JPS5887603A - Industrial robbot - 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] The present invention relates to industrial robots.

When a robot performs work such as gluing, painting, or welding on a workpiece, the working part of the workpiece must be set accurately at the position at the time of teaching.

However, when carrying out work on many objects one after another without transporting them using a conveyor belt, etc., it takes a lot of time to accurately set all the objects to the teaching positions. L It will be a difficult task. In addition, the working parts of each workpiece are slightly different, and even if the workpiece can be set accurately at the position at the time of teaching, the problem still cannot be solved. A detection device for detecting the position of the working area is installed on the robot body, and based on the detection signal from the detection device, the adhesive nozzle, painting nozzle, welding torch, etc. is rotated and the tip of the nozzle is brought to the working area to correct the position. In a robot that performs a playpack operation while performing a playpack operation, the above problem is solved to a certain extent, but when the nozzle or torch tip is brought to the work site by a large number of position correction operations, the relationship between the resolution and responsiveness of the detection device becomes less satisfactory. In some cases, it may not be possible to adhere, paint, or weld the product to the desired level.

The present invention was developed at the beginning of the above, and its purpose is to perform work preferably even if the set position of each work object or the working part of each work object is different. Our goal is to provide industrial robots that can be used in a variety of ways.

Next, a preferred example of the present invention applied to adhesion will be explained based on the drawings.

In the figure, the articulated armchair robot main body 1 consists of a base 2 and a movable arm 3, and the arm 3 extends in an incoming direction Km with respect to the base 2.
A rotary table 4 that is freely movable, a support 5 that is rotatable in the B direction with respect to the table 4, an arm 6 that is rotatable in the C direction with respect to the support 5, and a so-called flexible type wrist 7 that can be bent freely. Consisting of

A bracket 9 is fixed to the cylindrical tip 8 of the wrist 7, and another bracket 12 is rotatably provided on the platen 9 via a connecting member 10 about an axis 11t. The object to be worked 1 is placed on the platen) 12.
The slit light W16 is used to project the slit light W15 onto the work surface 14 of the third embodiment, and to capture the slit image 15 on the work surface 14.

A television camera 17 using a semiconductor image sensor or the like and a working member 18 are fixed. A rotation shaft 19 located on the axis 11 and rotatably supported by the bracket 12t-bracket 9 is fixed to the camera 17 at the center,
A gear 22 is fixed to one end of the 0-rotation shaft 19, which is rotatably supported by the individual protrusions 20.21 of the bracket 9 at both ends. The gear 23 is fixed to the output shaft of a reducer 24, and the reducer 24 is connected to a highly responsive gear 125 such as a coreless morph fixed to the bracket 9.

The slit light source 16, the camera 917, and the working member 18 are integrally moved along the axis 1 according to the rotation of the motor 25 as a correction device.
It is rotated around 1.

The light receiving optical axis 26 of the detector 17 is located at the circle of the wrist 7.
The axis of rotation coincides with the central axis of the tip 8 and the axis of rotation 1.
It is orthogonal to 1. The optical axis 27 of the slit light Il [16 is oblique to the optical axis 26 and the rotational axis 11. The member 18 makes light contact with the work surface 14 at the tip 11s28, and from the tip 28 to the adhesive part of the object 13 29, a bonding nozzle 31 that brings out the chair material 30, a nozzle holder 32 that elastically supports the nozzle 31t so that it can be displaced in a direction along the bonding direction DK and a direction crossing this direction, and a nozzle holder 32t bracket)
12. The nozzle holder 32 can absorb errors in the vertical direction of the tip 28 during playpacking. The nozzle 31 is in the same plane as the axes 26, 27, and the tip 28 of the nozzle 31 is located at the intersection of the axes 26, 27. The base 2 is placed on a moving device 34 consisting of an endless chain conveyor, and the chain row of the moving device 34 allows the main body 1 to move in the direction of conveyance of the conveying device 35 that conveys the object 13, that is, in the E direction. F orthogonal to
direction. The moving device 34 is placed on a moving device 36 which is also an endless chain conveyor, and as the chain of the moving device 36 runs, the moving device 34, in other words, moves the main body 1 in the C direction parallel to the E direction. be done. The conveyance device 35 consists of a belt conveyor, for example,
The condylar object is conveyed in the direction of 13t-E.

The articulated mouthpiece 50 constructed in this manner operates as follows. First, during teaching, the transport device 35
The object 13 is placed in a predetermined position on the belt of the conveying device 35. The main body 1t is manually moved relative to the stationary object 13, and the tip 28 is brought to the bonding starting point 51', and the axis 11f is parallel to the bonding line 29, which is the working area, and the axis 11f is parallel to the bonding line 29, which is the working area. I26 is made perpendicular to the work surface 14, and the intersection of the axes 26 and 27 is located at the starting point 51.

Then, while maintaining this state, the tip 28 is glued 112
9 at the bonding end point 521.

Each position of the arm portion 3 while the tip portion 28 moves from the starting point s1 to the ending point 52 is sequentially stored in the storage device as teaching data, that is, a work program. Arm W30
Each position can be detected, for example, by a nine-potency meter provided at each joint. Play grasshopper 09 has a moving device 3
4 is moved in the direction opposite to the E direction by the moving device 36 and set to the rightmost initial position in FIG. 2 KTh.
Next, the conveying device 35 is activated and the objects 13 are sequentially conveyed in the E direction. When the O positional relationship between the first object 13 being conveyed and the moving device 34 is the same as the positional relationship at the time of teaching, the teaching data stored in the storage device is displayed with the O signal from the detector that detects breakage. The main body 1 is operated with this teaching data so that the tip 28 is set at the starting point SIK.
The moving device 36 is operated so that the object 13 is moved in the same direction in synchronization with the movement of the object 13 in the E direction. That is, the main body 1 and the object 13 move in the E direction at the same speed. Tip 2
8 is set as the starting point 51, the robot 50 inspects the image of the slit 1s captured by the camera 17. light source 1
6. Adhesion of camera 17 and work member 18 to object 13 1
129 is in the same positional relationship as during teaching.
K, the camera 17 receives the slit image s3 as a detection signal.

On the other hand, the light source 16, the camera 17, the work member 18 and the object 1
30 and the adhesive part 29 are different from the positional relationship at the time of teaching, the camera 17 uses the slit image 54t as a detection signal - the image 55 corresponding to the received 0 image 54) 15, which is generated by the difference in level between the adhesive part 290. The position 56 of the bent part, the center position S7 of the image 54, and the distance 58 in the OF direction are determined by the deviation o between the tip 28, the adhesive part 29, and the OF direction O.
When the 0 image 53 representing * is obtained, the robot 50 immediately moves to the starting point 5 based on the teaching data.
When the robot 50 operates the arm 113Yt and moves in the direction of the tip 28ID in order to perform the bonding work of the bonding 11s29 from 1 to the end point 521, the robot 50 moves the moving device 34 based on the distance 58. It works and image 53
F of 0 body 1 moving in the direction of body 1tF in the trench where is obtained.
When the conclusion image of directional movement is obtained, the robot 50
starts the bonding part S: of bonding @29 as above. During the gluing work of the gluing part 29 from the start point 51 to the end point 52t according to the teaching data, the robot 50 monitors the slit image with the camera 17, and if the slit image 54t is taken on the way due to the displacement of the gluing part 29, it is reversible. Activate motor 2s, slit image 11! The light source 16, the camera 17, and the working member 18tH are rotated about the axis 11 so as to receive an image of $3, and the tip 28 is positioned on the adhesive portion 29. The distance 58 can be detected by providing an image processing device in the robot 50, storing the image 53 as a digital signal in advance in this image processing device, and comparing the stored image S3 with the received image 54. *i. When the gluing part 290@gluing work based on the teaching data is completed, the robot 50 moves the main body 1 by the moving device 36.
stops moving in the E direction, and conversely moves to the main body 11 by the moving device 36 in the opposite direction to set the main body 1 at the initial position. When the robot 50 is set at the initial position, it repeats the gluing operation on the next object to be transported in the same way and shields it from light.

In addition, in the above specific example, as in adhesion @290, the conveyance direction E
The explanation has been made regarding the displacement in the F direction of the work area extending in the same direction as the above, but for example, when the adhesive IB2G extends in the F direction, the slit groove 15 is formed on the work surface 14 perpendicular to the F direction. , by installing the light source 16 and increasing or decreasing the moving speed of the main body 1 in the E direction by the moving device 36 based on the slit image 11, the tip 28 can be accurately worked with respect to the displacement of the adhesive part 29 in the E direction or the opposite direction. Can be set as a starting point. In this case, if the bracket (9i) is attached to the wrist 7 so that the axis 11 is parallel to the adhesive s29, the displacement of the OS mounting part in the E direction or the opposite direction from the work start point to the work end point will occur as in the above specific example. The tip 281 can be made to follow accurately.

9. As for the work part, it is OK to use a straight line like the one mentioned above.
It is attached to the tip of the detection device t4-17 capable of detecting such a work site, and is actuated by the moving devices 34 and 361Q based on the detection signal from the detection device. First, the tip 281 may be set at a reference position of about 281 am, and during work on the work part according to the teaching data, the tip 28 [-- may be made to follow the work part O displacement based on the detection signal from the detection device. . In addition, in the above, the work starting point of the company base single position 7 work member 9 is replaced by the reference position [for example, typeface 130 Kakuku s9
Alternatively, an image of the corner 59 may be stored in the image processing device during teaching, and during playback, the tip 28t1 is positioned at the corner 59 to obtain an image of the corner 59, and this image is stored. The displacement of the object 13 may be detected by comparing the images, and the moving devices 34 and 36 may be operated to correct this displacement in the main body 111. In this case, it is possible to preferably correct the displacement of each object 13 on the transport device 35, but it is difficult to correct the displacement of the work site itself. Therefore, when the work parts are slightly different for each object 13, it is preferable to set the reference position at the work part. On the other hand, the present invention is not limited to adhesive work;
Alternatively, it can be applied to glue pots for painting work, and the fastest detection device for these works can be selected.

As described above, according to the present invention, even if the set position of each work object is different from that at the time of teaching, or even if the work part of each work object is different, the teaching data K11l@fk ( Since the difference is corrected on the robot body side, the work member can be set accurately at the work site, and the amount of correction by the correction device during work can be reduced, making it possible to use a correction device with a small operating range. It is small, lightweight, and has a high resolution.

[Brief explanation of drawings]

FIG. 1 is a front view of a preferred embodiment according to the present invention, FIG. 2 is a floor plan view of the embodiment shown in FIG. 1, FIGS. Figure 6 is an explanatory diagram of a slit image taken by a television camera. 1...Q bot body, 17...TV camera, 1
8... Working member, 3... Reversible motor, 34.36.
...Movement device. Agent Yoshio KawaguchiFigure 3Figure 5

Claims (1)

[Claims] The robot body has a working member at its tip and positions the working member pipe relative to the workpiece according to the work program stored in the storage device. A detection device that detects the part, a correction device that corrects the position of the work member O with respect to the work part based on the detection signal from the detection device, and a correction device that adjusts the work member to the reference position to set the work member O to the reference position of the workpiece O. An industrial rosette consisting of a moving device that moves the robot body based on a detection signal from a detection device.