WO2017179114A1 - 作業用ロボット - Google Patents
作業用ロボット Download PDFInfo
- Publication number
- WO2017179114A1 WO2017179114A1 PCT/JP2016/061768 JP2016061768W WO2017179114A1 WO 2017179114 A1 WO2017179114 A1 WO 2017179114A1 JP 2016061768 W JP2016061768 W JP 2016061768W WO 2017179114 A1 WO2017179114 A1 WO 2017179114A1
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- WIPO (PCT)
- Prior art keywords
- unit
- multiplex communication
- working
- workpiece
- arm
- Prior art date
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Classifications
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- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- 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
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31189—Time multiplex
-
- 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
- G05B2219/34—Director, elements to supervisory
- G05B2219/34242—For measurement only
-
- 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
- G05B2219/39532—Gripping force sensor build into finger
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40237—Bus for communication with 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40613—Camera, laser scanner on end effector, hand eye manipulator, local
Definitions
- the present invention relates to communication between a fixed part and a movable part in a working robot used at a production site or the like.
- the work robot includes, for example, an electromagnetic motor as a drive source for moving the end effector and the arm, a control unit for controlling the electromagnetic motor, and the like.
- a control unit (for example, an amplifier) drives and controls the electromagnetic motor based on an encoder signal output from an encoder that detects displacement of the electromagnetic motor and the like.
- the work robot has a number of communication cables and power cables connecting the fixed part provided with the control part and the movable part provided with the encoder.
- some articulated robots conventionally multiplex communication between a motor control circuit provided in a joint portion and a host computer of a fixed portion (for example, Patent Document 1).
- the end effectors of the various working robots described above may be equipped with sensors, cameras, etc. in addition to electromagnetic motors, depending on their applications. Also in this case, it is necessary to arrange various communication cables between the fixed portion and the movable portion according to the type and number of elements mounted on the end effector. For this reason, it is necessary to secure an area for wiring a necessary cable in the arm portion or the like according to the type of the end effector, and there is a problem that the degree of freedom in designing the apparatus is lowered.
- the present invention has been made in view of the above problems, and an object of the present invention is to provide a working robot capable of reducing the number of communication cables between the working unit and the control unit.
- a working robot according to the technique disclosed in the present application made in view of the above problems, an apparatus fixing portion, an arm portion extending from the apparatus fixing portion and movable with respect to the apparatus fixing portion, and attached to the arm portion.
- a second multiplex communication unit provided in the arm unit, connected to the working unit, and connected to the first multiplex communication unit via a multiplex communication line and transmitting multiplexed data. It is characterized by.
- the number of communication cables between the working unit and the control unit can be reduced.
- a workpiece transfer system 10 including a workpiece transfer device 11 and a workpiece supply device 13 which is an embodiment that embodies the working robot of the present application will be described.
- FIG. 1 shows a schematic configuration of a workpiece transfer system 10.
- FIG. 2 shows a schematic configuration of the workpiece transfer device 11.
- the workpiece transfer system 10 includes a workpiece storage member 15 and the like on the base 10 ⁇ / b> A in addition to the workpiece transfer device 11 and the workpiece supply device 13 described above.
- the workpiece transfer system 10 uses the workpiece 21 accommodated in the workpiece accommodating member 15 based on the control of the system control unit 19 (see FIG. 4) provided in the base 10A for the subsequent work. Move to and place.
- the workpiece transfer system 10 is configured so that a work robot (not shown) or an operator in a later process can easily work on the workpiece 21 placed on the sampling table 15A of the workpiece housing member 15 in an indefinite posture. Then, it is placed on the pallet 17 in a state of being aligned in a predetermined posture.
- the “undefined posture” refers to a state where the position and direction of the workpiece 21 are not unified.
- the direction in which the pallet 17 is transported in the workpiece transfer system 10 is the left-right direction (X-axis), and the direction parallel to the plane of the pallet 17 transported perpendicular to the left-right direction.
- X-axis the direction in which the pallet 17 is transported in the workpiece transfer system 10
- Z-axis the direction orthogonal to the front-rear direction
- the work 21 that is a work target of the present embodiment is, for example, a bolt.
- the workpiece 21 is not limited to a bolt, and may be, for example, another mechanical component (such as a nut or a washer), and is not limited to a mechanical component, and may be an electrical component, an electronic component, a chemical component, or the like.
- At least a part of the workpiece 21, for example, an adsorption site 23 shown in the enlarged view of FIG. 1 is formed of a magnetic material.
- the work 21 is attracted by an electromagnet included in the work transfer device 11 and the work supply device 13 which will be described later, and is moved in an adsorbed state.
- the work accommodating member 15 is a member for storing the work 21, and is provided with a plurality of boxes having a bottomed box shape with the upper part opened. Each workpiece storage member 15 is provided with a sampling table 15A at a predetermined height from the bottom. The workpiece 21 stored in the bottom of the workpiece housing member 15 is transferred to the sampling table 15A by the workpiece supply device 13. A part of the bottom of the work accommodating member 15 is inclined, and the work 21 dropped from the collection table 15A is stored in one place.
- a moving portion 16 for moving the work accommodating member 15 is provided on the base 10A.
- the moving unit 16 is disposed between a storage table 16A on which the workpiece storage member 15 is placed, a retracted position of the storage table 16A (a position indicated by a dotted line in FIG. 1), and a transfer processing position (a position indicated by a solid line in FIG. 1). And a rail 16B to be moved.
- the system control unit 19 drives a drive source (not shown) based on an operation from the operator and moves the storage table 16A to the retracted position or the placement processing position. As a result, the worker can appropriately replenish the workpiece 21 with the workpiece accommodating member 15.
- the pallet 17 is a member on which the workpieces 21 are arranged and mounted, has a magnetic force, and fixes the workpiece 21 with the magnetic force.
- the workpiece transfer device 11 is arranged on the pallet 17 at a predetermined interval with the head of the bolt that is the workpiece 21 facing downward.
- the workpiece transfer apparatus 11 arranges the workpiece 21 at a predetermined position on the pallet 17 determined according to the type of the workpiece 21.
- the workpiece transfer system 10 includes a transport unit 25 that transports the pallet 17.
- the transport unit 25 is a unit that carries in and transports the pallet 17 and fixes and unloads the work 21 at the transfer position.
- the transport unit 25 includes a pair of conveyor belts that are arranged with a predetermined interval therebetween in the front-rear direction and extend in the left-right direction.
- the pallet 17 is conveyed by this conveyor belt.
- the system control unit 19 controls the transport unit 25 to carry out, for example, the pallet 17 to a subsequent apparatus.
- the subsequent apparatus performs the work by specifying the position of the work 21 on the pallet 17 based on position information predetermined according to the type of the work 21, for example.
- the workpiece transfer device 11 collects the workpiece 21 from each of the workpiece accommodating members 15 and places the collected workpiece 21 on the pallet 17. As shown in FIG. 2, the workpiece transfer device 11 includes a base 31, a first drive unit 32, an arm unit 33, a second drive unit 35, a third drive unit 37, and an end effector 39. is doing.
- the base 31 is fixed on the base 10 ⁇ / b> A (see FIG. 1) of the workpiece transfer system 10 and has a support shaft 41 for supporting the arm 33.
- the support shaft portion 41 has a cylindrical portion 41A and a holding portion 41B.
- the cylindrical portion 41A has a cylindrical shape extending in the vertical direction, and has a holding portion 41B at the upper end.
- the holding portion 41 ⁇ / b> B supports the proximal end portion of the arm portion 33.
- the base 31 incorporates a first drive unit 32, and drives the first drive unit 32 based on control from the system control unit 19 (see FIG. 4) to rotate the cylindrical portion 41A.
- the holding portion 41B is driven to rotate about the axis along the vertical direction as the center axis along with the rotation of the cylindrical portion 41A.
- the arm portion 33 is a so-called multi-joint robot in which the first arm 45 and the second arm 46 are connected from the proximal end portion toward the distal end portion.
- the first arm 45 is a longitudinal member extending in one direction, and the base end portion is supported by the holding portion 41 ⁇ / b> B of the support shaft portion 41.
- the holding portion 41 ⁇ / b> B of the support shaft portion 41 is connected to the first arm 45 via the second drive portion 35.
- the second drive unit 35 Based on the control of the system control unit 19 (see FIG. 4), the second drive unit 35 rotates the first arm 45 relative to the holding unit 41B with the direction orthogonal to the vertical direction as the central axis.
- the second arm 46 is connected to the tip of the first arm 45 via the third drive unit 37.
- the second arm 46 is a longitudinal member extending in one direction from the distal end portion of the first arm 45.
- the third driving unit 37 Based on the control of the system control unit 19 (see FIG. 4), the third driving unit 37 has a central axis in the direction orthogonal to the extending direction of the first arm 45 and the tip of the first arm 45. The second arm 46 is rotated.
- the end effector 39 is configured to be attachable to and detachable from an attachment portion 49 provided at the distal end portion of the second arm 46.
- the workpiece transfer device 11 can change the type of the end effector 39 according to its application.
- the end effector 39 attached in FIG. 2 is an example, and includes a fourth drive unit 51, a sampling unit 53, an imaging unit 55, and a pedestal unit 57.
- the fourth drive unit 51 includes a servo motor 51A as a drive source and an encoder 51B that detects the rotational position of the servo motor 51A.
- the encoder 51B transmits an encoder signal corresponding to the rotational drive of the servo motor 51A to the system control unit 19 via a multiplex communication line described later.
- the system control unit 19 controls the power supply unit 77 provided on the base 10A based on the input encoder signal.
- the servo motor 51A is, for example, a motor driven by a three-phase alternating current having coils of each phase of U phase, V phase, and W phase, and the coils of each phase are connected to the power supply unit 77 via the power line L1. Yes.
- the power supply line L1 is disposed in the arm portion 33.
- the servo motor 51A is driven according to the three-phase alternating current supplied from the power supply unit 77 through the power supply line L1. Accordingly, the fourth drive unit 51 is driven based on the control of the system control unit 19.
- the fourth drive unit 51 rotates the pedestal portion 57 of the end effector 39 relative to the attachment portion 49 with the direction orthogonal to the extending direction of the second arm 46 as the central axis.
- the first drive unit 32, the second drive unit 35, and the third drive unit 37 described above have the same configuration as the fourth drive unit 51, and the system control unit 19 uses the power supply unit 77 based on the encoder signal. It is controlled by changing the power supplied from
- the pedestal portion 57 is an L-shaped plate member, and a sampling portion 53 is attached to the tip portion.
- the collection unit 53 is a member that attracts and collects the suction site 23 of the workpiece 21.
- the collection unit 53 includes a drawing unit 61, two clamping units 63, two plates 65, a fixing member 67, and a clamping pin 69.
- the two plates 65 are plate-like members, and are fixed to the pedestal portion 57 so that the planes face each other.
- the attracting part 61, the sandwiching part 63, and the fixing member 67 are disposed between the two plates 65.
- the fixing member 67 is a rod-shaped member and is configured to be movable up and down by the air cylinder 71.
- the air cylinder 71 moves the fixing member 67 up and down according to the amount of air supplied from the air supply unit 73 (see FIG. 4) provided on the base 10A via the air pipe L3.
- the air pipe L3 is disposed in the arm portion 33.
- the air cylinder 71 is provided with a position sensor 75 (see FIG. 4).
- the position sensor 75 outputs a signal corresponding to the vertical position of the fixing member 67 to the system control unit 19.
- the fixing member 67 is disposed above the plate 65 in the initial position, and moves downward when the work 21 is clamped. When the fixing member 67 is in the initial position (see the enlarged view on the left side of FIG. 2), the holding portion 63 is housed inside the plate 65.
- the attracting part 61 is configured by connecting a shaft member to an electromagnet, and attracts and collects the magnetic work 21 to the tip of the shaft member.
- the attracting part 61 is fixed below the plate 65.
- the attracting unit 61 has a plurality of levels (for example, three levels) of magnetic force (attracting force) according to the power supplied from the power source 77 (see FIG. 4) provided on the base 10A via the power line L2. Is configured to produce
- the two sandwiching parts 63 sandwich and support the work 21 (see FIG. 1) after the attracting part 61 attracts it.
- the clamping part 63 is pivotally supported by the both ends of the rod-shaped fixing member 67 so that rotation is possible.
- a force sensor 81 is provided at each distal end portion of the sandwiching portion 63. The force sensor 81 transmits a signal corresponding to the stress acting on the tip of the clamping unit 63 to the system control unit 19 (see FIG. 4) via a multiplex communication line described later.
- the clamping pin 69 is fixed to the surface of each of the two clamping parts 63 facing the plate 65.
- each of the plates 65 is formed with a guide groove 65A for guiding the pinching pin 69.
- the pin 69 is inserted into the guide groove 65A. For this reason, when the fixing member 67 moves downward, the clamping part 63 is exposed from the plate 65 while the clamping pin 69 is guided to a predetermined track by the guide groove 65A.
- the fixing member 67 moves downward, the two clamping portions 63 have their tips abutted to clamp the workpiece 21 (see the enlarged view on the right side of FIG. 2).
- the image pickup unit 55 is a unit for picking up an image, and is fixed to the surface on the tip side of the plate 65.
- the imaging unit 55 includes an illumination unit 83 and an imaging element 85.
- the illumination unit 83 is illumination arranged in a circular shape on the outer peripheral side of the image sensor 85, and irradiates light to the imaging target below.
- the illumination unit 83 is disposed in the imaging unit 55 so as to irradiate light to the entire collection stage 15A that is an imaging target.
- the imaging element 85 is an element that generates charges according to light reception and outputs the generated charges.
- the image sensor 85 is, for example, a CMOS image sensor.
- the imaging unit 55 generates image data based on the electric charges output from the imaging element 85, and transmits the generated image data to the system control unit 19 (see FIG. 4) via a multiplex communication line described later.
- FIG. 3 shows a state in which the end effector 39 is removed from the attachment portion 49 of the workpiece transfer device 11.
- the connector portion 101 of the attachment portion 49 is provided with various interfaces so as to be compatible with elements (such as the image sensor 85 and the air cylinder 71) provided in different types of end effectors 39.
- the various interfaces include a communication line corresponding to the position sensor 75 and the image pickup element 85 described above, a power supply line L1 connected to the servo motor 51A, an air pipe L3 connected to the air cylinder 71, and the like. Yes (see FIG. 4).
- the attachment portion 49 can operate the end effector 39 by connecting only a necessary communication cable or the like according to the interface type of the connector portion 103 of the end effector 39.
- a communication cable that is connected to the position sensor 75, the image sensor 85, and the like and transmits data is connected to the second multiplex communication unit 113 described later via the connector unit 101.
- a connecting member 105 for fixing the end effector 39 is provided on the lower surface of the mounting portion 49.
- the attachment portion 49 can fix the end effector 39 by inserting the connection member 105 into a connection hole (not shown) provided in the connector portion 103 of the end effector 39 and fastening it.
- the workpiece supply device 13 illustrated in FIG. 1 is configured to be able to replace the end effector 91 according to the application.
- the workpiece supply device 13 has the same configuration as the workpiece transfer device 11 except for the type of the end effector 91, and thus detailed description thereof is omitted.
- the end effector 91 attached to the workpiece supply device 13 in FIG. 1 is an example.
- the workpiece 21 accommodated in each workpiece accommodating member 15 is sampled and supplied onto the sampling table 15A in an undefined posture. Is.
- an arm portion 95 is supported by a base portion 93, and an end effector 91 is provided at the tip of the arm portion 95.
- the end effector 91 of the workpiece supply device 13 is a member that collects and collects a plurality of workpieces 21 and is attached to an attachment portion 97 provided at the tip of the arm portion 95.
- the end effector 91 has a relatively strong electromagnet and attracts and collects a plurality of workpieces 21 as much as possible.
- FIG. 4 shows the electrical connection relationship of the workpiece transfer system 10, and only the portion related to the workpiece transfer device 11 is illustrated.
- the system control unit 19 of the workpiece transfer system 10 is configured as, for example, a microprocessor centered on the CPU 19A and is connected to the air supply unit 73, the power supply unit 77, and the like, and controls the entire system in an integrated manner.
- the workpiece transfer apparatus 11 of the present embodiment performs data communication between the base 31 and the end effector 39 by multiplexed communication.
- the base 31 is provided with a first multiplex communication unit 111.
- the arm unit 33 is provided with a second multiplex communication unit 113.
- the second multiplex communication unit 113 of the present embodiment is provided in the attachment unit 49 closer to the end effector 39 (see FIG. 2).
- the first multiplex communication unit 111 and the second multiplex communication unit 113 are logic circuits configured by programmable logic devices, for example, FPGA (Field Programmable Gate Array).
- the first multiplex communication unit 111 and the second multiplex communication unit 113 are not limited to FPGAs, and may be logic circuits such as a programmable logic device (PLD) and a complex programmable logic device (CPLD).
- PLD programmable logic device
- CPLD complex programmable logic device
- the first multiplex communication unit 111 and the second multiplex communication unit 113 may be realized by, for example, hardware specialized for communication processing or may be realized by software processing by a CPU.
- the second multiplex communication unit 113 is connected to various elements (the image sensor 85, the force sensor 81, etc.) of the end effector 39 through the connector units 101 and 103.
- the first multiplex communication unit 111 and the second multiplex communication unit 113 are connected, for example, via an optical fiber cable L4.
- the optical fiber cable L4 is disposed in the arm portion 33. For this reason, as the optical fiber cable L4, it is preferable to employ one having excellent bending resistance.
- the first multiplex communication unit 111 and the second multiplex communication unit 113 multiplex the above-described image data of the image sensor 85, detection data of the force sensor 81, and the like by, for example, time division multiplexing (TDM: Time Division Multiplexing).
- TDM Time Division Multiplexing
- the multiplexed data MD is transmitted / received via the optical fiber cable L4.
- the cable connecting the first multiplex communication unit 111 and the second multiplex communication unit 113 is not limited to the optical fiber cable L4, for example, a LAN cable conforming to the communication standard of Gigabit Ethernet (registered trademark), USB (Universal) A USB cable conforming to the communication standard of Serial Bus) 3.0 may be used.
- the multiplex communication line between the first multiplex communication unit 111 and the second multiplex communication unit 113 is not limited to a wired line but may be wireless.
- the workpiece supply device 13 has the same configuration as the workpiece transfer device 11 shown in FIG. 4, and is provided in a first multiplex communication unit (not shown) provided in the base portion 93 and an attachment portion 97. Multiplex communication is performed with a second multiple communication unit (not shown).
- the system control unit 19 is electrically connected to the first multiplex communication unit 111 of the workpiece transfer device 11 and the first multiplex communication unit (not shown) of the workpiece supply device 13, and end effectors 39, 91 performs input / output of various signals via multiple communication lines.
- FIG. 5 shows an example of workpiece processing executed by the system control unit 19 of the workpiece transfer system 10. In the following description, details are omitted for convenience of description. However, when there are a plurality of workpiece accommodating members 15 and a plurality of types of workpieces 21 are arranged and placed on the pallet 17, steps S11 to S11 described below are performed. This can be implemented by performing the process of S29 for each work accommodating member 15.
- the system control unit 19 starts the work processing shown in FIG. 5 by causing the CPU 19A to execute a predetermined control program.
- step (hereinafter referred to as a unit “S”) 11 in FIG. 5 the system control unit 19 loads the pallet 17 by the transport unit 25 and fixes the pallet 17 at the transfer position.
- the system control unit 19 causes the work supply device 13 to supply the work 21 (S13).
- the workpiece supply device 13 moves the end effector 91 into the workpiece accommodating member 15 based on the control of the system control unit 19 and collects a large number of workpieces 21.
- the workpiece supply device 13 moves the end effector 91 to the upper center of the sampling table 15A, demagnetizes the electromagnet, and places the workpiece 21 on the sampling table 15A.
- the workpieces 21 are distributed and placed in an indefinite posture on the collection platform 15A.
- the system control unit 19 controls the workpiece transfer device 11 and images the collection table 15A by the imaging unit 55 (S15).
- the workpiece transfer device 11 drives the first to fourth driving units 32, 35, 37, and 51 to move the imaging unit 55 above the center of the target workpiece housing member 15 to perform imaging.
- the system control unit 19 inputs an encoder signal from the encoder 51B of the fourth drive unit 51 via the multiplex communication line, and from the power supply unit 77 via the power line L1 based on the input encoder signal.
- the power supplied to the servo motor 51A is controlled.
- the system control unit 19 controls the illumination unit 83 through the multiplex communication line to irradiate light, and transmits a trigger signal to the imaging element 85 to perform imaging.
- Image data captured by the image sensor 85 is input to the second multiplex communication unit 113 through the connector units 101 and 103.
- the second multiplex communication unit 113 of this embodiment has a soft processor 113A (see FIG. 4).
- the soft processor 113A is, for example, a central processing unit (CPU) configured using an FPGA.
- the soft processor 113 ⁇ / b> A executes some of various processes necessary for the system control unit 19.
- the soft processor 113A executes, for example, recognition processing for the workpiece 21 and the suction site 23 (S17).
- the soft processor 113A determines the region of the sampling table 15A in the image data and the other region (the region of the workpiece 21) by binarization processing, pattern matching processing, and the like, and the workpiece 21 prepared in advance. The region of the workpiece 21 that matches the reference shape data is identified.
- the soft processor 113A recognizes the workpiece 21 that can be collected by the collection unit 53 and recognizes the suction portion 23 of the workpiece 21.
- the soft processor 113A transmits information such as the recognized positions of the workpiece 21 and the suction site 23 to the system control unit 19 via the multiplex communication line.
- the soft processor 113A notifies the system control unit 19 to that effect.
- the soft processor 113A is not limited to the processing described above, and may execute, for example, image correction processing, illumination control of the illumination unit 83, and brightness adjustment.
- the soft processor 113 ⁇ / b> A may perform only the region determination processing by binarization processing and transmit the processed data to the system control unit 19. Thereby, the system control unit 19 only needs to perform, for example, the pattern matching process based on the reference shape data, and the processing load of the recognition process of the work 21 that can be collected is reduced.
- the software processor 113A reduces the data amount of the image data by binarization processing, the data amount transmitted on the multiplex communication line can be reduced. Further, the soft processor 113A may change the processing content to be executed in accordance with the processing load of the system control unit 19 from time to time.
- the system control unit 19 sets an attractive force according to the type of the workpiece 21 (S19).
- the system control unit 19 changes the pulling force of the pulling unit 61 by adjusting the amount of power supplied from the power supply unit 77 to the pulling unit 61 via the power supply line L2.
- the system control unit 19 adjusts the power so as to obtain a suction force capable of collecting only one workpiece 21.
- the attracting unit 61 can attract and collect one workpiece 21 even from the overlapping workpieces 21.
- the system control unit 19 determines whether there is a work 21 that can be collected on the mounting table 15A based on the processing result of S17 (S21). When there is a work 21 that can be collected (S21: YES), the system control unit 19 sets the work 21 to be collected (S23).
- the system control unit 19 causes the work supply device 13 to collect the work 21 on the collection table 15A again on the bottom of the work accommodating member 15 (S25). , The process from S13 is executed again. As a result, the workpiece 21 is newly placed on the collection platform 15A. In addition, the workpiece supply device 13 places a new workpiece 21 on the sampling table 15A even when all the workpieces 21 on the sampling table 15A are used up.
- the system control unit 19 sets the workpiece 21 to be collected and then controls the workpiece transfer device 11 to move the end effector 39 to the position of the workpiece 21 to be collected.
- the system control unit 19 lowers the attracting unit 61 of the end effector 39 to the position of the suction site 23 and attracts the work 21.
- the system control unit 19 moves the attracting unit 61 upward so that the workpiece 21 is hung from the tip of the attracting unit 61.
- the system control unit 19 adjusts the amount of air supplied from the air supply unit 73 to the air cylinder 71 via the air pipe L3 based on the detection signal of the position sensor 75 received via the multiplex communication line, and the fixing member 67 (see FIG. 2) is lowered.
- the system control unit 19 detects the stress acting on the clamping unit 63 with the force sensor 81, changes the position of the fixing member 67 and adjusts the clamping force of the clamping unit 63, and adjusts the clamping force of the clamping unit 63. To pinch. Thereby, the system control unit 19 can hold the work 21 with an appropriate holding force with respect to the end effector 39, and can suppress the occurrence of problems such as breakage of the work 21. Thereafter, the system control unit 19 moves the end effector 39 onto the pallet 17, demagnetizes the electromagnet of the attracting unit 61, opens the clamping unit 63, and places the workpiece 21 on the pallet 17 (S27).
- the system control unit 19 determines whether or not the transfer of the current pallet 17 is completed (S29).
- the system control unit 19 determines success or failure based on, for example, the progress of the work of the executed control program.
- the system control unit 19 unloads the pallet 17 and ends the processing shown in FIG. Further, for example, the system control unit 19 may execute the work process from S11 again, carry in the next pallet 17 and execute the mounting work.
- the system control unit 19 determines that the placement work is not completed in S29 (S29: NO)
- the system control unit 19 executes the process from S21 again and completes the placement work on the current pallet 17.
- the workpiece transfer system 10 can control the workpiece transfer device 11 and the end effectors 39 and 91 of the workpiece supply device 13 via the multiple communication line, and can perform the loading operation. It is possible.
- the base 10A, the base 31 and the base 93 are examples of the apparatus fixing unit.
- the workpiece transfer device 11 and the workpiece supply device 13 are examples of work robots.
- the system control unit 19 is an example of a control unit.
- the end effector 39 is an example of a working unit.
- the encoder 51B, the position sensor 75, and the force sensor 81 are examples of sensors.
- the workpiece transfer device 11 includes a base portion 31 fixed to the base 10A, an arm portion 33 movably connected to the base portion 31, and an end effector 39 provided at the tip of the arm portion 33. I have.
- the workpiece transfer device 11 causes the end effector 39 to arrange the workpieces 21 (bolts) on the pallet 17 at predetermined intervals.
- the first multiplex communication unit 111 provided in the base 31 is connected to the second multiplex communication unit 113 provided in the arm unit 33 via an optical fiber cable L4.
- the system control unit 19 provided on the base 10A receives various signals from the end effector 39 through the multiplex communication line via the first multiplex communication unit 111 and the second multiplex communication unit 113, and ends based on the received signals.
- the effector 39 is controlled.
- the number of communication cables between the end effector 39 and the system control unit 19 can be reduced.
- the number of communication cables changes according to the type of the end effector 39, so that there is no need to route the communication cable, that is, to change the shape of the arm portion 33 or the like of the workpiece transfer device 11, and the degree of freedom in design. Can be improved.
- the end effector 39 is configured to be attachable to and detachable from a mounting portion 49 provided at the distal end portion of the second arm 46. Further, the connector portion 101 of the attachment portion 49 is provided with various interfaces so as to be compatible with various types of end effectors 39 (see FIG. 3). As a result, even when the end effector 39 of a different element is replaced, only the necessary communication cable is connected to the connector unit 101 according to the type of the interface of the connector unit 103 of the end effector 39 and the end effector 39 is connected. The effector 39 can be operated.
- the second multiplex communication unit 113 is provided in the attachment unit 49 located at the tip in the extending direction of the arm unit 33 (second arm 46). Thereby, the transmission path of the multiplex communication line (optical fiber cable L4) connecting the first multiplex communication unit 111 and the second multiplex communication unit 113 can be made as long as possible.
- the arm portion 33 can reduce the number of communication cables that pass through the entirety from the base end portion (base portion 31) to the tip end portion (attachment portion 49). It is possible to reduce the weight.
- the soft processor 113A Even if the soft processor 113A only reduces the data amount of the image data by binarization processing or the like, and transmits the processed data to the system control unit 19 via the first multiplex communication unit 111, Good. In this case, the system control unit 19 performs pattern matching processing using data processed by the soft processor 113A, and can be collected by the collection unit 53 among the workpieces 21 placed on the collection stage 15A. Can be recognized.
- the system controller 19 supplies the air cylinder 71 to the air cylinder 71 via the air pipe L3 based on the detection signal of the position sensor 75 of the end effector 39 received via, for example, a multiplex communication line.
- the amount of air to be adjusted is adjusted, and the end effector 39 is controlled.
- the system control unit 19 can appropriately control the end effector 39 through the multiple communication line.
- the second multiplex communication unit 113 includes a soft processor 113A which is a central processing unit (CPU) configured using an FPGA.
- the soft processor 113A can reduce the processing load of the system control unit 19 by executing a part of the processing performed by the system control unit 19 in executing the multiplex communication.
- the end effector 39 provided at the tip of the arm unit 33 is described as an example of the working unit of the present application, but is not limited thereto.
- the working unit (end effector 39) may be provided in the middle of the extending direction of the arm unit 33, such as the first arm 45 and the third driving unit 37, for example.
- the workpiece transfer apparatus 11 was made into the structure which can replace
- the 2nd multiplex communication part 113 was provided in the attaching part 49 which is the front-end
- the configuration of the end effector 39 described above is an example, and a configuration including any one of the fourth driving unit 51, the sampling unit 53, and the imaging unit 55 or a configuration including other types of elements may be used.
- the second multiplex communication unit 113 may be configured without the soft processor 113A. Further, the first multiplex communication unit 111 may include a soft processor.
- the multi-joint robot such as the workpiece transfer device 11 and the workpiece supply device 13 has been described as an example of the working robot of the present application, but the present invention is not limited to this.
- the work robot may include, for example, a so-called parallel link mechanism that supports one end effector by a plurality of arm portions arranged in parallel, or may be another work robot used at a production site or the like.
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Abstract
Description
図1は、ワーク移載システム10の概略構成を示している。図2は、ワーク移載装置11の概略構成を示している。図1に示すように、ワーク移載システム10は、上記したワーク移載装置11及びワーク供給装置13の他に、ワーク収容部材15などを基台10A上に備えている。
ワーク移載装置11は、ワーク収容部材15の各々からワーク21を採取し、採取したワーク21をパレット17に載置する。図2に示すように、ワーク移載装置11は、基部31と、第1駆動部32と、アーム部33と、第2駆動部35と、第3駆動部37と、エンドエフェクタ39とを有している。
図3は、ワーク移載装置11の取付部49からエンドエフェクタ39を取り外した状態を示している。図3に示すように、取付部49のコネクタ部101には、種類の異なるエンドエフェクタ39が備える素子(撮像素子85やエアシリンダ71など)に対応できるように各種のインタフェースが設けられている。ここでいう各種のインタフェースとは、例えば、上記した位置センサ75、撮像素子85等に対応した通信線、サーボモータ51Aに接続される電源線L1、エアシリンダ71に接続されるエア配管L3等である(図4参照)。これにより、取付部49は、エンドエフェクタ39のコネクタ部103のインタフェースの種類に応じて、必要な通信ケーブル等のみを接続してエンドエフェクタ39を動作させることが可能となっている。コネクタ部103のインタフェースのうち、位置センサ75や撮像素子85などに接続されデータを伝送する通信ケーブルは、コネクタ部101を介して後述する第2多重通信部113に接続されている。
図1に示すワーク供給装置13は、ワーク移載装置11と同様に、その用途に応じて、エンドエフェクタ91を交換可能に構成されている。なお、ワーク供給装置13は、エンドエフェクタ91の種類を除いて、ワーク移載装置11と同様の構成となっているため、その詳細な説明を省略する。図1においてワーク供給装置13に装着したエンドエフェクタ91は、一例であり、例えば、ワーク収容部材15の各々に収容されたワーク21を採取し、不定姿勢で採取用載置台15Aの上に供給するものである。ワーク供給装置13は、基部93によってアーム部95が支持され、そのアーム部95の先端にエンドエフェクタ91が設けられている。ワーク供給装置13のエンドエフェクタ91は、複数のワーク21をまとめて引き付けて採取する部材であり、アーム部95の先端に設けられた取付部97に装着されている。エンドエフェクタ91は、比較的強力な電磁石を有しており、複数のワーク21を一度にできるだけ多く引き付けて採取する。
図4は、ワーク移載システム10の電気的な接続関係を示しており、ワーク移載装置11に係る部分のみを図示している。ワーク移載システム10のシステム制御部19は、例えば、CPU19Aを中心とするマイクロプロセッサとして構成され、エア供給部73や電源部77などと接続され、システム全体を統括的に制御する。
次に、上記した構成のワーク移載システム10の動作、特に、パレット17へワーク21を配列固定させる処理について説明する。図5は、ワーク移載システム10のシステム制御部19により実行されるワーク処理の一例を示している。なお、以下の説明では、説明の便宜のため詳細を省略するが、ワーク収容部材15が複数あり、複数の種別のワーク21をパレット17上へ配列載置する場合は、以下説明するステップS11~S29の処理をワーク収容部材15ごとに行うことで実施可能である。
<効果1>ワーク移載装置11は、基台10Aに固定された基部31と、基部31に可動可能に連結されたアーム部33と、アーム部33の先端に設けられたエンドエフェクタ39とを備えている。ワーク移載装置11は、エンドエフェクタ39によってワーク21(ボルト)を所定間隔でパレット17上に配列させる。基部31に設けた第1多重通信部111は、光ファイバーケーブルL4を介してアーム部33に設けた第2多重通信部113と接続されている。基台10Aに設けたシステム制御部19は、第1多重通信部111及び第2多重通信部113を介した多重通信回線によって、エンドエフェクタ39から各種信号を受信し、受信した信号に基づいてエンドエフェクタ39を制御する。これにより、本実施形態のワーク移載装置11では、エンドエフェクタ39とシステム制御部19との間の通信ケーブルの本数を削減することができる。その結果、エンドエフェクタ39の種類に応じて通信ケーブルの本数が変わることで、通信ケーブルの引き回し、即ち、ワーク移載装置11のアーム部33等の形状を変更する必要がなくなり、設計の自由度を向上させることが可能となる。
例えば、上記実施形態では、本願の作業部の一例として、アーム部33の先端に設けたエンドエフェクタ39を例に説明したが、これに限らない。作業部(エンドエフェクタ39)を、例えば、第1アーム45や第3駆動部37など、アーム部33の延設方向の途中に設けてもよい。
また、上記実施形態において、ワーク移載装置11を、アーム部33からエンドエフェクタ39を取り外して交換可能な構成としたが、着脱できない構成でもよい。
また、上記実施形態では、第2多重通信部113を、アーム部33の先端部である取付部49に設けたが、これに限らず、アーム部33の他の部位に設けてもよい。
また、第2多重通信部113は、ソフトプロセッサ113Aを備えない構成でもよい。また、第1多重通信部111は、ソフトプロセッサを備えてもよい。
Claims (6)
- 装置固定部と、
前記装置固定部から延設され、前記装置固定部に対して可動するアーム部と、
前記アーム部に取り付けられる作業部と、
前記装置固定部に設けられ、前記作業部を制御する制御部と、
前記装置固定部に設けられ、前記制御部と前記作業部との間で伝送される通信データを多重化した多重化データを伝送する第1多重通信部と、
前記アーム部に設けられ、前記作業部に接続され、前記第1多重通信部と多重通信回線を介して接続され前記多重化データを伝送する第2多重通信部と、
を備えることを特徴とする作業用ロボット。 - 前記作業部は、前記アーム部の取付部に対して着脱可能に構成され、
前記取付部は、種類の異なる前記作業部に対応して、前記作業部が備える素子と接続するためのコネクタ部を有することを特徴とする請求項1に記載の作業用ロボット。 - 前記第2多重通信部は、前記アーム部における延設方向の先端部に設けられることを特徴とする請求項1又は請求項2に記載の作業用ロボット。
- 前記作業部は、撮像部を有し、
前記第2多重通信部は、前記撮像部で撮像した画像データを、前記第1多重通信部へ伝送し、
前記制御部は、伝送された前記画像データに対する画像処理を実行することを特徴とする請求項1乃至請求項3の何れかに記載の作業用ロボット。 - 前記作業部は、センサを有し、
前記第2多重通信部は、前記センサの検出信号を、前記第1多重通信部へ伝送し、
前記制御部は、伝送された前記検出信号に応じて、前記作業部を制御することを特徴とする請求項1乃至請求項4の何れかに記載の作業用ロボット。 - 前記第2多重通信部は、コンフィグレーション情報に基づいて回路が構築されるプログラマブル論理デバイスを備え、前記作業部が入出力する信号に係る処理を実行するソフトプロセッサを有することを特徴とする請求項1乃至請求項5の何れかに記載の作業用ロボット。
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CN113976395A (zh) * | 2021-11-26 | 2022-01-28 | 苏州希盟科技股份有限公司 | 一种点胶机控制系统及控制方法 |
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