JPS59201775A - Controller for robot - 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 uses a teaching playback method or a numerical control method robot taught by FTP, by turning on the servo of the control axis of the robot that is not involved in the direction of the mating position during the mating work. The present invention relates to a robot control device that performs fitting operations smoothly and with high precision.

Conventionally, the device shown in FIG. 1 has been known as this type of device. FIG. 1 shows an example of the system configuration of a robot, and in the figure, 1 is a CPU.

Reference numeral 2 indicates a servo interface, and reference numeral 6 indicates a servo amplifier. The servo or interface 2 transfers information between the CPU 1 and the servo amplifier 6, and converts the amount of information between them. 4 is a servo motor,
5 is a tachometer generator, 6 is a pulse encoder, and 7 is a feedback interface. Rotation information of the servo motor 4 is detected by the pulse encoder 6 and sent to C via the feedback interface 7.
Transferred to PU1.

The robot system is configured as described above, and C
The servo system is controlled by servo on/off commands, control axis movement commands, etc. output by the PU1.

Next, the operation of the robot during conventional fitting work will be explained with reference to FIG. In the figure, 8 is a grip of the robot, 9 is a part to be fitted, 10 is a part to be fitted, 11
indicates a workbench. Figure 2 (a) shows the state at the start of the mating work, Figures 2 (b) and (C) show the state during the mating work, and Figure 2 (d) shows the state when the mating work is completed. Then, the fitting work is performed in the order of (a), (b), ((ri), and (d).

From the fitting work start state shown in (a) above, the parts 9 are moved in the direction of the fitting position by controlling the axis of the robot that is involved in the fitting position direction. (e) above
The fitting work is completed by opening the grip 8 in the state shown in and moving the robot in the direction opposite to the fitting position direction. During this work, the robot's control axes are in the servo-on state.

As mentioned above, during the fitting work of parts 9 and 10, the control axis of the robot is in the servo-on state, so as shown in Fig. 3 (
If the robot is misaligned as shown in a), or as shown in Figure 3(b)
When the workbench 11 moves or tilts as shown in the figure, the position information regarding the robot's mating work position differs from the actual mating position, so if you proceed with the mating work in this state, the robot Since all of the control axes are in the servo-on state, there is a drawback that the fitting operation may be interrupted or the fitting operation may fail due to an abnormality in the grip 8 or the servo.

This invention was made in order to eliminate the conventional drawbacks that occur during robot fitting work as described above.
If misalignment occurs at any point during the fitting process,
The purpose of this invention is to provide a robot control device that makes the mating work smooth even when there is a problem in teaching the mating position, and does not involve the direction of the mating position during the mating work. The feature is that the servo of the control axis of the robot is turned off.

An embodiment of the present invention will be described below with reference to the drawings. Fourth
In the figure, the same reference numerals as in FIG. 1 indicate the same or corresponding parts. Reference numeral 12 denotes a part of the sensor, which informs the robot that it is near or adjacent to the fitting position during the fitting operation.

The operation when a robot having the system configured as described above performs a fitting operation will be described.

When it is detected that the grip 8 has come to the position shown in FIG. 5(a) based on the information from the sensor part 12 shown in FIG.
In response, CPU1 issues a command to turn off the servo,
Thereafter, the axis of the robot related to the direction of the fitting position is controlled, and the robot is moved toward the position shown in FIG. 5(b). When the robot is moved in the direction of the mating position in the state shown in Figure 5(b), the control axes that are not involved in the mating position direction are servo-off, so parts 9 and 10 are in the mating position. Even if the part 9 deviates from the ideal position, the part 9 can be fitted into the part 10 more smoothly than in the servo-on state. Due to the movement of the robot mentioned above, as shown in Fig. 5 (
When the state shown in e) is reached, this is detected by the sensor part 12, and the grip 8 is opened due to this detection, and the robot is moved to the state shown in FIG. 5(d). This figure 5 (d
) When the sensor part 12 detects that the state of 2.) has been reached, this detection output is input to the CPU 1, which issues a servo-on command, and the fitting work is completed.

As described above, this invention includes a moving means including a grip 8 and a control shaft, etc., which moves a first part, which will be the part 9 to be fitted, relative to a second part, which will be the part 1o to be fitted;
A control means consisting of a servo motor 4, a CPU 1, etc. that controls the moving means, and a servo motor involved in controlling this movement.
and a servo system including an interface 2, a servo amplifier 3, a tachogenerator 5, etc., and when fitting the first part into the second part, the first part is moved in a straight line by a moving means controlled by the control means. a first position where the first part is fitted to the second part by moving along;
That is, the first
Then, the first part at the first position is moved by the transfer means along the straight line, that is, in the direction of the fitting position, and the first part is fitted into the second part. In a FTP-taught teaching Φ playback system or numerical control system robot that is configured to reach a second position, the sensor part 12 or the like substantially detects that the first component has reached the first position. means for activating other servo systems other than the one that moves the first part in the straight line when it is detected that the first part has reached the first position; Since the first part is moved by the moving means in a state where the servo is not moved (servo off), the first part is moved along the above straight line,
Even if there is a positional deviation between the first part and the second part in the process of fitting into the second part, the moving means is in a state where the servo is not engaged in the direction of this positional deviation. Therefore, even if there is the above-mentioned positional deviation, the first part is moved following the second part and is smoothly fitted into the second part.

Further, this fitting position can be taught, and teaching/playback can also be performed.

[Brief explanation of the drawing]

Figure 1 is a block diagram showing the system configuration of the part related to the servo system of a conventional robot, Figures 2 and 6 are longitudinal sectional front views for performing raFNA fitting work using conventional equipment, and Figure 4 is a front view of this robot. FIG. 5 is a block diagram showing a system configuration of a portion related to a servo system in an embodiment J of the invention, and FIG. 5 is a longitudinal sectional front view for explaining the fitting operation performed by the control device of the invention. 1...CPU, 2...Servo interface,
3...Servo motor, 4...Servo motor,
5... Takogiene, 611+ Halsu encoder,
7...'Feedback interface, 8...
Grip, 9... Parts to be fitted, 10... Parts to be fitted, 12... Part of the sensor. Agent Masuo Oiwa Figure 1 Figure 4 Be Atsushi 5 Figure procedure amendment band (voluntary) Commissioner of the Japan Patent Office 2 Name of the invention Robot control device 3 Relationship to the person making the amendment Case Patent applicant address Tokyo 2-2-3 Marunouchi, Chiyoda-ku Name (601) Mitsubishi Electric Co., Ltd. Representative Hitoshi Katayama 4, Agent address 2-2-3 Marunouchi, Chiyoda-ku, Tokyo "Brief explanation of drawings" in the specification ” column. & Correction details

Claims (1)

[Claims] a moving means for moving the first part relative to the second part;
A control means for controlling the movement of the means and a servo system for controlling this movement are provided, and when the first part is fitted into the second part, the movement means controlled by the control means moves the first part. The first part is moved to a first position where the first part is fitted to the second part by moving the part along a straight line, and then the first part in the first position is moved by the moving means. The parts were moved along the straight line to a second position where the first part was fitted into the second part. The FTP teaching/playback method or numerical control method robot is provided with a detection means for substantially detecting that the first component has reached the first position, and the first component has reached the first position. When this is detected, the first component is moved by the moving means without operating any other servo system among the servo systems that moves the first component along the straight line. A robot control device characterized by: