JPH06419A - Control device of industrial robot - Google Patents

Abstract

PURPOSE:To enhance working efficiency by calculating the shift quantity of the measured value of the position of a palette and the palette to be normally positioned and renewing the moving program of a robot moving a work on the basis of the shift quantity before moving the work by the robot. CONSTITUTION:The distance of a palette 3 is measured from a determined position in a determined route by the sensor 7 grasped by a robot 5 and the measured value is converted to digital value data through an A/D converter 9. This data is transmitted to a computer to be checked and the data corresponding to the end part of the palette 3 is found out and, in order to judge the shift quantity of the position of the palette from a normal position, the operational processing of the offset quantity and angle of the palette is performed. Further, the renewal of the moving program of the robot 5 is performed on the basis of the operated data and the computer 11 transmits the operation control signal of a work W to a robot 7 according to the renewed moving program and the work W is moved by the robot 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an industrial robot, and more particularly to a control device for an industrial robot that moves a work in consideration of positional deviation of a pallet on which the work is mounted.

[0002]

2. Description of the Related Art In conventional welding machines and coating machines,
After the workpiece mounted on the pallet is gripped by the robot, the workpiece is moved to each of the processing machines and then the processing is started.

Therefore, when a work is gripped by a robot, if the pallet shifts, the position of gripping the work shifts.

Therefore, the offset amount of the pallet carrying the work is deviated from the normal position, the offset amount is fed back to the robot for moving the work, and the operation of the robot is corrected. It is necessary to correct the displacement of the gripped position by carrying out.

[0005]

However, the positioning of the pallet depends on the visual inspection of the operator and the accuracy of the automatic guided vehicle, and the movement of the robot is managed by the moving program, and the moving program determines whether the pallet is regular or not. It is created on condition that it is placed in a position.

Therefore, if the position of the pallet shifts, the robot may fail to pick up the work or mount the work at an unstable position of the processing machine.

Therefore, in order to solve the above problems, the present invention feeds back the deviation amount of the pallet and corrects the operation of the robot for taking out the work to correct the deviation so that the work can be accurately performed. The purpose is to prevent mishandling of the work so as to improve work safety and work efficiency.

[0008]

In order to achieve this object, the present invention is a control device for a robot for moving a work mounted on a transfer means, which performs an operation process of measurement data indicating the position of the transfer means. Unit, a moving program storage unit that stores a position to move the work mounted on the conveying unit, a program updating unit that corrects the displacement amount of the pallet based on the measurement position data and the moving program, and updates the moving program, and updating And a motion command unit that sends a motion command to the robot based on the program.

[0009]

According to the above method, in the robot control device for moving the work mounted on the conveying means, the position of the conveying means is measured and the deviation amount between the measured value and the position of the conveying means which should be normally positioned is calculated. Then, the work is moved from the movement program that stores the movement of the robot based on the displacement amount.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment according to the present invention will be described below with reference to FIGS.
It will be explained based on.

FIG. 1 is a connection diagram showing an embodiment according to the present invention. A work W mounted on a processing machine (for example, a welding machine or a coating machine) 1 is mounted on a pallet 3 which is a movable transfer means. A sensor 7 that measures the position of the pallet 3 and is gripped by a so-called material handling robot (hereinafter, referred to as a robot) 5 is provided near the pallet 3. The position detection signal detected by the sensor 7 is transmitted via the A / D converter 9 to the computer 11 which is a control device of the robot 5 that takes out the work W. The computer 11 is connected to the robot 5 for moving the work W, and sends an operation control signal for controlling the operation of the robot 5 to the robot 5. The robot 5 grips the work W mounted on the pallet 3 based on the operation control signal and moves it to the processing machine 1.

A process for moving the work W by the robot 5 to the processing machine 1 (hereinafter, referred to as a work moving process) will be described below with reference to FIGS. 2 and 3.

The sensor 7 gripped by the robot 5 measures the distance of the pallet 3 from a predetermined position along a predetermined path. (Step 201). In FIG. 2, the sensor 7
Continuously measures a plurality of distances to the pallet 3 while moving from the front end (lower side in FIG. 2) to the rear end (upper side in FIG. 2) of the end surface of the pallet 3. In step 203, the measured value is converted into digital value data through the A / D converter 9. In step 205,
The data is transferred to the computer 11 and checked to find the data corresponding to the end of the pallet 3,
The offset amount and the angle are calculated to see how much they deviate from the regular position. In step 207, the movement program of the robot 5 is updated based on the data processed as described above, and the computer 11 transmits the operation control signal of the work W to the robot 7 according to the updated movement program (step 209). In step 211, the robot 5 moves the work W based on the operation control signal.
In step 213, it is confirmed whether or not the movement process of the work W on the pallet 3 is completed. If the work W remains on the pallet 3, step 201 and subsequent steps are repeated to complete the work movement process on the pallet 3. If so, the movement processing of the work ends.

FIG. 4 shows a control circuit for the work movement processing. The drive motor (M) for driving each driven member (for example, each axis or each joint) of the robot 5 receives the position detection signal of the sensor 7 and, via the A / D conversion circuit 13 and the interface circuit 15, drives the computer 11. A command is transmitted to the drive circuit 17 of the drive motor (M) to drive it. The rotary encoder (E) connected to the drive motor (M) counts the pulse train output from the rotary encoder (E) and is connected to the counter circuit 19 that indicates the position coordinate value (angle variation amount) of each driven member. Has been done.

FIG. 5 shows a block diagram of the computer 11. The computer 11 includes an arithmetic processing unit 21 for processing measurement data indicating the position of the pallet 3 and the pallet 3
Of the normal position and the position to which the work W should be moved, a moving program storage unit 23, a program updating unit 25 that corrects the displacement amount of the pallet 3 based on the measured position data and the moving program, and updates the moving program, The robot 5 includes a motion command unit 27 that sends a motion command to the robot 5 based on the movement program.

The arithmetic processing unit 21 includes a measurement data input unit 29 for inputting data sent from the A / D converter 9, a measurement data storage unit 31 for temporarily storing the data,
The measurement data processing unit 35 calculates the position and angle of the pallet 3 from the measurement data.

The program updating unit 25 determines a deviation amount of the pallet 3 based on the position and angle of the pallet 3 calculated by the arithmetic processing unit 21, and a movement that updates the movement program of the robot 5 based on the deviation amount. It is composed of a program updating unit 39.

The operation command section 27 is the computer 11
Display control unit 41 for controlling the display screen of the robot 5, an operation signal input unit 43 for an operator to directly input an operation command of the robot 5, and an operation command unit 4 for issuing an operation command to the robot 5.
It is composed of 5 and.

From the above, by feeding back the deviation amount of the pallet 3 to the movement program of the robot 5,
The robot 5 can correct the deviation amount and take out the work W accurately.

[0020]

As described above, according to the present invention, the position of the conveying means is measured, the deviation amount between the measured value and the conveying means which should be normally positioned is calculated, and the deviation amount of the robot is calculated. By feeding back to the movement program, the robot can take out the work accurately.

Therefore, the work of taking out the work can be performed safely and surely, and the work time can be shortened and the productivity of the processing machine can be improved.

[Brief description of drawings]

FIG. 1 is a connection diagram showing an embodiment of the present invention.

FIG. 2 is a schematic diagram showing position detection of a pallet.

FIG. 3 is a flowchart showing a work moving process performed by the present invention.

FIG. 4 is a control circuit diagram of the present invention.

FIG. 5 is a block diagram of the present invention.

[Explanation of symbols]

 3 pallet (conveying means) 5 robot 11 computer (control device) 21 arithmetic processing unit 23 moving program storage unit 25 program updating unit 27 operation command unit

Claims (1)

[Claims] 1. A controller for a robot for moving a work mounted on a transfer means, comprising: an arithmetic processing unit for performing an arithmetic processing of measurement data indicating the position of the transfer means; and a position to which the work mounted on the transfer means should be moved. A stored moving program storage unit, a program updating unit that corrects the displacement amount of the pallet from the measured position data and the moving program and updates the moving program, and an operation command unit that sends an operating command to the robot based on the updated program. A control device for an industrial robot, comprising: