WO2020017426A1 - Control system, method for controlling control system, and control system program - Google Patents

Control system, method for controlling control system, and control system program Download PDF

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Publication number
WO2020017426A1
WO2020017426A1 PCT/JP2019/027516 JP2019027516W WO2020017426A1 WO 2020017426 A1 WO2020017426 A1 WO 2020017426A1 JP 2019027516 W JP2019027516 W JP 2019027516W WO 2020017426 A1 WO2020017426 A1 WO 2020017426A1
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Prior art keywords
work
robot
control system
moving mechanism
control device
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PCT/JP2019/027516
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French (fr)
Japanese (ja)
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嵩史 大倉
賢瑩 呉
大谷　拓
純児 島村
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オムロン株式会社
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Publication of WO2020017426A1 publication Critical patent/WO2020017426A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia

Definitions

  • the present invention relates to a control system for controlling a robot or the like that assembles electronic components or the like with a control device, a control method of the control system, and a program for the control system.
  • Patent Literature 1 there has been proposed an apparatus that teaches an assembling position using a template and performs assembling.
  • the positioning error of a component is statically measured and corrected in advance, and the assembly is executed, and the positioning error due to vibration, deflection, or the like during operation of the robot cannot be corrected.
  • a vertical articulated robot vibrates when it is moved at a high speed, and the positioning accuracy of the hand is not obtained, and assembling cannot be realized.
  • the link bends due to its own weight or the weight of the object held by the hand, causing an error in hand positioning.
  • an object of the present invention is to provide a control system, a control method for a control system, and a control system that compensates for the accuracy of the hand of a vertical articulated robot and enables high-speed, high-accuracy and assembling of electronic components and the like corresponding to multi-directional insertion. It is to provide a control system program.
  • the control system includes: A robot for holding the first work, A support for supporting the second work; A moving mechanism for moving the support, A measuring unit for measuring the position of the robot and the position of the support table, A central control device for controlling the robot and the moving mechanism,
  • the central control device includes: Positioning adjustment for moving the support base by the moving mechanism based on the positions of the robot and the support base measured by the measurement unit, and adjusting the relative positioning of the first work with respect to the second work. It has a unit.
  • the central control device when assembling such as inserting the first work gripped by the robot into the second work supported by the support table, moves the robot to a predetermined position. Move.
  • the positioning adjustment unit moves the support table by a moving mechanism based on the positions of the robot and the support table measured by the measurement unit, Adjust the relative positioning of the second work to the work.
  • the control system of one embodiment includes: The robot and the moving mechanism are communicably connected to the central control device via an industrial network, and are controlled by a predetermined control cycle,
  • the positioning adjustment unit performs the positioning adjustment, calculates the trajectory of the first work for inserting the first work into the second work, and performs the trajectory calculation for each control cycle based on the trajectory calculation. This is performed by setting the next target position for each control cycle of the moving mechanism so as to correct the difference between the target position of the robot and the current position.
  • the robot and the moving mechanism are communicably connected to the central control device via an industrial network, and are controlled at a predetermined control cycle.
  • the positioning adjustment unit calculates the trajectory of the first work for inserting the first work into the second work. Then, the difference between the target position and the current position of the robot for each control cycle based on the trajectory calculation is measured, and the next target position for each control cycle of the moving mechanism is set so as to correct the difference. In this way, the positioning is adjusted.
  • the measurement unit includes an encoder provided in the robot and the moving mechanism, or a camera that photographs the first work or the second work.
  • the positioning can be dynamically adjusted. As a result, even if a positioning error of the vertical articulated robot occurs due to vibration, deflection, etc., the accuracy of the hand of the vertical articulated robot is compensated, and electronic parts etc. that can be inserted at high speed and with high accuracy and in multiple directions are assembled. It can be carried out.
  • a control method of the control system includes: A control method of a control system that controls a robot that grips a first work and a moving mechanism of a support table that supports the second work, Measuring the position of the robot, and the position of the support table by a measuring unit, Based on the positions of the robot and the support base measured by the measurement unit, the support mechanism is moved by the moving mechanism, and the relative positioning of the first work with respect to the second work is determined by a central control device. Adjusting by a positioning adjustment unit.
  • the control method of the control system of the present disclosure even when a positioning error of the vertical articulated robot occurs due to vibration, deflection, or the like, the accuracy of the hand of the vertical articulated robot is compensated, and high-speed, high-accuracy, and multidirectional insertion is performed.
  • the accuracy of the hand of the vertical articulated robot is compensated, and high-speed, high-accuracy, and multidirectional insertion is performed.
  • electronic components and the like corresponding to the above.
  • a program of a control system is a program for causing a computer to execute the control method of the control system.
  • control method of the control system can be implemented.
  • control system of the present disclosure it is possible to compensate for the accuracy of the hand of the vertical articulated robot, and to assemble electronic components and the like that are compatible with high-speed, high-accuracy, and multidirectional insertion.
  • FIG. 4 is a diagram for describing a flow of overall processing in the control system.
  • FIG. 4 is a diagram for describing a flow of overall processing in the control system.
  • FIG. 4 is a diagram for describing a flow of overall processing in the control system.
  • FIG. 4 is a diagram for describing a flow of overall processing in the control system.
  • It is a flowchart which shows the detail of a process of a control system. It is a flowchart which shows the detail of a process of a control system.
  • FIG. 1 is a diagram illustrating a schematic configuration of a control system 1 according to the first embodiment.
  • the control system 1 includes a vertical articulated robot 10, a camera 20, a stage 30 as a support, and an XYZ robot 40 as a moving mechanism.
  • the vertical articulated robot 10 is, for example, a 6-axis vertical articulated robot, and rotates and bends the rotating joints 11 to 13 and the bending joints 14 to 16 to fix various positions with the position of the robot tip fixed. You can take a posture.
  • the vertical articulated robot 10 includes, for example, a servomotor, and an encoder 10a (see FIG. 2) as a measuring unit for detecting a rotation amount of each servomotor and the like is provided near each servomotor. Have been.
  • a hand 17 is attached to the tip of the vertical articulated robot 10, and the hand 17 is driven by a servo motor in the hand 17.
  • the hand 17 has a function of holding the first work 50.
  • the stage 30 is a plate-shaped member and functions as a support for supporting the second work 51.
  • the stage 30 is attached to a Z bar 43 of an XYZ robot 40 as a moving mechanism.
  • the XYZ robot 40 includes an X bar 41, a Y bar 42, and a Z bar 43.
  • the X bar 41, the Y bar 42, and the Z bar 43 are respectively driven by servo motors 93, 94, and 95 (see FIG. 2). , X, Y, and Z directions.
  • servo motors 93, 94, 95 see FIG. 2 of the XYZ robot 40, encoders 93a, 94a, 95a (see FIG. 2) for detecting the amount of rotation of each servo motor and the like are provided.
  • the camera 20 is mounted at an arbitrary position above the stage 30 so that the second work 51 on the stage 30 can be photographed.
  • the first work 50 is, for example, an electronic component, and has terminals for insertion into a printed circuit board or the like.
  • the second work 51 is, for example, a printed circuit board, and has a component 52 into which the terminal of the first work 50 is inserted.
  • FIG. 2 is a functional block diagram of the control system 1. As shown in FIG. 2, the control system 1 includes a central control device 60, a robot amplifier 70, a hand driver 80, servo motor drivers 90, 91, 92, and an image processing device 100.
  • the central control device 60 is, for example, a PLC (Programmable Logic Controller), a robot control program for controlling the operation of the vertical articulated robot 10, the operation of the hand 17 attached to the vertical articulated robot 10, and the XYZ robot 40. And executes a sequence control program for controlling the operation of the above, and outputs a control signal.
  • PLC Programmable Logic Controller
  • the central controller 60 determines the positions of the vertical articulated robot 10 and the stage 30 measured by the encoder 10a of the vertical articulated robot 10 and the encoders 93a, 94a, 95a of the servo motors 93, 94, 95 of the XYZ robot 40.
  • the XYZ robot 40 has a function of a positioning adjustment unit 61 that moves the stage 30 and adjusts the relative positioning of the first work 50 with respect to the second work 51.
  • the robot amplifier 70 drives the servo motor of the vertical articulated robot 10 based on a control signal from the central control device 60. Further, the counter value of the encoder 10 a of the vertical articulated robot 10 is transmitted to the central control device 60.
  • the hand driver 80 drives the hand 17 based on a control signal from the central control device 60.
  • the servo motor drivers 90, 91, 92 drive the servo motors 93, 94, 95 of the XYZ robot 40 based on the control signal from the central control device 60. Further, the servo motor drivers 90, 91, 92 transmit the counter values of the encoders 93a, 94a, 95a to the central controller 60.
  • the image processing apparatus 100 is connected to the camera 20.
  • the camera 20 photographs the second work 51 on the stage 30, and the image processing device 100 transmits the photographed image to the central control device 60.
  • the central control device 60 is connected to the robot amplifier 70, the hand driver 80, the servo motor drivers 90, 91, 92, and the image processing device 100 by EtherCAT (registered trademark) which is an industrial network.
  • EtherCAT registered trademark
  • the central control device 60 transmits control signals to the robot amplifier 70, the hand driver 80, and the servo motor drivers 90, 91, and 92 at a control cycle of 1 ms, for example, and transmits the control signals from the encoders 10a, 93a, 94a, and 95a at a control cycle of 1 ms. Signal is being received. That is, the vertical articulated robot 10, the hand 17, and the XYZ robot 40 operate synchronously at a cycle of 1 ms.
  • the central control device 60 can receive a signal from the image processing device 100 at a desired timing.
  • FIG. 3 is a flowchart showing the flow of the overall processing in the control system 1.
  • 4 to 7 are diagrams for explaining the flow of the overall processing in the control system 1.
  • FIG. 3 is a flowchart showing the flow of the overall processing in the control system 1.
  • the central control device 60 takes an image of the second work 51 on the stage 30 using the camera 20, receives this image from the image processing device 100, and receives the image of the second work 51 on the stage 30.
  • the position is calculated (S10).
  • markers 53 and 54 are provided on the second work 51, and the markers 53 and 54 are attached to the camera 20. And a method of shooting.
  • the central controller 60 calculates a trajectory for inserting the first work 50 into the second work 51 (S20).
  • FIG. 5 shows an example of the trajectory S.
  • Steps S30 to S75 form a control loop.
  • the control loop ends.
  • the central controller 60 moves the first work 50 to a target position in each cycle using the vertical articulated robot 10 (S40).
  • the central controller 60 acquires encoder information of each axis of the vertical articulated robot 10 and the XYZ robot 40 (S50).
  • the central controller 60 calculates the position of the hand from the encoder value of the vertical articulated robot 10 and calculates the actual position of the first work 50 (S60).
  • the central controller 60 calculates the torque applied to each link of the vertical articulated robot 10 from the encoder value of the vertical articulated robot 10, and calculates the amount of deflection of the vertical articulated robot 10 (S70).
  • the central controller 60 calculates the actual position of the first workpiece 50 due to the deflection of the vertical articulated robot 10 (S71).
  • the central controller 60 calculates the final actual position of the first work 50 (S72).
  • Central controller 60 determines whether there is an error between the target position of first work 50 and the actual position (S73).
  • step S73 If there is an error between the target position and the actual position of the first work 50 (S73: NO), the central controller 60 moves the XYZ table 40 by the error and corrects it (S74). On the other hand, when there is no error between the target position and the actual position of the first work 50 (S73: YES), the central controller 60 performs the processing from step S40 to step S73 until the control loop ends. repeat.
  • FIG. 8 is a flowchart showing details of the processing of the control system 1.
  • the central control device 60 photographs the markers 53 and 54 of the second workpiece 51 with the camera 20 fixed at an arbitrary position, receives the photographed image from the image processing device 100, and
  • the current position P W2 (0) at time 0 is calculated as the initial position of the work 51 (S100).
  • the current position of the second work 51 at time t is represented by P W2 (t).
  • the central control device 60 determines the current position P W1 (0) at time 0 as the initial position of the first work 50 and the current position P W2 (0) at time 0 as the calculated initial position of the second work 51. ) Is used to calculate the trajectory for inserting the first work 50 into the second work 51 (S110).
  • the current position of the first work 50 at time t is represented by P W1 (t).
  • the central controller 60 sets the initial position target R d (0) of the vertical articulated robot 10 at time 0 as the current position R (0) of the vertical articulated robot 10 at time 0 (S120).
  • the initial position target of the vertical articulated robot 10 at time t is represented by R d (t)
  • the current position of the vertical articulated robot 10 at time t is represented by R (t).
  • control loop is performed from step S130 to step S200, and the control loop ends when the assembly of the first work 50 and the second work 51 is completed.
  • the central control device 60 acquires the encoder value E R (t) of the vertical articulated robot 10 at time t and the encoder value E S (t) of the XYZ robot 40 at time t. . Then, based on these encoder values E R (t) and E S (t), the central controller 60 calculates the current position R (t) of the vertical articulated robot 10 at time t and the time t of the XYZ robot 40 at time t. Is calculated (S140).
  • the central controller 60 calculates the current position P W1 (t) of the first work 50 at time t based on the current position R (t) of the vertical articulated robot 10 at time t (S150). .
  • the central controller 60 determines the correction amount ⁇ V (t) of the first work 50 due to the vibration of the vertical articulated robot 10 as the target position P dW1 (t) of the first work 50 at time t as follows. And the current position P W1 (t) of the first work 50 at time t (S160).
  • the central controller 60 calculates the torque ⁇ (t) of each joint from the current angle of the joint of the vertical articulated robot 10 as follows (S170).
  • the central controller 60 calculates the amount of deflection ⁇ (t) of each link from the calculated torque ⁇ (t) of each joint (S180).
  • the central controller 60 calculates a correction amount ⁇ f (t) of the first work 50 due to the deflection amount ⁇ (t) of each link (S190).
  • the central controller 60 determines the next target position of the XYZ robot 40, that is, the target position S d (t + 1) at the time t + 1, by the current position S (t) at the time t of the XYZ robot 40 and the vibration.
  • the calculation is performed based on the correction amount ⁇ V (t) of the first work 50 and the correction amount ⁇ f (t) of the first work 50 caused by the deflection amount ⁇ (t) (S200). That is, the target position S d (t + 1) at the time t + 1 which is the next target position of the XYZ robot 40 is as follows.
  • the central controller 60 calculates the next target position of the first work 50, that is, the target position P dW1 (time t + 1) from the trajectory for inserting the first work 50 into the second work 51 calculated as described above. t + 1), and the next target position of the vertical articulated robot 10, that is, the target position R d (t + 1) at the time t + 1 is calculated from the target position P dW1 (t + 1) of the first work 50 at the time t + 1 ( S210).
  • the central controller 60 moves the vertical articulated robot 10 and the XYZ robot 40 to their respective next target positions, that is, the target positions R d (t + 1) and S d (t + 1) at time t + 1 (S220).
  • the central control device 60 When the time t reaches the next cycle time t + 1 (S230), the central control device 60 performs a control loop from step S130 to step S240 until the assembly of the first work 50 and the second work 51 is completed. repeat.
  • the central control device 60 ends the control loop and ends the processing.
  • the vertical articulated robot 10 and the XYZ robot 40 are connected and controlled by the central control device 60 and EtherCAT, which is an industrial network, to operate at high speed. become.
  • EtherCAT which is an industrial network
  • the positioning of the vertical articulated robot 10 is shifted due to vibration or the like.
  • the link bends due to its own weight or the weight of the object held by the hand, and an error occurs in the positioning of the hand.
  • the positioning adjustment unit 61 of the central control device 60 calculates the trajectory of the first work 50 in order to insert the first work 50 into the second work 51, and performs the control cycle based on the trajectory calculation. The difference between the target position of the vertical articulated robot 10 and the current position caused by vibration or deflection is determined. Then, the positioning adjustment unit 61 sets the next target position for each control cycle of the XYZ robot 40 so as to correct this difference. In this way, the positioning of the vertical articulated robot 10 is adjusted.
  • the XYZ robot 40 can operate with high accuracy even when operated at high speed, so that the above positioning adjustment can be performed.
  • the central control device 60 controls the two synchronously so that the positioning error of the vertical articulated robot 10 is compensated by the XYZ robot 40, thereby achieving high-speed and high-precision electronic control. Assembly work of parts and the like can be performed.
  • the positioning error of the vertical articulated robot 10 is dynamically compensated during the operation of the vertical articulated robot 10, a highly accurate positioning error can be obtained compared to the conventional method in which only static compensation is performed. Compensation is possible.
  • the mode in which the encoders 10a, 93a, 94a, and 95a are used as the measurement units that measure the position of the vertical articulated robot 10 and the position of the stage 30 has been described.
  • the present invention is not limited to such an embodiment, and a camera can be used as the measuring unit.

Abstract

The present invention enables assembly of electronic components and the like, supporting insertion from multiple directions at high speed and with a high degree of accuracy, by compensating for the accuracy of the tip of a hand of a vertical articulated robot. This control system is provided with a robot 10 for gripping a first workpiece 50, a supporting base 30 for supporting a second workpiece 51, a movement mechanism 40 for moving the supporting base 30, a measuring unit 10a, 93a, 94a, 95a for measuring the position of the robot 10 and the position of the supporting base 30, and a central control device 60 for controlling the robot 10 and the movement mechanism 40, wherein the central control device 60 is provided with a positioning adjustment unit 61 which causes the supporting base 30 to be moved by means of the movement mechanism 40 to adjust the relative positioning of the first workpiece 50 with respect to the second workpiece 51, on the basis of the positions of the robot 10 and the supporting base 30 measured by the measuring unit.

Description

制御システム、制御システムの制御方法、および制御システムのプログラムControl system, control system control method, and control system program
　この発明は、電子部品等の組み立てを行うロボット等を制御装置により制御する制御システム、制御システムの制御方法、および制御システムのプログラムに関する。 The present invention relates to a control system for controlling a robot or the like that assembles electronic components or the like with a control device, a control method of the control system, and a program for the control system.
　電子部品の組み立てでは、基板に対して垂直方向だけではなく、水平方向および斜め方向からの部品の挿入が必要となる。このような多方向の部品挿入に対応するためには、垂直多関節ロボットが必要になる。 In assembling electronic components, it is necessary to insert components not only vertically but also horizontally and obliquely to the board. To cope with such multi-directional component insertion, a vertical articulated robot is required.
　例えば特許文献１のように、組み付け位置をテンプレートを用いて教示し、組み立てを行う装置が提案されている。 装置 For example, as in Patent Literature 1, there has been proposed an apparatus that teaches an assembling position using a template and performs assembling.
特開２００１－３６２９５号公報JP-A-2001-36295
　しかしながら、特許文献１の手法では、部品の位置決め誤差を予め静的に計測して修正し、組み立てを実行するものであり、ロボットの動作中における振動やたわみ等による位置決め誤差を修正することはできない。特に、垂直多関節ロボットは、高速で動かすと振動し、手先の位置決め精度が出ず、組み付けが実現できない。また、垂直多関節ロボットには、自重や手先の把持物体の重さにより、リンクにたわみが発生し、手先の位置決めに誤差が生じる。 However, in the method of Patent Document 1, the positioning error of a component is statically measured and corrected in advance, and the assembly is executed, and the positioning error due to vibration, deflection, or the like during operation of the robot cannot be corrected. . In particular, a vertical articulated robot vibrates when it is moved at a high speed, and the positioning accuracy of the hand is not obtained, and assembling cannot be realized. Also, in the vertical articulated robot, the link bends due to its own weight or the weight of the object held by the hand, causing an error in hand positioning.
　そこで、この発明の課題は、垂直多関節ロボットの手先の精度を補償し、高速高精度かつ多方向の挿入に対応した電子部品等の組み付けを可能とする制御システム、制御システムの制御方法、および制御システムのプログラムを提供することにある。 Therefore, an object of the present invention is to provide a control system, a control method for a control system, and a control system that compensates for the accuracy of the hand of a vertical articulated robot and enables high-speed, high-accuracy and assembling of electronic components and the like corresponding to multi-directional insertion. It is to provide a control system program.
　上記課題を解決するため、この開示の制御システムは、
　第１のワークを把持するロボットと、
　第２のワークを支持する支持台と、
　前記支持台を移動させる移動機構と、
　前記ロボットの位置および前記支持台の位置を計測する計測部と、
　前記ロボットおよび前記移動機構を制御する中央制御装置と、を備え、
　前記中央制御装置は、
　前記計測部により計測した前記ロボットおよび前記支持台の位置に基づいて、前記移動機構により前記支持台を移動させ、前記第１のワークの前記第２のワークに対する相対的な位置決めを調整する位置決め調整部を備える。 In order to solve the above-described problems, the control system according to the present disclosure includes:
A robot for holding the first work,
A support for supporting the second work;
A moving mechanism for moving the support,
A measuring unit for measuring the position of the robot and the position of the support table,
A central control device for controlling the robot and the moving mechanism,
The central control device includes:
Positioning adjustment for moving the support base by the moving mechanism based on the positions of the robot and the support base measured by the measurement unit, and adjusting the relative positioning of the first work with respect to the second work. It has a unit.
　上述の制御システムでは、支持台に支持される第２のワークに、ロボットに把持される第１のワークを挿入する等の組み立てを行う場合には、中央制御装置は、ロボットを所定の位置に移動させる。振動等によりロボットに位置決め誤差が生じた場合には、位置決め調整部は、計測部により計測したロボットおよび支持台の位置に基づいて、移動機構により前記支持台を移動させ、第１のワークの第２のワークに対する相対的な位置決めを調整する。 In the above control system, when assembling such as inserting the first work gripped by the robot into the second work supported by the support table, the central control device moves the robot to a predetermined position. Move. When a positioning error occurs in the robot due to vibration or the like, the positioning adjustment unit moves the support table by a moving mechanism based on the positions of the robot and the support table measured by the measurement unit, Adjust the relative positioning of the second work to the work.
　上述の制御システムによれば、振動やたわみ等により垂直多関節ロボットの位置決め誤差が生じた場合でも、垂直多関節ロボットの手先の精度を補償し、高速高精度かつ多方向の挿入に対応した電子部品等の組み付けを行うことができる。 According to the above-described control system, even when a positioning error of the vertical articulated robot occurs due to vibration, deflection, or the like, the accuracy of the hand of the vertical articulated robot is compensated, and an electronic device capable of high-speed, high-accuracy, and multi-directional insertion is provided. Parts and the like can be assembled.
　一実施形態の制御システムは、
　前記ロボットおよび前記移動機構は、前記中央制御装置と産業用ネットワークにより通信可能に接続され、所定の制御周期により制御されており、
　前記位置決め調整部は、前記位置決めの調整を、前記第２のワークに前記第１のワークを挿入するための前記第１のワークの軌道計算を行い、当該軌道計算に基づく前記制御周期ごとの前記ロボットの目標位置と現在位置との差を修正するように、前記移動機構の前記制御周期ごとの次の目標位置を設定することにより行う。 The control system of one embodiment includes:
The robot and the moving mechanism are communicably connected to the central control device via an industrial network, and are controlled by a predetermined control cycle,
The positioning adjustment unit performs the positioning adjustment, calculates the trajectory of the first work for inserting the first work into the second work, and performs the trajectory calculation for each control cycle based on the trajectory calculation. This is performed by setting the next target position for each control cycle of the moving mechanism so as to correct the difference between the target position of the robot and the current position.
　この一実施形態の制御システムでは、ロボットおよび移動機構は、中央制御装置と産業用ネットワークにより通信可能に接続され、所定の制御周期により制御されている。位置決め調整部は、第２のワークに第１のワークを挿入するための第１のワークの軌道計算を行う。そして、この軌道計算に基づく制御周期ごとのロボットの目標位置と現在位置との差を計測し、その差を修正するように、移動機構の前記制御周期ごとの次の目標位置を設定する。このようにして、位置決めの調整を行う。したがって、位置決めの調整が動的に行われるので、振動やたわみ等により垂直多関節ロボットの位置決め誤差が生じた場合でも、垂直多関節ロボットの手先の精度を補償し、高速高精度かつ多方向の挿入に対応した電子部品等の組み付けを行うことができる。 In the control system of this embodiment, the robot and the moving mechanism are communicably connected to the central control device via an industrial network, and are controlled at a predetermined control cycle. The positioning adjustment unit calculates the trajectory of the first work for inserting the first work into the second work. Then, the difference between the target position and the current position of the robot for each control cycle based on the trajectory calculation is measured, and the next target position for each control cycle of the moving mechanism is set so as to correct the difference. In this way, the positioning is adjusted. Therefore, since positioning adjustment is performed dynamically, even if a positioning error of the vertical articulated robot occurs due to vibration or deflection, the accuracy of the hand of the vertical articulated robot is compensated, and high-speed, high-precision and multi-directional It is possible to assemble electronic components or the like corresponding to insertion.
　一実施形態の制御システムは、計測部は、ロボットおよび移動機構に備えられたエンコーダ、または、第１のワークあるいは第２のワークを撮影するカメラを備える。 In the control system according to one embodiment, the measurement unit includes an encoder provided in the robot and the moving mechanism, or a camera that photographs the first work or the second work.
　この一実施形態の制御システムでは、エンコーダまたはカメラによりロボットおよび支持台の位置を計測するので、位置決めの調整が動的に行うことができる。その結果、振動やたわみ等により垂直多関節ロボットの位置決め誤差が生じた場合でも、垂直多関節ロボットの手先の精度を補償し、高速高精度かつ多方向の挿入に対応した電子部品等の組み付けを行うことができる。 In the control system of this embodiment, since the positions of the robot and the support table are measured by the encoder or the camera, the positioning can be dynamically adjusted. As a result, even if a positioning error of the vertical articulated robot occurs due to vibration, deflection, etc., the accuracy of the hand of the vertical articulated robot is compensated, and electronic parts etc. that can be inserted at high speed and with high accuracy and in multiple directions are assembled. It can be carried out.
　上記課題を解決するため、この開示の制御システムの制御方法は、
　第１のワークを把持するロボットと、第２のワークを支持する支持台の移動機構とを制御する制御システムの制御方法であって、
　前記ロボットの位置、および前記支持台の位置を計測部により計測するステップと、
　前記計測部により計測した前記ロボットおよび前記支持台の位置に基づいて、前記移動機構により前記支持台を移動させ、前記第１のワークの前記第２のワークに対する相対的な位置決めを中央制御装置の位置決め調整部により調整するステップと、を備える。 In order to solve the above problems, a control method of the control system according to the present disclosure includes:
A control method of a control system that controls a robot that grips a first work and a moving mechanism of a support table that supports the second work,
Measuring the position of the robot, and the position of the support table by a measuring unit,
Based on the positions of the robot and the support base measured by the measurement unit, the support mechanism is moved by the moving mechanism, and the relative positioning of the first work with respect to the second work is determined by a central control device. Adjusting by a positioning adjustment unit.
　この開示の制御システムの制御方法によれば、振動やたわみ等により垂直多関節ロボットの位置決め誤差が生じた場合でも、垂直多関節ロボットの手先の精度を補償し、高速高精度かつ多方向の挿入に対応した電子部品等の組み付けを行うことができる。 According to the control method of the control system of the present disclosure, even when a positioning error of the vertical articulated robot occurs due to vibration, deflection, or the like, the accuracy of the hand of the vertical articulated robot is compensated, and high-speed, high-accuracy, and multidirectional insertion is performed. Of electronic components and the like corresponding to the above.
　上記課題を解決するため、この開示の制御システムのプログラムは、上記制御システムの制御方法をコンピュータに実行させるためのプログラムである。 た め In order to solve the above problems, a program of a control system according to the present disclosure is a program for causing a computer to execute the control method of the control system.
　この開示のプログラムをコンピュータに実行させることによって、上記制御システムの制御方法を実施することができる。 さ せ る By causing a computer to execute the program of the present disclosure, the control method of the control system can be implemented.
　以上より明らかなように、この開示の制御システムによれば、垂直多関節ロボットの手先の精度を補償し、高速高精度かつ多方向の挿入に対応した電子部品等の組み付けを行うことができる。 As is clear from the above, according to the control system of the present disclosure, it is possible to compensate for the accuracy of the hand of the vertical articulated robot, and to assemble electronic components and the like that are compatible with high-speed, high-accuracy, and multidirectional insertion.
第１実施形態における制御システムの概略構成を示す図である。It is a figure showing the schematic structure of the control system in a 1st embodiment. 制御システムの機能ブロック図である。It is a functional block diagram of a control system. 制御システムにおける全体処理の流れを示すフローチャートである。5 is a flowchart illustrating a flow of overall processing in the control system. 制御システムにおける全体処理の流れを説明するための図である。FIG. 4 is a diagram for describing a flow of overall processing in the control system. 制御システムにおける全体処理の流れを説明するための図である。FIG. 4 is a diagram for describing a flow of overall processing in the control system. 制御システムにおける全体処理の流れを説明するための図である。FIG. 4 is a diagram for describing a flow of overall processing in the control system. 制御システムにおける全体処理の流れを説明するための図である。FIG. 4 is a diagram for describing a flow of overall processing in the control system. 制御システムの処理の詳細を示すフローチャートである。It is a flowchart which shows the detail of a process of a control system. 制御システムの処理の詳細を示すフローチャートである。It is a flowchart which shows the detail of a process of a control system.
　以下、この発明の実施の形態を、図面を参照しながら詳細に説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
（第１実施形態）
　図１は、第１実施形態における制御システム１の概略構成を示す図である。図１に示すように、制御システム１は、垂直多関節ロボット１０と、カメラ２０と、支持台としてのステージ３０と、移動機構としてのＸＹＺロボット４０とを備えている。 (1st Embodiment)
FIG. 1 is a diagram illustrating a schematic configuration of a control system 1 according to the first embodiment. As shown in FIG. 1, the control system 1 includes a vertical articulated robot 10, a camera 20, a stage 30 as a support, and an XYZ robot 40 as a moving mechanism.
　垂直多関節ロボット１０は、一例として、６軸の垂直多関節ロボットであり、回転関節１１～１３および屈曲関節１４～１６を回転・屈曲させることにより、ロボット先端の位置を固定した状態で色々な姿勢をとることができる。垂直多関節ロボット１０は、一例として、サーボモータを備えており、各サーボモータの近傍には、各サーボモータの回転量等を検出するための計測部としてのエンコーダ１０ａ（図２参照）が備えられている。 The vertical articulated robot 10 is, for example, a 6-axis vertical articulated robot, and rotates and bends the rotating joints 11 to 13 and the bending joints 14 to 16 to fix various positions with the position of the robot tip fixed. You can take a posture. The vertical articulated robot 10 includes, for example, a servomotor, and an encoder 10a (see FIG. 2) as a measuring unit for detecting a rotation amount of each servomotor and the like is provided near each servomotor. Have been.
　垂直多関節ロボット１０の先端部には、ハンド１７が取り付けられており、ハンド１７は、ハンド１７内のサーボモータにより駆動される。ハンド１７は、第１のワーク５０を把持する機能を備えている。 ハ ン ド A hand 17 is attached to the tip of the vertical articulated robot 10, and the hand 17 is driven by a servo motor in the hand 17. The hand 17 has a function of holding the first work 50.
　ステージ３０は、平板状の部材であり、第２のワーク５１を支持する支持台として機能する。ステージ３０は、移動機構としてのＸＹＺロボット４０のＺバー４３に取り付けられている。 The stage 30 is a plate-shaped member and functions as a support for supporting the second work 51. The stage 30 is attached to a Z bar 43 of an XYZ robot 40 as a moving mechanism.
　ＸＹＺロボット４０は、Ｘバー４１、Ｙバー４２、およびＺバー４３を備えており、Ｘバー４１、Ｙバー４２、およびＺバー４３は、それぞれサーボモータ９３，９４，９５（図２参照）によって、Ｘ，Ｙ，Ｚ方向に自在に移動可能となっている。ＸＹＺロボット４０の各サーボモータ９３，９４，９５（図２参照）近傍には、各サーボモータの回転量等を検出するためのエンコーダ９３ａ，９４ａ，９５ａ（図２参照）が備えられている。 The XYZ robot 40 includes an X bar 41, a Y bar 42, and a Z bar 43. The X bar 41, the Y bar 42, and the Z bar 43 are respectively driven by servo motors 93, 94, and 95 (see FIG. 2). , X, Y, and Z directions. Near the servo motors 93, 94, 95 (see FIG. 2) of the XYZ robot 40, encoders 93a, 94a, 95a (see FIG. 2) for detecting the amount of rotation of each servo motor and the like are provided.
　カメラ２０は、ステージ３０の上方における任意の位置に取り付けられ、ステージ３０上の第２のワーク５１を撮影可能となっている。 The camera 20 is mounted at an arbitrary position above the stage 30 so that the second work 51 on the stage 30 can be photographed.
　第１のワーク５０は、例えば、電子部品であり、プリント基板等に挿入するための端子を有している。 The first work 50 is, for example, an electronic component, and has terminals for insertion into a printed circuit board or the like.
　第２のワーク５１は、例えば、プリント基板であり、第１のワーク５０の端子が挿入される部品５２が取り付けられている。 The second work 51 is, for example, a printed circuit board, and has a component 52 into which the terminal of the first work 50 is inserted.
　図２は、制御システム１の機能ブロック図である。図２に示すように、制御システム１は、中央制御装置６０と、ロボットアンプ７０と、ハンドドライバ８０と、サーボモータドライバ９０，９１，９２と、画像処理装置１００とを備えている。 FIG. 2 is a functional block diagram of the control system 1. As shown in FIG. 2, the control system 1 includes a central control device 60, a robot amplifier 70, a hand driver 80, servo motor drivers 90, 91, 92, and an image processing device 100.
　中央制御装置６０は、一例として、ＰＬＣ（Programmable Logic Controller）であり、垂直多関節ロボット１０の動作を制御するロボット制御プログラムと、垂直多関節ロボット１０に取り付けられたハンド１７の動作およびＸＹＺロボット４０の動作を制御するシーケンス制御プログラムとを実行し、制御信号を出力する。 The central control device 60 is, for example, a PLC (Programmable Logic Controller), a robot control program for controlling the operation of the vertical articulated robot 10, the operation of the hand 17 attached to the vertical articulated robot 10, and the XYZ robot 40. And executes a sequence control program for controlling the operation of the above, and outputs a control signal.
　中央制御装置６０は、垂直多関節ロボット１０のエンコーダ１０ａ、ＸＹＺロボット４０のサーボモータ９３，９４，９５のエンコーダ９３ａ，９４ａ，９５ａにより計測した垂直多関節ロボット１０およびステージ３０の位置に基づいて、ＸＹＺロボット４０によりステージ３０を移動させ、第１のワーク５０の第２のワーク５１に対する相対的な位置決めを調整する位置決め調整部６１の機能を有する。 The central controller 60 determines the positions of the vertical articulated robot 10 and the stage 30 measured by the encoder 10a of the vertical articulated robot 10 and the encoders 93a, 94a, 95a of the servo motors 93, 94, 95 of the XYZ robot 40. The XYZ robot 40 has a function of a positioning adjustment unit 61 that moves the stage 30 and adjusts the relative positioning of the first work 50 with respect to the second work 51.
　ロボットアンプ７０は、中央制御装置６０からの制御信号に基づいて、垂直多関節ロボット１０のサーボモータを駆動する。また、垂直多関節ロボット１０のエンコーダ１０ａのカウンタ値を中央制御装置６０に送信する。 The robot amplifier 70 drives the servo motor of the vertical articulated robot 10 based on a control signal from the central control device 60. Further, the counter value of the encoder 10 a of the vertical articulated robot 10 is transmitted to the central control device 60.
　ハンドドライバ８０は、中央制御装置６０からの制御信号に基づいて、ハンド１７を駆動する。 The hand driver 80 drives the hand 17 based on a control signal from the central control device 60.
　サーボモータドライバ９０，９１，９２は、中央制御装置６０からの制御信号に基づいて、ＸＹＺロボット４０のサーボモータ９３，９４，９５を駆動する。また、サーボモータドライバ９０，９１，９２は、エンコーダ９３ａ，９４ａ，９５ａのカウンタ値を中央制御装置６０に送信する。 The servo motor drivers 90, 91, 92 drive the servo motors 93, 94, 95 of the XYZ robot 40 based on the control signal from the central control device 60. Further, the servo motor drivers 90, 91, 92 transmit the counter values of the encoders 93a, 94a, 95a to the central controller 60.
　画像処理装置１００は、カメラ２０と接続されている。カメラ２０は、ステージ３０上の第２のワーク５１を撮影し、画像処理装置１００は、撮影された画像を中央制御装置６０に送信する。 The image processing apparatus 100 is connected to the camera 20. The camera 20 photographs the second work 51 on the stage 30, and the image processing device 100 transmits the photographed image to the central control device 60.
　中央制御装置６０は、産業用ネットワークであるＥｔｈｅｒＣＡＴ（登録商標）により、ロボットアンプ７０、ハンドドライバ８０、サーボモータドライバ９０，９１，９２、および画像処理装置１００と接続されている。 The central control device 60 is connected to the robot amplifier 70, the hand driver 80, the servo motor drivers 90, 91, 92, and the image processing device 100 by EtherCAT (registered trademark) which is an industrial network.
　中央制御装置６０は、例えば１ｍｓの制御周期でロボットアンプ７０、ハンドドライバ８０、サーボモータドライバ９０，９１，９２に制御信号を送信し、１ｍｓの制御周期でエンコーダ１０ａ，９３ａ，９４ａ，９５ａからの信号を受信している。つまり、垂直多関節ロボット１０、ハンド１７、およびＸＹＺロボット４０は、１ｍｓの周期で同期して動作している。なお、中央制御装置６０は、画像処理装置１００からの信号を所望のタイミングで受信することができる。 The central control device 60 transmits control signals to the robot amplifier 70, the hand driver 80, and the servo motor drivers 90, 91, and 92 at a control cycle of 1 ms, for example, and transmits the control signals from the encoders 10a, 93a, 94a, and 95a at a control cycle of 1 ms. Signal is being received. That is, the vertical articulated robot 10, the hand 17, and the XYZ robot 40 operate synchronously at a cycle of 1 ms. The central control device 60 can receive a signal from the image processing device 100 at a desired timing.
（全体処理の流れ）
　次に、本実施形態の制御システム１における全体処理の流れを図３から図７を参照しつつ説明する。図３は、制御システム１における全体処理の流れを示すフローチャートである。図４から図７は、制御システム１における全体処理の流れを説明するための図である。 (Overall processing flow)
Next, the flow of the overall processing in the control system 1 of the present embodiment will be described with reference to FIGS. FIG. 3 is a flowchart showing the flow of the overall processing in the control system 1. 4 to 7 are diagrams for explaining the flow of the overall processing in the control system 1. FIG.
　まず、中央制御装置６０は、カメラ２０を用いてステージ３０上における第２のワーク５１の画像を撮影し、画像処理装置１００からこの画像を受信して、第２のワーク５１のステージ３０上の位置を計算する（Ｓ１０）。 First, the central control device 60 takes an image of the second work 51 on the stage 30 using the camera 20, receives this image from the image processing device 100, and receives the image of the second work 51 on the stage 30. The position is calculated (S10).
　第２のワーク５１のステージ３０上の位置を画像から計算する方法としては、例えば、図４に示すように、第２のワーク５１上にマーカ５３，５４を設け、マーカ５３，５４をカメラ２０により撮影する方法が挙げられる。 As a method of calculating the position of the second work 51 on the stage 30 from the image, for example, as shown in FIG. 4, markers 53 and 54 are provided on the second work 51, and the markers 53 and 54 are attached to the camera 20. And a method of shooting.
　次に、中央制御装置６０は、第１のワーク５０を第２のワーク５１に挿入する軌道を計算する（Ｓ２０）。図５に軌道Ｓの一例を示す。 Next, the central controller 60 calculates a trajectory for inserting the first work 50 into the second work 51 (S20). FIG. 5 shows an example of the trajectory S.
　ステップＳ３０からステップＳ７５までは、制御ループとなり、第１のワーク５０と第２のワーク５１の組み立てが完了したら、この制御ループを終了する。 Steps S30 to S75 form a control loop. When the assembly of the first work 50 and the second work 51 is completed, the control loop ends.
　まず、中央制御装置６０は、図６に示すように、第１のワーク５０を周期毎の目標位置へ垂直多関節ロボット１０を用いて移動させる（Ｓ４０）。 First, as shown in FIG. 6, the central controller 60 moves the first work 50 to a target position in each cycle using the vertical articulated robot 10 (S40).
　次に、中央制御装置６０は、垂直多関節ロボット１０、およびＸＹＺロボット４０の各軸のエンコーダ情報を取得する（Ｓ５０）。 Next, the central controller 60 acquires encoder information of each axis of the vertical articulated robot 10 and the XYZ robot 40 (S50).
　中央制御装置６０は、垂直多関節ロボット１０のエンコーダ値から、手先の位置を計算し、第１のワーク５０の実際の位置を計算する（Ｓ６０）。 The central controller 60 calculates the position of the hand from the encoder value of the vertical articulated robot 10 and calculates the actual position of the first work 50 (S60).
　中央制御装置６０は、垂直多関節ロボット１０のエンコーダ値から、垂直多関節ロボット１０の各リンクにかかるトルクを計算し、垂直多関節ロボット１０のたわみ量を計算する（Ｓ７０）。 The central controller 60 calculates the torque applied to each link of the vertical articulated robot 10 from the encoder value of the vertical articulated robot 10, and calculates the amount of deflection of the vertical articulated robot 10 (S70).
　中央制御装置６０は、垂直多関節ロボット１０のたわみによる第１のワーク５０の実際の位置を計算する（Ｓ７１）。 The central controller 60 calculates the actual position of the first workpiece 50 due to the deflection of the vertical articulated robot 10 (S71).
　中央制御装置６０は、最終的な第１のワーク５０の実際の位置を計算する（Ｓ７２）。 The central controller 60 calculates the final actual position of the first work 50 (S72).
　中央制御装置６０は、第１のワーク５０の目標位置と実際の位置とに誤差がないかどうかを判断する（Ｓ７３）。 Central controller 60 determines whether there is an error between the target position of first work 50 and the actual position (S73).
　中央制御装置６０は、第１のワーク５０の目標位置と実際の位置とに誤差がある場合には（Ｓ７３：ＮＯ）、ＸＹＺテーブル４０を誤差分移動し、修正する（Ｓ７４）。一方、中央制御装置６０は、第１のワーク５０の目標位置と実際の位置とに誤差がない場合には（Ｓ７３：ＹＥＳ）、制御ループが終了するまで、ステップと４０からステップＳ７３までの処理を繰り返す。 (4) If there is an error between the target position and the actual position of the first work 50 (S73: NO), the central controller 60 moves the XYZ table 40 by the error and corrects it (S74). On the other hand, when there is no error between the target position and the actual position of the first work 50 (S73: YES), the central controller 60 performs the processing from step S40 to step S73 until the control loop ends. repeat.
　そして、図７に示すように、第１のワーク５０が第２のワーク５１に挿入され、組み付けが完了すると、制御ループが終了する。 Then, as shown in FIG. 7, when the first work 50 is inserted into the second work 51 and the assembling is completed, the control loop ends.
（処理の詳細）
　次に、図８を参照しつつ、制御システム１の処理の詳細について説明する。図８は、制御システム１の処理の詳細を示すフローチャートである。 (Details of processing)
Next, details of the processing of the control system 1 will be described with reference to FIG. FIG. 8 is a flowchart showing details of the processing of the control system 1.
　まず、中央制御装置６０は、任意の位置に固定されたカメラ２０で第２のワーク５１のマーカ５３，５４を撮影し、画像処理装置１００から撮影画像を受信して、ステージ３０上の第２のワーク５１の初期位置として時刻０における現在位置ＰＷ２（０）を計算する（Ｓ１００）。ここで、第２のワーク５１の時刻ｔにおける現在位置はＰＷ２（ｔ）で表される。 First, the central control device 60 photographs the markers 53 and 54 of the second workpiece 51 with the camera 20 fixed at an arbitrary position, receives the photographed image from the image processing device 100, and The current position P W2 (0) at time 0 is calculated as the initial position of the work 51 (S100). Here, the current position of the second work 51 at time t is represented by P W2 (t).
　次に、中央制御装置６０は、第１のワーク５０の初期位置として時刻０における現在位置ＰＷ１（０）と、計算した第２のワーク５１の初期位置として時刻０における現在位置ＰＷ２（０）を用いて第１のワーク５０を第２のワーク５１に挿入する軌道を計算する（Ｓ１１０）。ここで、第１のワーク５０の時刻ｔにおける現在位置はＰＷ１（ｔ）で表される。 Next, the central control device 60 determines the current position P W1 (0) at time 0 as the initial position of the first work 50 and the current position P W2 (0) at time 0 as the calculated initial position of the second work 51. ) Is used to calculate the trajectory for inserting the first work 50 into the second work 51 (S110). Here, the current position of the first work 50 at time t is represented by P W1 (t).
　中央制御装置６０は、垂直多関節ロボット１０の時刻０における初期位置目標Ｒｄ（０）を、垂直多関節ロボット１０の時刻０における現在位置Ｒ（０）とする（Ｓ１２０）。ここで、垂直多関節ロボット１０の時刻ｔにおける初期位置目標はＲｄ（ｔ）で表され、垂直多関節ロボット１０の時刻ｔにおける現在位置はＲ（ｔ）で表される。 The central controller 60 sets the initial position target R d (0) of the vertical articulated robot 10 at time 0 as the current position R (0) of the vertical articulated robot 10 at time 0 (S120). Here, the initial position target of the vertical articulated robot 10 at time t is represented by R d (t), and the current position of the vertical articulated robot 10 at time t is represented by R (t).
　ステップＳ１３０からステップＳ２００までは、制御ループとなっており、第１のワーク５０と第２のワーク５１との組み立てが完了すると制御ループは終了する。 制 御 A control loop is performed from step S130 to step S200, and the control loop ends when the assembly of the first work 50 and the second work 51 is completed.
　制御ループが開始されると、中央制御装置６０は、垂直多関節ロボット１０の時刻ｔにおけるエンコーダ値ＥＲ（ｔ）と、ＸＹＺロボット４０の時刻ｔにおけるエンコーダ値ＥＳ（ｔ）とを取得する。そして、中央制御装置６０は、これらのエンコーダ値ＥＲ（ｔ），ＥＳ（ｔ）に基づいて、垂直多関節ロボット１０の時刻ｔにおける現在位置Ｒ（ｔ）と、ＸＹＺロボット４０の時刻ｔにおける現在位置Ｓ（ｔ）とを計算する（Ｓ１４０）。 When the control loop is started, the central control device 60 acquires the encoder value E R (t) of the vertical articulated robot 10 at time t and the encoder value E S (t) of the XYZ robot 40 at time t. . Then, based on these encoder values E R (t) and E S (t), the central controller 60 calculates the current position R (t) of the vertical articulated robot 10 at time t and the time t of the XYZ robot 40 at time t. Is calculated (S140).
　次に、中央制御装置６０は、垂直多関節ロボット１０の時刻ｔにおける現在位置Ｒ（ｔ）に基づいて、第１のワーク５０の時刻ｔにおける現在位置ＰＷ１（ｔ）を計算する（Ｓ１５０）。 Next, the central controller 60 calculates the current position P W1 (t) of the first work 50 at time t based on the current position R (t) of the vertical articulated robot 10 at time t (S150). .
　中央制御装置６０は、垂直多関節ロボット１０の振動に起因する第１のワーク５０の補正量σV（t）を以下のように時刻ｔにおける第１のワーク５０の目標位置ＰｄＷ１（ｔ）と、第１のワーク５０の時刻ｔにおける現在位置ＰＷ１（ｔ）とから計算する（Ｓ１６０）。 The central controller 60 determines the correction amount σ V (t) of the first work 50 due to the vibration of the vertical articulated robot 10 as the target position P dW1 (t) of the first work 50 at time t as follows. And the current position P W1 (t) of the first work 50 at time t (S160).
σV（t）＝Ｐｄｗ１（ｔ）－ＰＷ１（ｔ） σ V (t) = P dw1 (t) −P W1 (t)
　中央制御装置６０は、垂直多関節ロボット１０の関節の現在角度より各関節のトルクτ（ｔ）を以下のように計算する（Ｓ１７０）。 The central controller 60 calculates the torque τ (t) of each joint from the current angle of the joint of the vertical articulated robot 10 as follows (S170).
Figure JPOXMLDOC01-appb-I000001
Figure JPOXMLDOC01-appb-I000001
　中央制御装置６０は、計算した各関節のトルクτ（ｔ）から各リンクのたわみ量δ（ｔ）を計算する（Ｓ１８０）。 The central controller 60 calculates the amount of deflection δ (t) of each link from the calculated torque τ (t) of each joint (S180).
　中央制御装置６０は、各リンクのたわみ量δ（ｔ）に起因する第１のワーク５０の補正量σｆ（ｔ）を計算する（Ｓ１９０）。 The central controller 60 calculates a correction amount σ f (t) of the first work 50 due to the deflection amount δ (t) of each link (S190).
　次に、中央制御装置６０は、ＸＹＺロボット４０の次の目標位置、つまり、時刻ｔ＋１における目標位置Ｓｄ（ｔ＋１）を、ＸＹＺロボット４０の時刻ｔにおける現在位置Ｓ（ｔ）と、振動に起因する第１のワーク５０の補正量σV（ｔ）と、たわみ量δ（ｔ）に起因する第１のワーク５０の補正量σｆ（ｔ）とに基づいて計算する（Ｓ２００）。つまり、ＸＹＺロボット４０の次の目標位置である時刻ｔ＋１における目標位置Ｓｄ（ｔ＋１）は以下のようになる。 Next, the central controller 60 determines the next target position of the XYZ robot 40, that is, the target position S d (t + 1) at the time t + 1, by the current position S (t) at the time t of the XYZ robot 40 and the vibration. The calculation is performed based on the correction amount σ V (t) of the first work 50 and the correction amount σ f (t) of the first work 50 caused by the deflection amount δ (t) (S200). That is, the target position S d (t + 1) at the time t + 1 which is the next target position of the XYZ robot 40 is as follows.
Ｓｄ（ｔ＋１）＝Ｓ（ｔ）＋σV（ｔ）＋σｆ（ｔ） S d (t + 1) = S (t) + σ V (t) + σ f (t)
　中央制御装置６０は、上述のようにして計算した第１のワーク５０を第２のワーク５１に挿入する軌道から、第１のワーク５０の次の目標位置、つまり時刻ｔ＋１における目標位置ＰｄＷ１（ｔ＋１）を求め、この第１のワーク５０の時刻ｔ＋１における目標位置PｄＷ１（ｔ＋１）から、垂直多関節ロボット１０の次の目標位置、つまり時刻ｔ＋１における目標位置Ｒｄ（ｔ＋１）を計算する（Ｓ２１０）。 The central controller 60 calculates the next target position of the first work 50, that is, the target position P dW1 (time t + 1) from the trajectory for inserting the first work 50 into the second work 51 calculated as described above. t + 1), and the next target position of the vertical articulated robot 10, that is, the target position R d (t + 1) at the time t + 1 is calculated from the target position P dW1 (t + 1) of the first work 50 at the time t + 1 ( S210).
　中央制御装置６０は、垂直多関節ロボット１０、およびＸＹＺロボット４０を、それぞれの次の目標位置、つまり時刻ｔ＋１における目標位置Ｒｄ（ｔ＋１），Ｓｄ（ｔ＋１）に移動させる（Ｓ２２０）。 The central controller 60 moves the vertical articulated robot 10 and the XYZ robot 40 to their respective next target positions, that is, the target positions R d (t + 1) and S d (t + 1) at time t + 1 (S220).
　中央制御装置６０は、時刻ｔが次の周期である時刻ｔ＋１になると（Ｓ２３０）、第１のワーク５０と第２のワーク５１との組み立てが完了するまで、ステップＳ１３０からステップＳ２４０までの制御ループを繰り返す。 When the time t reaches the next cycle time t + 1 (S230), the central control device 60 performs a control loop from step S130 to step S240 until the assembly of the first work 50 and the second work 51 is completed. repeat.
　そして、中央制御装置６０は、第１のワーク５０と第２のワーク５１との組み立てが完了すると、制御ループを終了し、処理を終了する。 Then, when the assembly of the first work 50 and the second work 51 is completed, the central control device 60 ends the control loop and ends the processing.
　以上のように、本実施形態の制御システム１は、垂直多関節ロボット１０およびＸＹＺロボット４０は、中央制御装置６０と産業用ネットワークであるＥｔｈｅｒＣＡＴにより通信可能に接続されて制御され、高速で動くことになる。このように高速で動いた場合には、振動等により垂直多関節ロボット１０の位置決めにずれが生じる。また、垂直多関節ロボット１０には、自重や手先の把持物体の重さにより、リンクにたわみが発生し、手先の位置決めに誤差が生じる。 As described above, in the control system 1 according to the present embodiment, the vertical articulated robot 10 and the XYZ robot 40 are connected and controlled by the central control device 60 and EtherCAT, which is an industrial network, to operate at high speed. become. When moving at such a high speed, the positioning of the vertical articulated robot 10 is shifted due to vibration or the like. Further, in the vertical articulated robot 10, the link bends due to its own weight or the weight of the object held by the hand, and an error occurs in the positioning of the hand.
　しかしながら、中央制御装置６０の位置決め調整部６１は、第２のワーク５１に第１のワーク５０を挿入するために、第１のワーク５０の軌道計算を行い、この軌道計算に基づいて、制御周期ごとの垂直多関節ロボット１０の目標位置と、振動やたわみに起因する現在位置との差を求める。そして、位置決め調整部６１は、この差を修正するように、ＸＹＺロボット４０の制御周期ごとの次の目標位置を設定する。このようにして、垂直多関節ロボット１０の位置決めの調整を行っている。 However, the positioning adjustment unit 61 of the central control device 60 calculates the trajectory of the first work 50 in order to insert the first work 50 into the second work 51, and performs the control cycle based on the trajectory calculation. The difference between the target position of the vertical articulated robot 10 and the current position caused by vibration or deflection is determined. Then, the positioning adjustment unit 61 sets the next target position for each control cycle of the XYZ robot 40 so as to correct this difference. In this way, the positioning of the vertical articulated robot 10 is adjusted.
　ＸＹＺロボット４０は、高速で動作させても高精度で動作可能なため、以上のような位置決めの調整が可能となっている。 The XYZ robot 40 can operate with high accuracy even when operated at high speed, so that the above positioning adjustment can be performed.
　したがって、本実施形態によれば、中央制御装置６０により、垂直多関節ロボット１０の位置決め誤差を、ＸＹＺロボット４０で補償するように、両者を同期させて制御することで、高速かつ高精度の電子部品等の組み立て作業を行うことができる。 Therefore, according to the present embodiment, the central control device 60 controls the two synchronously so that the positioning error of the vertical articulated robot 10 is compensated by the XYZ robot 40, thereby achieving high-speed and high-precision electronic control. Assembly work of parts and the like can be performed.
　また、垂直多関節ロボット１０の位置決め誤差の補償を、垂直多関節ロボット１０の動作中に動的に行うため、静的な補償しかしていなかった従来の方法に比べて、高精度な位置決め誤差の補償が可能である。 Further, since the positioning error of the vertical articulated robot 10 is dynamically compensated during the operation of the vertical articulated robot 10, a highly accurate positioning error can be obtained compared to the conventional method in which only static compensation is performed. Compensation is possible.
　（変形例）
　上述した実施形態においては、ステージ３０およびＸＹＺロボット４０を用いた態様について説明したが、ステージ３０およびＸＹＺロボット４０の代わりに、ＵＶＷステージと、Ｚ軸駆動機構を用いてもよい。 (Modification)
In the embodiment described above, the aspect using the stage 30 and the XYZ robot 40 has been described. However, instead of the stage 30 and the XYZ robot 40, a UVW stage and a Z-axis drive mechanism may be used.
　上述した実施形態においては、垂直多関節ロボット１０の位置、およびステージ３０の位置を計測する計測部として、エンコーダ１０ａ，９３ａ，９４ａ，９５ａを用いた態様について説明した。しかし、本発明は、このような態様に限定される訳ではなく、計測部としてカメラを用いることも可能である。 In the above-described embodiment, the mode in which the encoders 10a, 93a, 94a, and 95a are used as the measurement units that measure the position of the vertical articulated robot 10 and the position of the stage 30 has been described. However, the present invention is not limited to such an embodiment, and a camera can be used as the measuring unit.
　上述した実施形態においては、一例として、電子部品の組み立てを行う場合の制御について説明した。しかし、本発明は、このような態様に限定される訳ではなく、あらゆる部品の組み立て作業全般に適用可能である。 In the above-described embodiment, as an example, the control when assembling electronic components has been described. However, the present invention is not limited to such an embodiment, and is applicable to the assembling work of all parts in general.
　以上の実施形態は例示であり、この発明の範囲から離れることなく様々な変形が可能である。上述した複数の実施の形態は、それぞれ単独で成立し得るものであるが、実施の形態同士の組みあわせも可能である。また、異なる実施の形態の中の種々の特徴も、それぞれ単独で成立し得るものであるが、異なる実施の形態の中の特徴同士の組みあわせも可能である。 The above embodiments are merely examples, and various modifications can be made without departing from the scope of the present invention. Each of the above-described embodiments can be realized independently, but combinations of the embodiments are also possible. In addition, various features in different embodiments can also be independently realized, but combinations of features in different embodiments are also possible.
　１　　　制御システム
　１０　　垂直多関節ロボット
　１７　　ハンド
　２０　　カメラ
　３０　　ステージ
　４０　　ＸＹＺロボット
　５０　　第１のワーク
　５１　　第２のワーク
　６０　　中央制御装置
　１００　画像処理装置 Reference Signs List 1 control system 10 vertical articulated robot 17 hand 20 camera 30 stage 40 XYZ robot 50 first work 51 second work 60 central control device 100 image processing device

Claims (5)

  1. 　第１のワークを把持するロボットと、
    　第２のワークを支持する支持台と、
    　前記支持台を移動させる移動機構と、
    　前記ロボットの位置および前記支持台の位置を計測する計測部と、
    　前記ロボットおよび前記移動機構を制御する中央制御装置と、を備え、
    　前記中央制御装置は、
    　前記計測部により計測した前記ロボットおよび前記支持台の位置に基づいて、前記移動機構により前記支持台を移動させ、前記第１のワークの前記第２のワークに対する相対的な位置決めを調整する位置決め調整部を備える、
    　制御システム。     A robot for holding the first work,
    A support for supporting the second work;
    A moving mechanism for moving the support,
    A measuring unit for measuring the position of the robot and the position of the support table,
    A central control device for controlling the robot and the moving mechanism,
    The central control device includes:
    Positioning adjustment for moving the support base by the moving mechanism based on the positions of the robot and the support base measured by the measurement unit, and adjusting the relative positioning of the first work with respect to the second work. Part,
    Control system.
  2. 　前記ロボットおよび前記移動機構は、前記中央制御装置と産業用ネットワークにより通信可能に接続され、所定の制御周期により制御されており、
    　前記位置決め調整部は、前記位置決めの調整を、前記第２のワークに前記第１のワークを挿入するための前記第１のワークの軌道計算を行い、当該軌道計算に基づく前記制御周期ごとの前記ロボットの目標位置と現在位置との差を修正するように、前記移動機構の前記制御周期ごとの次の目標位置を設定することにより行う、
    請求項１に記載の制御システム。     The robot and the moving mechanism are communicably connected to the central control device via an industrial network, and are controlled by a predetermined control cycle,
    The positioning adjustment unit performs the positioning adjustment, calculates the trajectory of the first work for inserting the first work into the second work, and performs the trajectory calculation for each control cycle based on the trajectory calculation. Performing by setting a next target position for each control cycle of the moving mechanism so as to correct a difference between the target position and the current position of the robot,
    The control system according to claim 1.
  3. 　前記計測部は、前記ロボットおよび前記移動機構に備えられたエンコーダ、または、前記第１のワークあるいは前記第２のワークを撮影するカメラを備える、
    請求項１または請求項２に記載の制御システム。     The measuring unit includes an encoder provided in the robot and the moving mechanism, or a camera that photographs the first work or the second work.
    The control system according to claim 1 or 2.
  4. 　第１のワークを把持するロボットと、第２のワークを支持する支持台の移動機構とを制御する制御システムの制御方法であって、
    　前記ロボットの位置、および前記支持台の位置を計測部により計測するステップと、
    　前記計測部により計測した前記ロボットおよび前記支持台の位置に基づいて、前記移動機構により前記支持台を移動させ、前記第１のワークの前記第２のワークに対する相対的な位置決めを中央制御装置の位置決め調整部により調整するステップと、を備える、
    制御システムの制御方法。     A control method of a control system that controls a robot that grips a first work and a moving mechanism of a support table that supports the second work,
    Measuring the position of the robot, and the position of the support table by a measuring unit,
    Based on the positions of the robot and the support base measured by the measurement unit, the support mechanism is moved by the moving mechanism, and the relative positioning of the first work with respect to the second work is determined by a central control device. Adjusting by a positioning adjustment unit.
    Control system control method.
  5. 　第１のワークを把持するロボットと、第２のワークを支持する支持台の移動機構とを制御する制御システムのプログラムであって、コンピュータに、
    　前記ロボットの位置、および前記支持台の位置を計測部により計測するステップと、
    　前記計測部により計測した前記ロボットおよび前記支持台の位置に基づいて、前記移動機構により前記支持台を移動させ、前記第１のワークの前記第２のワークに対する相対的な位置決めを中央制御装置の位置決め調整部により調整するステップと、を実行させる、
    制御システムのプログラム。     A program for a control system that controls a robot that grips a first work and a moving mechanism of a support table that supports the second work.
    Measuring the position of the robot, and the position of the support table by a measuring unit,
    Based on the positions of the robot and the support base measured by the measurement unit, the support mechanism is moved by the moving mechanism, and the relative positioning of the first work with respect to the second work is determined by a central control device. Adjusting by a positioning adjustment unit; and
    Control system program.
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