JPH03136783A - Industrial robot and its control method - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an industrial robot and a method for controlling the same, and more particularly to an industrial robot configured to facilitate teaching operations and a method thereof.

2. Description of the Related Art Conventional industrial robots include, for example, a painting robot that is an articulated robot with a paint gun attached to it. In this painting robot, teaching data is input in advance to a control device that controls the operation of the robot, and when a workpiece is transported to a painting position, a predetermined painting operation is executed based on the teaching data.

In this type of painting robot, for example, in the painting process, the paint gun performs spray-on operations such as dumping or trial spraying just as the paint is being sprayed, so the robot has an explosion-proof exterior that can be used even in hazardous areas in the painting atmosphere. Provide a structure operating switch and operate this switch or in a non-hazardous location! (By operating the 1tll board, spray-on was performed for the above-mentioned waste spray and trial spray. Also, in addition to this spray-on, there are control modes such as teaching, regeneration, and correction, and charge is applied to the paint.) There are painting operation modes such as applying static electricity on/off, paint discharge amount, spray atomization pressure, etc. Setting and switching of each of these modes requires operating various operation switches provided on the IIJtll panel. It was carried out by

Problems to be Solved by the Invention However, in the conventional industrial robot described above, the switching operation between the painting operation mode and the control mode is performed by a teaching operator who grasps the grip at the end of the arm and moves the rotating base of the painting robot. .

The teaching operation is complicated because the operation of each movable part such as the column, arm, and wrist mechanism must be taught while changing the mode using the operation switch, which not only takes too much time but also can lead to operational errors. There were issues such as gender. Furthermore, when the operation switch is installed in the painting atmosphere as described above, the switch itself must be constructed to be explosion-proof to ensure safety, and there is also the problem that additional costs are required for installing the switch. Also, control it in non-hazardous areas! 1, the operator is separated from the robot, requiring a distance of 2 Å or more, making it difficult to save labor.

Therefore, an object of the present invention is to provide an industrial robot and a TSM method thereof that solve the above problems.

Means for Solving the Problems 1 The present invention comprises mode switching means for switching modes when the movable part is taught to move in a manner different from the previous operating process during a teaching operation. .

2. The mode switching means performs mode switching when a peculiar operation of the movable part is detected by the detection means for detecting the operating position of the movable part.

a The industrial robot is an articulated robot that combines a plurality of movable parts, and the mode switching means detects that at least one movable part among the plurality of movable parts makes a peculiar operation, and Switch to the mode that corresponds to the operation.

4. A working jig is provided at the tip of the movable part, and the mode switching means switches the operating mode of the working jig when the movable part performs a peculiar operation.

5. In the control method of the present invention, during a teaching operation, the movable part is made to move differently than before, and then the peculiar movement of the movable part is detected to switch the mode.

Effect 1: Mode switching is possible by teaching the movable part to perform a unique operation that is different from the previous operation during the teaching operation.

Therefore, the mode switching operation can be easily performed even while teaching the operation of the movable part.

2. The mode can be switched using a detection signal from a detection means provided in a drive means etc. that drives the movable part.

a) Since it is sufficient to monitor the operation of at least one of the plurality of movable parts, it is possible to cope with an increase in the number of modes.

4. Work jig attached to the end of the arm (zeta gun, etc.)
Since the operation mode of the robot can also be changed, not only the operation of the robot but also the content of work on the work can be easily changed.

& During teaching operations, not only can teaching data be obtained by monitoring the movement of the movable part, but also mode switching can be performed based on the unique movement of the movable part, so signals from other switches, detectors, etc. can be ignored. can.

Embodiment FIGS. 1 and 2 show an embodiment of a commercial robot and a control method thereof according to the present invention.

In both figures, during the painting process in which a workpiece 1 as an object to be painted is conveyed in the direction of arrow X by a conveyor device 2, a painting robot 3 is installed near the conveyor device 2, and the painting robot 3 will be described later. - has a control device 18 that
Each movable part is driven and controlled by a control device 18, and the workpiece 1
A predetermined painting work, which has been etched in advance, is executed while the machine passes through the painting work position.

In FIG. 1, a swing drive section 5 is provided on a base 4. As shown in FIG. A swing base 6 that rotates around an axis A fixed to the base 4 is provided above the swing drive unit 5 . A bracket 6a on the swing base 6 is provided with a support 7 that rotates around an axis B that is orthogonal to the axis of the swing base 6. Further, a support column driving section 8 is provided on the bracket 6a on the swing base 6.

An arm 9 is rotatably provided at the upper end of the column 7 and pivots about a □ axis C parallel to the axis B of the column 7. An arm drive unit 10 is provided at the connection between the arm and the support 7. Further, the arm 9 is provided with a wrist drive section 11 at the rear thereof. Furthermore, a wrist mechanism 12 is provided at the tip of the arm 9. The wrist mechanism 12 has a case 13.14 and a mounting shaft 15.

The case 13 is configured to rotate about an axis parallel to the axis IIC of the arm 9. The case 14 is configured to rotate by τ around an axis E that is orthogonal to the axis of the case 13. The mounting shaft 15 is a mounting portion for the coating gun 16, and is configured to rotate about an axis F perpendicular to the axis E of the case 14.

Reference numeral 18 denotes a control rB device that stores teaching data and controls the operation of the painting robot 3 in conjunction with the conveyance of the workpiece 1. Therefore, the painting robot 3 is t
Each drive unit is driven by a command from the ill device 18,
Swivel base 6, strut 7. Each movable part such as the arm 9° wrist mechanism 12 operates.

The drive units 5, 8, 10° 11 that drive each of the movable units are equipped with detectors (such as resolvers) 5a and 8a for detecting the rotation angle (rotation position) of each axis A-F.

10a, 11a to 11C are provided. (However, in FIG. 1, the detectors 5a, 11a to 11C are hidden and cannot be seen.) In FIG. Each we part flltll to make a predetermined painting operation based on
tA control! 11 circuit 18A and Ill m circuit 18A
It has a motor drive circuit 18B that outputs drive signals to each drive unit of the painting robot 3 according to instructions from the robot 3, and a memory 180 that stores teaching data and the like. Further, the motor drive 18B is connected to the detector of the drive section 5.8.10.11, and when each movable section operates, each axis A
A detection signal corresponding to the rotation angle of -F is fed back from each detector to the motor drive circuit 18B.

The 611611 circuit 18A has the above-mentioned components as described below.
mode switching means 18 that performs mode switching according to the content of the data when teaching data is input so as to temporarily move in a direction different from the previous operating process;
E is provided.

By monitoring the movement of each movable part during teaching operations, not only can teaching data be obtained, but mode switching can be performed based on the specific movement of the movable part, so signals from other switches, detectors, etc. can be ignored. Therefore, the configuration of the control circuit 18A can be simplified.

Incidentally, the mode switching means 18E has the teaching, reproducing, correcting, and spray-on settings in advance as shown in FIG.

Each mode of electrostatic on/off, paint discharge amount, and atomization pressure is registered, and a unique movement of approximately 1 m (each axis A-F) is also determined for each mode.

For example, when the arm 9 is moved up or down in a short time by an operator's operation, such rotation of the axis C is caused by the arm drive unit 10.
is detected by the detector 10a. According to the detection signal fed back from the detector 10a, when the rotation angle of the axis C moves large and fast in a short time and exceeds a predetermined value exceeding normal operation, the mode switching means 18E switches to the "teaching mode".
Set.

Furthermore, when the support column 7 (axis B) makes an unusual movement in the front-back direction, the regeneration mode is set, and when the swing base 6 (axis C) makes an unusual movement in the left-right direction, the correction mode is set. . Similarly, the spray-on, static electricity on/off, and 1.7A paint discharge pressure modes that control the paint gun 15 are also set by the operations of axis E, axis C ÷ axis B, and axis C plus axis E. Ru.

A workpiece detection switch 19 detects when the workpiece 1 has arrived at the painting work position, and is installed near the conveyor system @2 on the upstream side of the painting robot 3. And υj
When the detection signal from the workpiece detection switch 19 is input, the t11 circuit 18A controls each drive of the painting robot 3 so that the painting robot 3 performs a painting operation on the workpiece 1 based on the teaching data stored in the memory 18D. control the department.

20 is a paint gun control device, which is connected to the control circuit 18A. The paint gun control device 20 controls the operation of the paint gun 15 when the spray-on, static electricity on/off, paint discharge, and atomization pressure operation modes are set.

Here, in the industrial robot having the above configuration, 1II
The processing executed by the I control circuit 18A will be explained.

There are seven types of modes set by the mode switching means 18E as shown in FIG. 3, but here, the process for switching to the spray-on mode during the teaching operation will be explained with reference to FIG. 4. I'll decide.

When performing a single switching operation, first turn on the power switch (not shown) of the control device N18. Subsequently, when the operator moves the 7-memory 9 up and down as described above, the teaching mode is set. The IIJ@circuit 18A monitors the movement of each axis A to F, and when the power of each drive unit is on, the control circuit 18A determines the robot's movement based on the i-eaching data. There is no need to monitor axes A-F (step 81).

Therefore, when the axis is off in step S1, the process moves to step S2 and the current position 1c of the axis is stored.

Next, when the wrist mechanism 12 is rotated upward or downward by the worker's teaching operation, the difference between the rotated axis position 1c and the previous position 1c' over time Δ is (Ic - 1c')
Determine whether or not exceeds a predetermined value α (step 8
3). The change in rotational position of the shaft at this time is detected by the detector of the wrist drive unit 11, and as shown in FIG. 5, the shaft changes greatly from lc' to Hc in a short period of time and then back to lcj. I know it's back.

When the wrist mechanism 12 rotates significantly in the vertical direction in a short period of time, since α<1c-1c', it moves to Stella 784,
Check whether a spray-on signal is output to the paint gun control device 20.

If there is no signal output, the process moves to step S5, and a spray-on signal is output to the painting gun t, 1Jt 19 device 20, and the mode is switched to the spray-on mode. However, if the spray-on signal is not being output to the paint gun MILLLED device 20 in step S4, the process moves to step S6 and the spray-on signal output is stopped.

Subsequently, after steps 85 and 86, the process moves to step S7,
The rotational position fitlc around the axis is initialized, and the mode switching process is completed. Also, in step S3, α<Ic−■
When c' is a normal operation, the process of step S7 is executed. Note that the above process is repeatedly executed, for example, every several tens of Ilsec.

In addition, the llJ'WJ circuit 18A is connected to each axis A~ other than the above-mentioned axis.
E and F are also monitored in the same way. Therefore, 1i
The IJ111 circuit 18A executes the same process as shown in FIG. 4 for each axis A to F, but the explanation thereof will be omitted here.

Therefore, during a teaching operation, the operator can switch modes by simply making a part of each axis A to F a unique motion while operating each movable part of the robot. Therefore,
There is no need to install an explosion-proof mode changeover switch in a hazardous area in a painting atmosphere. In addition, i
The operator moves back and forth between the lJ control device 18 and the painting robot 3 each time the mode is changed, or the operator performs mode switching using the υI control device 18 in addition to the operator who performs teaching operations on the painting robot 3. There is no need to assign a person.

Although the above embodiment has been described using a painting robot as an example, the present invention is not limited to this, and it goes without saying that the present invention can be applied to robots other than painting robots.

Furthermore, it goes without saying that the combination of each mode switching and each axis A-F operation is not limited to the above embodiment.

Effects of the Invention As described above, the industrial robot according to the present invention can change modes on the spot while teaching the 0-point movable part, and also has a unique feature that differs from the normal operation process. Since the mode can be switched simply by teaching the robot to move, the mode switching operation can be easily performed during the teaching operation. Furthermore, in the case of coating Ti robots, there is no need to install an explosion-proof operation switch in a hazardous area in the painting atmosphere, as in the past, and the equipment can be simplified, or the operation switch can be placed in a non-hazardous area away from the robot's 8 positions. It has the advantage that teaching operations and mode switching can be performed by one person since there is no need to provide a.

Furthermore, according to claim 2, the mode can be switched using a detection signal from a detection means provided in a drive means for driving the movable part or the like.

Further, according to claim 3, since it is sufficient to monitor the operation of at least one of the plurality of movable parts, it is possible to cope with an increase in the number of modes.

Further, according to claim 4, since the operation mode of the work jig (painting gun, etc.) attached to the tip of the arm can be changed, not only the operation of the robot but also the content of work on the work can be easily changed. It has the following features.

Also, the il! of claim 5! According to method 11, by monitoring the movement of the movable part during teaching operation, not only can teaching data be obtained, but also mode switching can be performed based on the unique movement of the movable part, so it is possible to change the mode from other switches, detectors, etc. The signal can be ignored, so the configuration of the 1lJt11 circuit can be simplified.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of an embodiment of an industrial robot and its control method according to the present invention, Fig. 2 is a schematic configuration diagram thereof, and Fig. 3F
j! J is a diagram showing the correspondence between each mode and the movable part, FIG. 4 is a flowchart for explaining the processing executed by the control 11 circuit, and FIG. 5 is a diagram showing changes in the operating position. 3... Painting robot, 5... Swing drive unit, 8a. 10a...Detector, 8...Strut drive unit, 9...Arm, 10...Arm drive unit, 11...Wrist drive unit, 12...Wrist mechanism, 15...Mounting shaft , 16...
Paint gun, 18--IIJ lit HIf, 18A-
111911101 path, 18E-/t-F switching means, 1
9...Work detection switch, 20...Painting gun tI
IJ-device. Figure 1

Claims (5)

[Claims] (1) An industrial robot characterized by comprising a mode switching means for switching modes when a movable part is taught to move in a manner different from the previous operation process during a teaching operation. (2) The industrial device according to claim 1, wherein the mode switching means switches the mode when a peculiar operation of the movable part is detected by a detection means that detects the operating position of the movable part. robot. (3) The industrial robot is an articulated robot that combines a plurality of movable parts, and the mode switching means detects that at least one movable part among the plurality of movable parts has made a peculiar operation. 2. The industrial robot according to claim 1, wherein the industrial robot switches to a mode corresponding to its operation. (4) A working jig is provided at the tip of the movable part, and the mode switching means switches the operation mode of the working jig when the movable part performs a peculiar operation. The industrial robot described. (5) A method of controlling an industrial robot, in which a movable part is made to move differently than before during a teaching operation, and then the peculiar movement of the movable part is detected and the mode is switched.