WO2022054768A1 - ロボットシステム及びロボット動作の方法 - Google Patents
ロボットシステム及びロボット動作の方法 Download PDFInfo
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- WO2022054768A1 WO2022054768A1 PCT/JP2021/032712 JP2021032712W WO2022054768A1 WO 2022054768 A1 WO2022054768 A1 WO 2022054768A1 JP 2021032712 W JP2021032712 W JP 2021032712W WO 2022054768 A1 WO2022054768 A1 WO 2022054768A1
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- WIPO (PCT)
- Prior art keywords
- robot
- tool
- application processing
- user program
- processing work
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 77
- 230000008439 repair process Effects 0.000 claims abstract description 57
- 230000033001 locomotion Effects 0.000 claims description 12
- 239000011248 coating agent Substances 0.000 description 28
- 238000000576 coating method Methods 0.000 description 28
- 238000011084 recovery Methods 0.000 description 21
- 238000010586 diagram Methods 0.000 description 17
- 230000006870 function Effects 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 8
- 238000003466 welding Methods 0.000 description 7
- 230000007547 defect Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 239000003973 paint Substances 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 3
- 238000013500 data storage Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000003566 sealing material Substances 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4067—Restoring data or position after power failure or other interruption
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50108—Retract tool stepwise, same path, until safe boundary reached, then quick retract
-
- 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
- G05B2219/50—Machine tool, machine tool null till machine tool work handling
- G05B2219/50111—Retract tool along path, reengage along same path
Definitions
- the present disclosure relates to a robot system that performs application processing work while advancing a tool attached to the tip of the robot arm, and in particular, a robot system relating to resumption after interrupting application processing work while advancing the tool at the tip of the robot arm. And the method of robot operation.
- the application processing work such as application work and welding work by the robot is to perform the application processing work while advancing the tool or hand (EOAT: End of Arm Tooling) attached to the wrist part at the tip of the robot arm.
- EOAT End of Arm Tooling
- the application processing work after the interruption is performed from the position where the application processing work is interrupted.
- Patent Document 1 when the position where the application processing work by the EOAT (moving body) is interrupted and the current position where the EOAT (moving body) is actually stopped are different, the position is temporarily changed from the current position to the interrupted position. It is stated that after returning, the application processing work will be resumed from the interrupted position.
- Patent Document 1 the work of repairing the EOAT in which the trouble has occurred and the work area thereof are not considered. Therefore, if the EOAT in which the trouble occurs needs to be repaired, the repair work will be performed at the position where the EOAT (moving body) is stopped, but the position where the EOAT (moving body) is stopped will be repaired. It is not always a suitable position for. For example, an obstacle such as another device may approach the position where the EOAT (moving body) is stopped, and it may be impossible or extremely difficult to insert a repair tool for repair.
- the EOAT when the application processing work by EOAT is interrupted, the EOAT is temporarily moved from the stop position to the position for repair for repair, and then returned to the position where the application processing work was interrupted to perform the application processing work. It is conceivable to continue. This work is laborious and time-consuming to move the EOAT in and out without colliding with other obstacles when the EOAT is deep inside the work area.
- the recovery procedure in this case is as follows. (1) After stopping due to an error, the operator manually moves the EOAT of the robot using the manual operation panel. (2) After EOAT arrives at the repair station, repair the EOAT defect. (3) After the repair is completed, the operator moves the EOAT to the error position (processing interruption position) again using the manual operation panel. (4) After returning EOAT to the error position, the interrupted application processing (coating work) is restarted.
- the second method of the work of leaving EOAT once, repairing it, and returning it to its original position is the method using the Exit Path program.
- the previously taught "Exit Path" user program for exiting
- This is a method of temporarily moving the EXIT to the repair station of the EXIT.
- the recovery procedure in this case is as follows. (1) After stopping due to an error, the robot's EOAT is safely moved to the EOAT repair station by executing the "Exit Path" program taught in advance. (2) After EOAT arrives at the repair station, repair the EOAT defect. (3) After the repair is completed, the EOAT is moved to the vicinity of the error position (processing interruption position) by executing the "ReEnter” program taught in advance. (4) After returning EOAT to the error position, the interrupted processing (coating work) is restarted. (Note) Instead of teaching the ReEnter program in advance in (3) above, it is also possible to move the EOAT to the vicinity of the error position by executing the Exit Path program in the opposite direction.
- the third method of the work of leaving EOAT once, repairing it, and returning it to its original position is the method by the Fast Exit method.
- this is a user program of the application processing work by temporarily disabling the application processing work (coating work) after an error occurs in the application work by the robot and the EOAT in the robot is stopped.
- This is a method of moving EOAT out of the work area of application processing work and safely moving to the repair station of EOAT by executing to the end.
- the recovery procedure in this case is as follows. (1) After stopping due to an error, the application processing work is temporarily disabled, the user program of the application processing work (coating work) is continued, and the application processing work is once executed to the end. Then, the EOAT of the robot is safely moved to the EOAT repair station. (2) After EOAT arrives at the repair station, repair the EOAT defect. (3) After that, the user program of the application processing work is executed from the beginning with the application processing work disabled. (4) When the EOAT returns to the error position, the application processing work processing is re-enabled and the interrupted application processing work is restarted.
- the robot system and the robot operation method of the present disclosure are robot systems and robots that perform application processing work while advancing a tool attached to the tip of the robot arm along a desired trajectory by a user program.
- the method of operation regarding the restart processing after the application processing work is interrupted due to the occurrence of an error during the execution of the user program, the path recorded during the progress of the robot tool is traced in the reverse direction, and the tool is operated. After leaving the work area and removing the cause of the error, a robot system that can positively follow the path of the recorded tool to return to the point where the error occurred and then resume the application processing work by the interrupted user program. And the method of robot operation.
- the tool attached to the tip of the robot arm can be used as an application processing work area.
- the paint application processing work is illustrated as an application processing work by an industrial robot, but this is just an example, and other application processing work (for example, sealing material coating, plasma irradiation, laser welding). , Arc welding, spot welding, etc.). Further, in the following example, the tool attached to the tip of the robot arm is called "EOAT (End of Arm Tooling)".
- EOAT End of Arm Tooling
- FIG. 4 is a configuration diagram of a robot system common to each embodiment of the present disclosure.
- the robot 10 in the robot system shown in FIG. 4 is an articulated robot having a robot arm 11 composed of a plurality of joints.
- An EOAT 12 for applying paint to the work 30 is attached to the tip of the robot arm 11.
- the robot control device 20 controls a servomotor 14 (FIG. 6) built in each joint of the robot arm 11 of the robot 10, and a series of operation commands (teaching positions) taught in the user program.
- the robot arm 11 By operating the robot arm 11 so that the EOAT 12 moves at a predetermined speed along a curved locus that smoothly connects the EOAT 12, the EOAT 12 is moved at a predetermined speed along a predetermined curved locus on the work 30. Is performed by injecting a predetermined flow of paint at the moment when the robot reaches a predetermined position.
- the teaching position information of EOAT12 but also the information necessary for the application processing work such as the moving speed of EOAT12, the operation type (moving type such as a straight line, an arc or a spline curve), the paint ejection position, and the ejection flow rate are described. To.
- the robot system of FIG. 4 is provided with a repair station 40 for repairing the EOAT12 and removing the cause of the error when an error occurs during the execution of the user program due to the trouble of the EOAT12.
- the repair station 40 is provided outside the area required for the application work of the EOAT 12, and when an error occurs during the execution of the user program due to the trouble of the EOAT 12, the robot control device 20 has the area required for the application work of the EOAT 12. And then move to the repair station 40.
- various types of EOAT12 can be repaired according to the content of the trouble of EOAT12.
- FIG. 5 is a block diagram showing a signal exchange relationship between the robot control device 20 and the robot 10, and between each unit of the robot control device 20 and between each member of the robot 10 when controlling the robot operation.
- the robot control device 20 includes a processing unit (CPU) 21 composed of a microcomputer or the like, a storage unit 22 including memory members such as ROM and RAM, and a transmission / reception unit 23 for transmitting / receiving signals to / from the robot 10. And.
- CPU processing unit
- storage unit 22 including memory members such as ROM and RAM
- transmission / reception unit 23 for transmitting / receiving signals to / from the robot 10.
- the robot 10 includes a transmission / reception device 13 for transmitting / receiving signals to / from the robot control device, and a plurality of servomotors 14-1 and 14-2 built in each joint of the arm for moving the arm. .... 14-n is provided.
- the processing unit 21 controls the operation of the robot 10 so that the EOAT 12 at the tip of the robot arm 11 can draw a predetermined locus according to a user program to perform coating work or move along the recorded locus.
- the robot motion control unit 211 and the user program are interrupted due to an error during execution of the user program, for example, it is determined whether or not the error occurrence point exceeds a predetermined reference point.
- An error occurrence position for recognizing an error occurrence point and a determination unit 212 for an error stop position are provided.
- the processing unit 21 receives signals from the servomotors 14-1, 14-2, ... 14-n of the robot 10 via the transmission / reception device 13 of the robot 10 and the transmission / reception unit 23 of the robot control device 20.
- the EOAT position calculation unit 213 is also provided for acquiring and calculating the position of the EOAT 12.
- the storage unit 22 of the robot control device 20 stores existing setting data such as a user program and teaching data for applying while the EOAT 12 of the robot 10 draws a desired trajectory and moves.
- a unit 221 and a route recording unit 222 for recording the route followed by the EOAT 12 during execution of the user program are provided.
- a plurality of servomotors 14-1, 14-2 ... 14-n are rotated according to a command signal received from the robot control device 20, and the EOAT position calculation unit 213 of the robot control device 20 causes the robot 10 to rotate a plurality of servomotors 14-1, 14-2 ... 14-n.
- Position data for each specific cycle of EOAT12 is calculated from the actual rotation speed data of each servomotor detected in each servomotor 14-1, 14-2 ... 14-n in a specific cycle, and for each specific cycle. It is stored in the route recording unit 222 of the storage unit 22 as the data of the EOAT position.
- the method of calculating the EOAT position is not a matter related to the essence of the present disclosure, and in the present embodiment, the EOAT position is calculated from the data of the actual rotation speeds of each servomotor. It may be obtained from the data detected by the EOAT detection device (camera or the like) placed in a specific place.
- the robot motion control unit 211 in the processing unit 21 of the robot control device 20 includes data such as a user program read from the existing setting data storage unit 221 of the storage unit 22 and a route fed back from the robot 10 and stored in the route recording unit 222. Based on the recorded data and the like, command signals for a plurality of servomotors 14-1, 14-2 ... 14-n of the robot 10 are created, and each servomotor is generated through the transmission / reception unit 23 and the transmission / reception device 13. 14-1, 14-2 . A command signal is sent to 14-n to control the operation of the robot 10 and cause the EOAT 12 to perform the coating work.
- the error occurrence point determination unit 212 of the processing unit 21 reads from the existing setting data storage unit 221. Based on the data such as the program and the route recording data stored in the route recording unit 222, it is determined whether or not the error occurrence point exceeds a predetermined reference point.
- the first function required to perform resumption after the coating work is interrupted is the robot EOAT12 at regular intervals from a specified position in the user program during execution of the user program, as shown in the schematic diagram of FIG. This is a function to record the current position.
- the timing to start recording can be specified in the user program, and the position recording process can be interrupted / restarted in the user program as needed. ..
- the second function required for resuming after the application work is interrupted is the function that allows the resumption position of the application work to be finely adjusted back and forth. This is required so that when the coating operation is resumed, there is no blank or overlapping area between the already coated area and the area applied by the resumption.
- the third function required to perform resumption after the application work is interrupted is that the height position of the EOAT12 can be finely adjusted up and down from the time the application work is interrupted to the time of resumption, and immediately after the application work is resumed. It is a function that can cancel the fine adjustment and return to the height of the original teaching position. This is necessary so that the movement of the EOAT 12 does not damage the already coated portion.
- FIG. 9 is a schematic diagram for explaining the first embodiment as a method of restarting after the coating work is interrupted.
- the route recorded at the time of executing the user program is traced back to the position where the position recording is started, and the position is recorded again after the repair.
- the user program that has been interrupted is restarted from the error stop position by following the route in the forward direction and returning to the error stop position.
- the processing procedure of this embodiment is as follows, as shown in FIG. (1) During execution of the user program, the position of EOAT12 is recorded in the buffer area (route recording unit 222 in FIG. 5) at specific cycles. (2) After the interruption due to the occurrence of an error, the robot motion control unit 211 separately stores the position where the robot arm 11 has stopped as an "error stop position". At the same time, the robot motion control unit 211 saves the program execution context (variable value, execution step number, subprogram call nesting status, motion plan information, etc.) so that the interrupted user program can be restarted later.
- the program execution context variable value, execution step number, subprogram call nesting status, motion plan information, etc.
- the "backward exit" command is automatically executed by an external command, and the EOAT 12 recorded in the buffer area (route recording unit 222 in FIG. 5) The position is traced in the reverse direction, and the EOAT 12 is moved to the position (home position) where the position recording is started.
- the EOAT12 is repaired manually by the operator or by executing the repair program created by the user. In this case, the operation of manually moving (joging) the EOAT 12 or moving it by the repair program is also included. After fixing the problem of EOAT12, return it to the home position.
- FIG. 10 is a schematic diagram for explaining a second embodiment as a method of restarting after the coating work is interrupted.
- the second method is to exit the application by an external command or automatically by following the route recorded at the time of executing the user program after the interruption due to the occurrence of an error, and after the repair.
- the processing work (coating work) is disabled, the user program is executed from the beginning, and when the error occurrence position is returned, the application processing work is enabled and the application processing work is restarted.
- the processing procedure of this second embodiment is as follows, as shown in FIG. (1) During execution of the user program, the position of EOAT12 is recorded in the buffer area (route recording unit 222 in FIG. 5) at specific cycles. (2) Unlike the first embodiment, it is not necessary to memorize the "error stop position" of the robot arm 11 or the execution context of the user program after the interruption due to the occurrence of an error, but the "error occurrence position" at the moment when the error occurs. Remember. After the user program is interrupted, in order to safely exit the EOAT 12 from the work area, a "backward exit” command is executed, the recorded position of the EOAT 12 is traced in reverse, and the EOAT 12 is moved to the home position. (3) Correct the defect of EOAT12.
- the EOAT12 is repaired manually by the operator or by executing the repair program created by the user. In this case, the operation of manually moving (joging) the EOAT 12 or moving it by the repair program is also included. After fixing the problem of EOAT12, return it to the home position. (4) After that, the application processing work (coating work) is temporarily disabled, and the user program is started from the beginning. (5) At the moment when the EOAT12 returns to the error occurrence position, the application processing work is set to be valid again, and the interrupted application processing work is restarted. (At this time, it is not always necessary to pause / restart the user program, and it is possible to restart the application processing without stopping the operation of the robot arm 11).
- the third embodiment as a method of restarting after the application work is interrupted is a combination of the second embodiment shown in FIG. 10 and the third conventional example shown in FIG. 3, and the error occurrence position is in the user program.
- the second embodiment shown in FIG. 10 is adopted, and when the error occurrence position exceeds the reference position, the third conventional example shown in FIG. 3 is adopted. .. That is, when the recovery process is started by an external command or automatically, if the error occurrence position does not exceed the reference position, the user program exits by following the route recorded at the time of execution. , If the error occurrence position exceeds the reference position, the application processing work is temporarily disabled, the user program is executed until the end, and the user program is exited. After the repair, the application processing work (coating work) is temporarily disabled. The user program is executed from the beginning in the state of being set to, and the application processing work is enabled and restarted at the moment when the error occurrence position is returned.
- the processing procedure of this third embodiment is as follows. (1) During execution of the user program, the position of EOAT12 is recorded in the buffer area (route recording unit 222 in FIG. 5) at specific cycles. (2) It is determined whether or not the error occurrence position exceeds a predetermined reference point indicated in the user program at the time of interruption due to the occurrence of an error. (3) When the error occurrence position does not exceed the predetermined reference point, the "backward exit" command is executed in order to safely exit the EOAT12 from the work area, as in the second embodiment shown in FIG. Then, the recorded position of the EOAT12 is traced in the reverse direction, and the EOAT12 is moved to the home position.
- step St12 the procedure of the operation of restarting after the interruption of the application processing work (coating work) of the first embodiment is shown in the flow chart of FIG.
- step St13 the procedure of the operation of restarting after the interruption of the application processing work (coating work) of the first embodiment is shown in the flow chart of FIG.
- the user program is executed and the application processing work is started.
- the path point of the tool (EOAT12) at the tip of the robot arm is recorded at specific cycles (step St11).
- step St12 it is determined whether or not the execution of the user program is completed. If the execution of the user program is completed (YES in step St12), this flow ends. If the execution of the user program is not completed (NO in step St12), then it is determined whether or not the application processing work is interrupted due to an error (step St13).
- step St13 If the application processing work is not interrupted due to an error (NO in step St13), the process returns to step St11 and the user program is continued to complete the execution of the user program, or an event of interruption due to an error occurs. Wait for If the application processing work is interrupted due to an error (YES in step St13), then the error stop position is recorded (step St14).
- the recorded path point is traced in the reverse direction, the tool (EOAT12) is moved out from the work area of the application processing work to the home position (step St15-1), and then moved to the repair station 40 (step St15-2). .. Then, after repairing the tool (EOAT12) and removing the cause of the error, the tool (EOAT12) is moved to the home position (step St16).
- each recorded path point is traced in the forward direction, and the tool (EOAT12) is moved toward the error stop position (step St17). Then, it is determined whether or not the tool (EOAT12) has arrived at the last recorded point (step St18). If it has not arrived at the last recorded point (NO in step St18), it returns to step St17 and waits for it to reach the last recorded point. If the last recorded point has been reached (YES in step St18), the tool is moved to the error stop position (step St19). Then, the interrupted user program is restarted from the error stop position to restart the application processing work (step St20). Then, the application processing work is completed and this flow ends.
- step St20 the process returns to step St11, and the loop from step St11 to step St20 is repeated until YES is obtained in St12, that is, until the execution of the user program is completed.
- a similar loop is required not only in the flow diagram of FIG. 11 but also in the flow diagrams of FIGS. 12 and 13 described later, and the flow diagram becomes complicated and difficult to understand. Therefore, in FIGS. 11 to 13, the above loop is omitted and the diagram is taken to end after the last step. In FIGS. 12 and 13, a supplementary explanation regarding the omission of a similar loop will be omitted.
- step St21 the path point of the tool (EOAT12) at the tip of the robot arm is recorded at specific cycles (step St21). ).
- step St22 it is determined whether or not the execution of the user program is completed. If the execution of the user program is completed (YES in step St22), this flow ends. If the execution of the user program is not completed (NO in step St22), then it is determined whether or not the application processing work is interrupted due to an error (step St23).
- step St23 If the application processing work is not interrupted due to an error (NO in step St23), the process returns to step St21 and the user program is continued to complete the execution of the user program, or an event of interruption due to an error occurs. Wait for If the application processing work is interrupted due to an error (YES in step St23), then the error occurrence position where the error occurred and the application processing work was interrupted is recorded (step St24).
- step St25-1 move the tool (EOAT12) out of the work area of the application processing work (step St25-1), and move it to the repair station 40 (step St25-2). Then, after repairing the tool (EOAT12) and removing the cause of the error, the tool (EOAT12) is moved to the home position (step St26).
- Step St27 it is determined whether or not the tool (EOAT12) has arrived at the error occurrence position (step St28). If the error occurrence position has not been reached (NO in step St28), the process returns to step St27 and waits for the error occurrence position to be reached. If it has arrived at the error occurrence position (YES in step St28), the application processing work is enabled from the error occurrence position at that moment, the user program is continued, and the application processing work is restarted (step St29). Then, the application processing work is completed and this flow ends.
- step St301 the procedure of the operation of restarting after the interruption of the application processing work (coating work) of the third embodiment is shown in the flow chart of FIG.
- the user program is executed and the application processing work is started.
- the path point of the tool (EOAT12) at the tip of the robot arm is recorded for each specific cycle (step St301). ).
- step St302 it is determined whether or not the execution of the user program is completed. If the execution of the user program is completed (YES in step St302), this flow ends. If the execution of the user program is not completed (NO in step St302), then it is determined whether or not the application processing work is interrupted due to an error (step St303).
- step St303 If the application processing work is not interrupted due to an error (NO in step St303), the process returns to step St301 and the user program is continued to complete the execution of the user program, or an event of interruption due to an error occurs. Wait for If the application processing work is interrupted due to an error (YES in step St303), then the error occurrence position where the error occurred and the application processing work was interrupted is recorded (step St304).
- step St305 it is determined whether or not the error occurrence position exceeds a predetermined reference point. If the error occurrence position does not exceed the predetermined reference point (NO in step St305), the recorded path point is traced in reverse, the tool (EOAT12) is exited from the work area of the application processing work, and the tool (EOAT12) is returned to the home position. (Step St306-1), move to the repair station 40 (step St306-2). Then, after repairing the tool (EOAT12) and removing the cause of the error, the tool (EOAT12) is moved to the home position (step St308).
- step St305 If the error occurrence position exceeds the predetermined reference point (YES in step St305), the application processing work is disabled from the error occurrence position, the user program is restarted, and the user program is executed to the end. Execute, move the tool (EOAT12) out of the work area of the application processing work, return it to the home position (step St307-1), and move it to the repair station 40 (step St307-2). Then, after repairing the tool (EOAT12) and removing the cause of the error, the tool (EOAT12) is moved to the home position (step St308).
- step St310 it is determined whether or not the tool (EOAT12) has arrived at the error occurrence position (step St310). If the error occurrence position has not been reached (NO in step St310), the process returns to step St309 and waits for the error occurrence position to be reached. If it has arrived at the error occurrence position (YES in step St310), the application processing work is enabled from the error occurrence position at that moment, the user program is continued, and the application processing work is restarted (step St311). Then, the application processing work is completed and this flow ends.
- the tool when the tool is returned to the error stop position along the recording point, strictly speaking, the tool returns to the last recording point, not the error stop position. After an error occurs, the tool continues to progress due to the inertia of the tool even after the application processing work is interrupted, and the error stop position and the last recording point may differ. It is necessary to return to the stop position after the processing work is interrupted, that is, the error stop position.
- the tool returns to the error occurrence position by executing the user program in which the application processing work is invalidated, so that the tool passes the error occurrence position accurately.
- the error occurrence position when the error occurrence position is a position close to the end position in the entire progress path of the tool by executing the user program, the return path for exiting the tool becomes long. It has the drawback of being stolen. In other words, if the error occurrence position is close to the end position in the entire travel path of the tool by executing the user program, it is faster to exit the remaining route to the end than to return to the route that has already traveled. can.
- the third embodiment depending on the position where the error occurs, it is possible to use the method of returning and exiting the route that has been advanced and the process of exiting the remaining route to the end, and the first and second embodiments can be used. It can be said that the drawbacks of the embodiment have been overcome.
- the present invention is not limited to these embodiments and can be implemented in various embodiments without departing from the spirit of the present invention.
- the content of the application processing work is not limited to the application of paint, but also includes the application of adhesives and sealing materials, as well as various surface treatments, pressing / injection work, plasma irradiation, laser welding, arc welding, etc. It can also be applied to spot welding.
- a method of periodically recording the current position of the robot when the user program is executed has been described.
- the executed teaching numbers (or line numbers) in the user program are stored in the execution order. It is also possible to move the robot in the opposite direction by other methods such as the method.
- This method has the advantage of requiring less storage capacity, but on the other hand, the operation format (straight line interpolation, each axis interpolation, arc interpolation, etc.) and operation speed are such that the robot trajectory is similar to the trajectory at the time of the original forward execution. It is necessary to carry out more carefully, such as considering such things as when moving forward.
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Abstract
Description
(1)エラーによる停止後、操作者は手動操作盤を使ってロボットのEOATを手動で移動させる。
(2)EOATが修理ステーションに到着した後、EOATの不具合を修理する。
(3)修理の完了後、操作者は再び手動操作盤を使ってEOATをエラー位置(処理の中断位置)まで移動させる。
(4)エラー位置にEOATを戻した後、中断していたアプリ処理(塗布作業)を再開させる。
(1)エラーによる停止後、予め教示していた「Exit Path」プログラムを実行することにより、ロボットのEOATを安全にEOAT修理ステーションまで移動させる。
(2)EOATが修理ステーションに到着した後、EOATの不具合を修理する。
(3)修理の完了後、予め教示していた「ReEnter」プログラムを実行することにより、EOATをエラー位置(処理の中断位置)近傍まで移動させる。
(4)エラー位置にEOATを戻した後、中断していた処理(塗布作業)を再開させる。
(注)上記(3)においてReEnterプログラムを予め教示しておく代わりに、Exit Pathプログラムを逆向きに実行する事でEOATをエラー位置近傍まで移動させることも可能である。
(1)エラーによる停止後、アプリ処理作業を一時的に無効に設定し、アプリ処理作業(塗布作業)のユーザプログラムを続行させて、一旦最後まで実行する。そして、ロボットのEOATを安全にEOAT修理ステーションまで移動させる。
(2)EOATが修理ステーションに到着した後、EOATの不具合を修理する。
(3)その後、アプリ処理作業を無効に設定したまま、アプリ処理作業のユーザプログラムを最初から実行する。
(4)EOATがエラー位置に戻った時点で、アプリ処理作業処理を有効に設定し直し、中断されていたアプリ処理作業を再開する。
また、距離Dが小さくても、前回の記録点から現在位置までの距離Eがある限度以上になった時点で、現在位置を記録する方法と組合わせることも検討に値する。
(1)ユーザプログラム実行中、EOAT12の位置を、特定の周期ごとにバッファ領域(図5の経路記録部222)に記録する。
(2)エラー発生による中断後、ロボット動作制御部211はロボットアーム11が停止した位置を「エラー停止位置」として別途記憶しておく。同時に、ロボット動作制御部211は中断したユーザプログラムを後に再開できるようプログラム実行のコンテキスト(変数の値、実行ステップ番号、サブプログラム呼出しネスティング状況、動作プラン情報、等)を保存しておく。その後、EOAT12を作業領域から安全に退出させるため、外部からの指令により、または自動的に「後進退出」命令を実行し、バッファ領域(図5の経路記録部222)に記録されていたEOAT12の位置を逆にたどり、位置記録を開始した位置(ホーム位置)までEOAT12を移動させる。
(3)EOAT12の不具合を修正する。操作者が手動で、又は、ユーザが作成した修理プログラムを実行することにより、EOAT12を修理する。この際においては、EOAT12を手動で移動(ジョグ)したり、修理プログラムにより移動したりする操作も含まれる。EOAT12の不具合の修正後、ホーム位置まで戻しておく。
(4)EOAT12をエラー停止位置に戻すために、「前進再進入」命令を実行し、バッファ領域(図5の経路記録部222)に記録された位置を正方向にたどって、EOAT12をホーム位置からエラー停止位置に向けて移動させる。このとき、EOAT12が戻るのは、厳密には、エラー停止位置ではなく、バッファ領域に記録されている最終位置である。
(5)中断中のユーザプログラムの実行前に、「停止位置復帰機能」を使ってEOAT12を正確にエラー発生後に記憶しておいた「エラー停止位置」に戻す。
(6)厳密な「エラー停止位置」から、保存されていた実行コンテキストに基づいて中断されていたユーザプログラムを再起動し、アプリ処理作業(塗布作業)を再開する。
上記の一連のエラー回復のための操作は操作者によって行われるか、外部PLCなどの起動装置によって行われるか、またはロボット動作制御部211によって自動的に行われるかは(さまざまな方法が検討できるが)本発明では問わない。
(1)ユーザプログラム実行中、EOAT12の位置を、特定の周期ごとにバッファ領域(図5の経路記録部222)に記録する。
(2)1つめの実施形態と異なり、エラー発生による中断後にロボットアーム11の「エラー停止位置」やユーザプログラムの実行コンテキストを記憶する必要はないが、エラーが発生した瞬間の「エラー発生位置」を記憶しておく。ユーザプログラム中断後、EOAT12を作業領域から安全に退出させるため、「後進退出」命令を実行し、記録されていたEOAT12の位置を逆にたどり、ホーム位置までEOAT12を移動させる。
(3)EOAT12の不具合を修正する。操作者が手動で、又は、ユーザが作成した修理プログラムを実行することにより、EOAT12を修理する。この際においては、EOAT12を手動で移動(ジョグ)したり、修理プログラムにより移動したりする操作も含まれる。EOAT12の不具合の修正後、ホーム位置まで戻しておく。
(4)その後、アプリ処理作業(塗布作業)を一時的に無効にして、ユーザプログラムを初めから起動する。
(5)EOAT12がエラー発生位置に戻った瞬間に、アプリ処理作業を再度有効に設定して、中断していたアプリ処理作業を再開させる。(この時、必ずしもユーザプログラムを一時停止・再開する必要はなく、ロボットアーム11の動作を停止することなくアプリ処理を再開する事も可能である)
(1)ユーザプログラム実行中、EOAT12の位置を、特定の周期ごとにバッファ領域(図5の経路記録部222)に記録する。
(2)エラー発生による中断時に、エラー発生位置がユーザプログラム内に示される所定の基準点を超えているか否かを判定する。
(3)エラー発生位置が所定の基準点を超えていない場合には、図10に示す2つめの実施形態と同様に、EOAT12を作業領域から安全に退出させるため、「後進退出」命令を実行し、記録されていたEOAT12の位置を逆にたどり、ホーム位置までEOAT12を移動させる。
(4)エラー発生位置が所定の基準点を超えた位置である場合には、図3に示す3つめの従来例と同様に、アプリ処理作業を一時的に無効にして最後までユーザプログラムを実行して、EOAT12を安全に退出させ、ホーム位置までEOAT12を移動させる。
(5)EOAT12の不具合を修正する。操作者が手動で、又は、ユーザが作成した修理プログラムを実行することにより、EOAT12を修理する。この際においては、EOAT12を手動で移動(ジョグ)したり、修理プログラムにより移動したりする操作も含まれる。EOAT12の不具合の修正後、ホーム位置まで戻しておく。
(6)その後、アプリ処理作業(塗布作業)を一時的に無効にして、ユーザプログラムを初めから起動する。
(7)EOAT12がエラー発生位置に戻った瞬間に、アプリ処理作業を再度有効に設定して、中断していたアプリ処理作業を再開させる。
11 … ロボットアーム
12 … EOAT(ツール)
13 … ロボットの送受信装置
14-1~14-n … サーボモータ
15 … EOAT位置算出部
20 … ロボット制御装置
21 … 処理ユニット(CPU)
211 …ロボット動作制御部
212 …エラー発生位置(エラー停止位置)判定部
22 … 記憶ユニット
221 …既存設定データ記憶部
222 …経路記録部
23 … ロボット制御装置の送受信ユニット
30 … ワーク
40 … 修理ステーション(エラー原因修理部)
Claims (10)
- ユーザプログラムによりロボットアーム先端に取り付けられたツールを所望の軌跡に沿って進行させながらアプリ処理作業を行うロボットシステムであって、
ユーザプログラムの実行によるロボットのツールの進行中に経路を記録する経路記録部と、
ロボットにユーザプログラムを実行させ、ユーザプログラムの実行中にエラーが発生し、前記アプリ処理作業が中断されたとき、ロボットのツールの進行中に記録しておいた経路を逆向きにたどり、ツールを作業領域から退出させ、ユーザにエラー原因を修理させる機会を提供し、エラー原因が取り除かれた後に、前記の記録しておいたツールの経路を前向きにたどってエラー発生点まで戻ってから、中断されたユーザプログラムによるアプリ処理作業を再開させるロボット動作制御部と、
を備えるロボットシステム。 - ユーザプログラムによりロボットアーム先端に取り付けられたツールを所望の軌跡に沿って進行させながらアプリ処理作業を行うロボットシステムであって、
ユーザプログラムの実行によるロボットのツールの進行中に経路を記録する経路記録部と、
ロボットのツールにユーザプログラムを実行させ、ユーザプログラムの実行中にエラーが発生し、前記アプリ処理作業が中断されたとき、ロボットのツールの進行中に記録しておいた経路を逆向きにたどり、ツールを作業領域から退出させ、ユーザにエラー原因を修理させる機会を提供し、エラー原因が取り除かれた後においては、一時的に、前記アプリ処理作業を無効にしてユーザプログラムを最初から実行し、ツールが再びエラー発生点に到達した時点で前記アプリ処理作業を有効にして中断されたユーザプログラムによるアプリ処理作業を再開させるロボット動作制御部と、
を備えるロボットシステム。 - ユーザプログラムによりロボットアーム先端に取り付けられたツールを所望の軌跡に沿って進行させながらアプリ処理作業を行うロボットシステムであって、
ユーザプログラムの実行によるロボットのツールの進行中に経路を記録する経路記録部と、
ユーザプログラム実行中のエラー発生により前記アプリ処理作業が中断されたとき、エラー発生位置が前記所望の軌跡における所定の基準位置を超えていない位置であるか否かを判定するエラー発生位置判定部と、
ロボットのツールにユーザプログラムを実行させ、ユーザプログラムの実行中にエラーが発生し、前記アプリ処理作業が中断されたとき、エラー発生点が前記所望の軌跡における所定の基準点を超えていない地点である場合には、ロボットのツールの進行中に記録しておいた経路を逆向きにたどり、ツールを作業領域から退出させ、また、エラー発生点が前記所望の軌跡における所定の基準点を超えた地点である場合には、前記アプリ処理作業を無効にした状態でユーザプログラムを最後まで実行することによりツールを作業領域から退出させるとともに、ユーザにエラー原因を修理させる機会を提供し、エラー原因が取り除かれた後においては、アプリ処理作業を無効にして、エラー原因が取り除かれたツールによってユーザプログラムを最初から実行し、ツールが再びエラー発生点に到達した時点で前記アプリ処理作業を有効にして中断されたユーザプログラムによるアプリ処理作業を再開させるロボット動作制御部と、
を備えるロボットシステム。 - アプリ処理作業の再開の位置は、前後に微調整することができる請求項1~3のいずれかのロボットシステム。
- エラー発生後アプリ処理作業を再開するまでの間であって、経路を逆向きにたどっている間及び経路を前向きにたどっている間において、ツールの高さの位置を上下に微調整することができ、アプリ処理作業を再開するときに元の教示位置の高さに戻ることができる請求項1~4のいずれかのロボットシステム。
- ユーザプログラムによりロボットアーム先端に取り付けられたツールを所望の軌跡に沿って進行させながらアプリ処理作業を行うロボットの動作方法であって、
ユーザプログラムの実行によるロボットのツールの進行中に経路を記録するステップと、
ユーザプログラム実行中のエラー発生により前記アプリ処理作業が中断されたとき、ロボットのツールの進行中に記録しておいた経路を逆向きにたどり、ツールを作業領域から退出させ、修理ステーションに移動させるステップと、
修理ステーションにおいてエラー原因を取り除くステップ、
エラー原因が取り除かれたツールが、前記の記録しておいたツールの経路を前向きにたどってエラー発生点まで戻ってから中断されたユーザプログラムによるアプリ処理作業を再開するステップと、
を含むロボットの動作方法。 - ユーザプログラムによりロボットアーム先端に取り付けられたツールを所望の軌跡に沿って進行させながらアプリ処理作業を行うロボットの動作方法であって、
ユーザプログラムの実行によるロボットのツールの進行中に経路を記録するステップと、
ユーザプログラム実行中のエラー発生により前記アプリ処理作業が中断されたとき、ロボットのツールの進行中に記録しておいた経路を逆向きにたどり、ツールを作業領域から退出させ、修理ステーションに移動させるステップと、
修理ステーションにおいてエラー原因を取り除くステップと、
一旦、前記アプリ処理作業を無効にして、エラー原因が取り除かれたツールによってユーザプログラムを最初から実行し、ツールが再びエラー発生点に到達した時点で前記アプリ処理作業を有効にして中断されたユーザプログラムによるアプリ処理作業を再開するステップと、
を含むロボットの動作方法。 - ユーザプログラムによりロボットアーム先端に取り付けられたツールを所望の軌跡に沿って進行させながらアプリ処理作業を行うロボットの動作方法であって、
ユーザプログラムの実行によるロボットのツールの進行中に経路を記録するステップと、
ユーザプログラム実行中のエラー発生により前記アプリ処理作業が中断されたとき、エラー発生点が前記所望の軌跡における所定の基準点を超えていない地点であるか否かを判定するステップと、
エラー発生点が前記所望の軌跡における所定の基準点を超えていない地点である場合には、ロボットのツールの進行中に記録しておいた経路を逆向きにたどり、ツールを作業領域から退出させ、
エラー発生点が前記所望の軌跡における所定の基準点を超えた地点である場合には、前記アプリ処理作業を無効にした状態でユーザプログラムを最後まで実行することによりツールを作業領域から退出させ、修理ステーションに移動させるステップと、
修理ステーションにおいてエラー原因を取り除くステップと、
アプリ処理作業を無効にして、エラー原因が取り除かれてツールによってユーザプログラムを最初から実行し、ツールが再びエラー発生点に到達した時点で前記アプリ処理作業を有効にして中断されたユーザプログラムによるアプリ処理作業を再開するステップと、
を含むロボットの動作方法。 - アプリ処理作業の再開の位置は、前後に微調整することができる請求項6~8のいずれかのロボットの動作方法。
- エラー発生後アプリ処理作業を再開するまでの間であって、経路を逆向きにたどっている間及び経路を前向きにたどっている間において、ツールの高さの位置を上下に微調整することができ、アプリ処理作業を再開するときに元の教示位置の高さに戻ることができる請求項6~9のいずれかのロボットの動作方法。
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WO2019111413A1 (ja) * | 2017-12-08 | 2019-06-13 | 株式会社Fuji | 制御装置、ワーク作業装置、ワーク作業システム及び制御方法 |
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JPH0647547A (ja) * | 1992-07-28 | 1994-02-22 | Yaskawa Electric Corp | アーク溶接ロボットの制御方法及び装置 |
JPH06102917A (ja) * | 1992-09-17 | 1994-04-15 | Fanuc Ltd | 安全経路による基準点復帰機能を持つロボットコントローラ |
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JP2006012074A (ja) * | 2004-06-29 | 2006-01-12 | Fanuc Ltd | ロボットの待機位置復帰プログラム作成装置 |
US20120265338A1 (en) * | 2011-04-18 | 2012-10-18 | Kuka Roboter Gmbh | Method And Apparatus For Driving A Robot Arrangement |
WO2019111413A1 (ja) * | 2017-12-08 | 2019-06-13 | 株式会社Fuji | 制御装置、ワーク作業装置、ワーク作業システム及び制御方法 |
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JPWO2022054768A1 (ja) | 2022-03-17 |
CN116507457A (zh) | 2023-07-28 |
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