Classifications

• • 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
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Program-controlled manipulators
  • B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
• • H—ELECTRICITY
  • H10—SEMICONDUCTOR DEVICES; ELECTRIC SOLID-STATE DEVICES NOT OTHERWISE PROVIDED FOR
  • H10P—GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10
  • H10P72/00—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof
  • H10P72/30—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations
  • H10P72/34—Handling or holding of wafers, substrates or devices during manufacture or treatment thereof for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
  • H10P72/3402—Mechanical parts of transfer devices
• • 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
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
  • Y10T74/00—Machine element or mechanism
  • Y10T74/20—Control lever and linkage systems
  • Y10T74/20207—Multiple controlling elements for single controlled element
  • Y10T74/20305—Robotic arm

Definitions

• the present invention relates to a multi-joint robot equipped with a plurality of tools and a control device therefor.
• FIG. 7 is a schematic diagram showing a general shaft configuration of a conventional handling robot. In order to arbitrarily determine the three-dimensional position and the attitude of the tool in one plane, at least four axes from the first axis to the fourth axis are needed. In this mouth pot, one handle can be mounted on the fourth axis.
• FIG. 8 is a schematic diagram of a work processing system including a carry-in station, a processing station, a carry-out station, and a handling robot. Unworked work is carried into the carry-in station 1. Processing 2 performs machining on the input work. The unloading station 3 unloads the processed workpiece. The handle 5 of the handling robot 4 plays a role of handing over the work between each station.
• FIG. 9 is an explanatory diagram of an operation example of the mouth pot in one cycle when one mouth pot has one tool as shown in FIG. 7 in the work processing system of FIG. In this case, first, (1) remove the processed work 6 from the processing station 2, (2) unload the processed work 6 to the unloading station 3, and (3) remove the unprocessed work 7 from the loading station 1. 4It will be realized in the cycle of putting it into the processing station 2.
• the present invention mounts two or more tools in one mouth pot and shares some axes, thereby reducing the number of axes, reducing the weight of the mouth pot, reducing the production cost, It is an object of the present invention to provide a multi-joint robot capable of improving efficiency and a control device therefor.
• the multi-joint mouth pot of the present invention can share a part of a shaft, and can attach a tool to each of a plurality of shafts independently connected to the shaft.
• Multi-joint robot with multiple tools on a table, position control of specified tools Alternatively, a control device is provided which performs interpolation control while controlling the position and orientation, and evenly controls an unspecified tool to issue a command to the axis angle of the target position.
• control device for the articulated robot is the control device for the articulated mouth pot, wherein: a means for acquiring information corresponding to an angle of each axis as a target position; Means for selecting one of them as an object of interpolation control while performing position control or position and attitude control, means for determining a passing point of the selected tool to be sequentially moved by the interpolation control, and Means for determining the position of each axis for moving the control point of the selected tool to the passing point determined by the inverse transformation operation, and a target position for the axis not related to the control point movement of the selected tool. Means for paying out commands to the shaft angle of the rice cake evenly.
• control device for the multi-joint mouth pot includes means for not generating an operation command for an axis not related to the movement of the control point of the selected tool.
• FIG. 1 shows an example of a shaft configuration of a handling robot of the present invention.
• FIG. 2 is a diagram showing an operation in one cycle of a handling robot equipped with two tools of the present invention.
• FIG. 3 is a block diagram showing one embodiment of a system for controlling a mouth pot according to the present invention.
• FIG. 4 is an example of a flowchart relating to prefetching processing of the interpolation control method according to an embodiment of the present invention.
• FIG. 5 is an example of a flowchart relating to the power rent processing of the interpolation control method according to an embodiment of the present invention.
• Fig. 6 shows an example of the operation of the mouth pot in one cycle in the work processing system of Fig. 8 when the mouth pot is equipped with two tools.
• FIG. 1 shows an example of a shaft configuration of a handling robot of the present invention.
• FIG. 2 is a diagram showing an operation in one cycle of a handling robot equipped with two tools of the present invention.
• FIG. 3 is a block
• FIG. 7 is a schematic diagram showing a general shaft configuration of a conventional handling rod.
• FIG. 8 is a schematic diagram showing an example of a work processing system including a carry-in station, a processing station, a carry-out station, and an eight-dring robot. 9 is an explanatory diagram of an operation example of the robot shown in FIG. 7 in one cycle in the work processing system of FIG.
• FIG. 1 is a diagram showing an example of a shaft configuration of an articulated robot that can be equipped with two tools with one device of the present invention. If two conventional mouth pots as shown in FIG. 7 are prepared, the number of axes becomes 4 ⁇ 2, that is, eight. However, the articulated robot of the present invention shown in FIG. By sharing the axes, the whole can be configured with 6 axes.
• the flanges equipped with the fasteners will be referred to as the first and second flanges, respectively.
• the 3A axis and the 3B axis correspond to the third axis of the conventional robot shown in FIG. 7, and the 4A axis and the 4B axis correspond to the fourth axis, respectively.
• the first flange side consists of the first axis, the second axis, the 3A axis, and the 4A axis, and can be considered to be equivalently controlled by the conventional four-axis robot shown in FIG. Can also be considered to be controlled by axis 1, axis 2, axis 3B and axis 4B. come. In this way, by using the mouth pot shown in Fig. 1, it is possible to construct a handling system using a pot with two tools in one.
• Fig. 2 shows the operation of the mouth pot in one cycle when one robot as shown in Fig. 1 has two tools and each can be controlled independently in the work processing system of Fig. 8.
• the same members as those in FIG. 8 are denoted by the same reference numerals.
• the conventional system shown in FIG. 9 can start machining of the work from step (2), while the machining of the work can be started from step (2). Since unloading and preparation for loading the next work can be performed, cycle time can be reduced.
• the robot shown in Fig. 1 is equipped with two handles, and is controlled so that the tool that loads or unloads the workpiece to or from the station performs CP control.
• CP control By switching, it is possible to realize the same work as 2 x 4-axis pot with 6-axis mouth pot.
• FIG. 3 is a block diagram showing an embodiment of a system for controlling a robot according to the present invention.
• 11 is a teaching unit
• 12 is a teaching data storage area
• 13 is a parameter storage area
• 14 is an interpolation operation unit
• 15 is a drive unit.
• MOV J is a movement command indicating operation to a target point by PTP control
• MOVL is a movement instruction indicating operation to a target point by CP control
• CO 00 to (: 006 is an index indicating each axis angle information at the target point in each movement command, whereby the axis angle of the target point of each movement command can be obtained.
• the number specified by the tool indicates the number of the flange to be subjected to interpolation control
• the number specified by TOOL indicates the tool file number, the position from the flange to each tool control point, and the posture of the tool coordinates It is an index to the tool file that indicates
• FIGS. 4 and 5 show an example of a flowchart relating to the processing of the interpolation control method of the present invention in the interpolation operation section 14 shown in FIG. 3, and the numerals 101 to 106 and 201 to 207 indicate step numbers.
• Processing is roughly divided into two processes. This is the “look-ahead processing” shown in FIG. 4 and the “current processing” shown in FIG.
• the pre-reading process is performed before the mouth pot is actually operated, and information necessary for movement is stored in an internal storage area (not shown).
• the current process is a process for generating a command for actually operating the robot while performing interpolation control, and is performed for each calculation cycle.
• Step 101 Read the movement command information from the teaching data storage area 12, and obtain the necessary movement time and acceleration / deceleration time.
• the travel time is calculated as the number of operation cycles when acceleration / deceleration is not performed, and set to the number of divisions N.
• Step 102 Determine whether the movement command is MOVJ, and if it is MOVJ, end the process. If not (an interpolation instruction such as MOVL), the process proceeds to step 103.
• Step 103 Check the flange to be subjected to the interpolation control. Is selected, it reads from the teaching data stored in the teaching data storage area 12 c
• Step 201 The parameter (K) indicating the degree of progress on the interpolation path is cleared to 0.
• the speed and acceleration / deceleration are controlled by the method of updating K. For example, when increasing by one, it becomes a constant speed motion at the command speed. When K is increased to 0.2, 0.4, 0.6, ⁇ ', it becomes a uniform acceleration motion.
• Step 203 It is determined whether or not the movement command is M ⁇ VJ. If it is MOVJ, the process proceeds to step 204; otherwise (interpolation command such as MOVL), the process proceeds to step 205.
• ⁇ e is the axis angle at the end point.
• the axis angles of the first axis to the fourth axis such that the control point of the flange comes to P are obtained by inverse conversion.
• P s is the start point position
• Pe is the end point position.
• Step 207 Travel time: Compare N and K. If N> K, jump to step S202. If N ⁇ K, terminate.
• the interpolation control can be performed for either the first flange or the second flange.
• FIG. 6 shows how the mouth pot of FIG. 1 operates when this process is used to control the mouth pot.
• linear interpolation control is required on the first flange side in order to load the work straight into the processing station.
• the first axis, the second axis, the 3A axis, Linear interpolation control is performed on the first flange side with a total of 4 axes of 4 A axes, and PTP control to the target angle is performed on the 3 B axes and 4 B axes on the second flange side that are not specified.
• the workpiece can be transported accurately by using the mouth pot as shown in Fig. 1 and performing CP control on the flange on the side where the workpiece is taken out or loaded. It is possible to perform the same work as for two shaft port pots using a 6-axis port pot.
• any tool can be CP-controlled using a single mouth pot that controls a plurality of tools. Therefore, the same effect as using a plurality of mouth pots simultaneously with one mouth pot can be obtained, so that the cycle time can be shortened and the work efficiency can be improved.
• the robot by mounting two or more tools in one mouth pot and sharing some axes, it is possible to reduce the number of axes and construct a mouth pot with a minimum axis configuration. Because it is good, the robot can be reduced in size and weight, and a lower-cost system can be constructed.
• the present invention is useful as an articulated robot equipped with a plurality of tools and a control device thereof.

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Numerical Control (AREA)
• Manipulator (AREA)

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Publications (1)

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Citations (3)

Family Cites Families (11)

• 2002
  • 2002-06-04 JP JP2002163511A patent/JP2004009172A/ja not_active Abandoned
• 2003
  • 2003-05-26 WO PCT/JP2003/006556 patent/WO2003101676A1/ja not_active Ceased
  • 2003-05-26 US US10/516,453 patent/US7363092B2/en not_active Expired - Fee Related
  • 2003-05-26 KR KR1020047019696A patent/KR100774077B1/ko not_active Expired - Fee Related
  • 2003-06-02 TW TW092114942A patent/TW200307593A/zh unknown

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