundary of the shared area A, and programmed from the boundary position. Interference is prevented by automatically dividing the block into the block of the movement command up to the movement position commanded by the ram.
• the reference point for judging the collision is only the position of the tip of the tool, which is the target of the teaching operation program. .
• One block is read from the teaching operation program stored in the non-volatile memory 15 (step T1). Read 7
• step T2 If the block is a program end command, the operation ends. However, if the program is not a program end command (step T2), the current position is set to the shared setting area A. It is determined whether or not it is within the area (step T3), and if it is outside the shared area A, the operation inhibition signal is turned off (step T4). Next, it is determined whether or not the position commanded by the read block is within the setting common area A (step T5). Distribution (step T17), and when the end position of the block is reached (step T18), the process returns to step T1 and returns to the next block. The lock is read, and the processing in step T2 and below is performed.
• step T5 when it is determined in step T5 that the movement command position is within the shared area A, the flow shifts to step T6, and the intrusion prohibition signal from the press machine 2 is turned on. Then, if it is not on, the operation inhibit signal to the press machine 2 is turned on to inhibit the press operation (step T14), and the block Move the robot (steps T15 and T16) until the end point of the check is reached, and return to step T1. If it is determined in step T6 that the intrusion prohibition signal is ON, a boundary position with the shared area A on the movement trajectory of the movement command is calculated. Output the movement command (Steps T7 and T8).
• Step T10 the step from the boundary position
• the movement command to the position commanded by the block read in step T1 is output (step T11), and when the end point is reached (step T12) ), The process returns to step T1, and the processing after step T1 is performed.
• step # 3 If it is determined in step # 3 that the current position is within the shared area ⁇ , the operation inhibition signal is turned on and the press operation of the press machine 2 is performed. Is prohibited (step T13), and the flow shifts to step T9 to determine whether or not the intrusion prohibition signal is off. Normally, since this signal is off, the above-described processing in step T10 and subsequent steps is executed, and the robot is moved according to the program command.
• step T3 it is determined that the current position is within the common area A, the operation inhibition signal is turned on (step T13), and the intruder enters in step T9.
• the prohibition signal is determined to be ON, it means that both the robot and the press machine are in the shared area, which is usually impossible.
• the operation prohibition signal is turned on in step T13.
• the press operation of the press machine 2 of the external device is prohibited and the operation stops, and the robot also stops unless it moves until the intrusion prohibition signal turns off. . This avoids interference between the mouth pot and the press.
• the intrusion prohibition signal from the press 2 is turned on and the block is turned off.
• this block consists of the block up to the boundary position of the shared area A, and The robot is divided into blocks from the boundary position to the end point commanded by the block.First, the robot moves to the boundary position, decelerates, stops, waits, and presses.
• the intrusion prohibition signal from the machine 2 is turned off, it moves from the boundary position to the end point, and the operation prohibition signal to the press machine is turned on, and the press of the press machine 2 is pressed. Operation is prohibited.
• a command for a block to be moved from outside the shared area A to the inside of the shared area A is read, and at that time, if the intrusion prohibition signal from the press machine 2 is off, Then, the operation prohibition signal to the press machine 2 is turned on, the press operation of the press machine 2 is prohibited, and the mouth port is moved to the position commanded by the block. Let me do it. Then, when the robot moves out of the shared area A, the operation inhibition signal is turned off for the first time, and the press operation of the press machine 2 is enabled. As a result, when the mouth port is inside the shared area A, the press operation is prohibited, and when the mouth port is outside the shared area A for the first time. The force that enables the press operation prevents the press machine and the robot from interfering with each other.
• step T3 it is determined whether the current positions of all reference points are within the shared area A. If all reference points are determined to be outside the shared area A, the process proceeds to step T4. Furthermore, in step T5, The position of the tool tip point up to the position where the reference point determined to move into the common area A reaches the boundary position is determined. (When multiple reference points move into the common area A, The position of the tool tip point up to the position where the plurality of reference points reach the boundary position is found, and the position with the smaller travel distance is found). Move to that position.
• the flow chart shows the processing when the command of one block is a movement command and the program termination command.
• the read command is not a movement command but another operation command (for example, a command for gripping a work by a hand or a command for opening a hand).
• the processing is omitted, and when these commands are read, processing for performing the operation corresponding to the commands is executed, and the next block is read. .
• the present invention prohibits the intrusion of an industrial robot and an external device into the shared area when one is in the shared area in the shared area in the work area. By doing so, it is possible to reliably avoid interference between the industrial robot and external devices. Moreover, it becomes easy to teach the operation program to the industrial port.

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

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• 1996
  • 1996-06-18 JP JP8177252A patent/JPH103308A/ja active Pending
• 1997
  • 1997-06-18 DE DE69721194T patent/DE69721194T2/de not_active Expired - Fee Related
  • 1997-06-18 WO PCT/JP1997/002093 patent/WO1997049014A1/ja active IP Right Grant
  • 1997-06-18 US US09/011,740 patent/US6212444B1/en not_active Expired - Fee Related
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