JPS60201403A - Control method for industrial robots - 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 is particularly aimed at improving the sub-method of playback type industrial Kawaguchi Hot, and is aimed at the joint 1L of the correction or additional work of the nighting position *t* state. related to things.

In the industrial robots mentioned above, in most cases it is necessary to determine the weight of each workpiece due to the position information of the workpiece's 7J11 machine, the first part of its individual differences, or the installation d4, so it is necessary to teach it first. It is necessary to stop the information by sensing it. This modification requires sensing in at least one dimension. //J1, workpiece position is curved/rear, left/right.

2 if you are afraid of what will happen above or below? X yuan or 3
Sensing in the dimensional direction has also been resolved, and the sensing starting point and sensing diagonal eye body have also been corrected.”:=Nini7::
'-f > f L/ 7116 tit: j. At 7°, the workpiece used for teaching is still attached to the workpiece fixture, and each step is actually hit in the test mode, and 6 errors are corrected. However, since this test mode does not involve machining work, it is not possible to make corrections taking into consideration the finish of the machining work.In reality, it is difficult to determine whether the machining start point and machining end point f are good or bad as taught. In many cases, it is not possible to make a judgment without actually inspecting the processing work.

Conventionally, when a workpiece was found after completing the machining work as described above, the workpiece that was used for teaching was kept in storage as it was originally processed. Even if you attach it to the workpiece fixture, the mounting section still occurs, and you can't just branch out at that point, so you have to create the entire program itself.

In view of the above-mentioned circumstances, the present invention provides at least one-dimensional sensing to achieve T-second tfit+! When storing the J information correction value and then adding the music teaching position information,
t9 "By teaching the desired point, the correction value obtained from the position information of the desired point is obtained by using the correction value described in IiI instead of the teaching position information, or every time the position information is written roughly here. is the enemy, use positional work and T
Corrections and additions to this teaching position tti*@6I nl
: To provide a control method for a closed industrial robot.

The detailed explanation will be given below based on the actual fertilizer example shown in the drawing. FIG. 1 is an overall schematic diagram of a single rectangular coordinate type m-tangential robot RO adopted as an industrial Kawaguchi bot which is the background of the present invention.

1 is a vertical axis horizontally by IJ of a known right-angled seat collar (X, Y, l) robot RO (detail not shown);
Turn around (arrow a) and support the 1st buttock 2.

3 is the tip of arm 2 that can rotate around oblique axis 3a (arrow β) (
The first arm is supported by the second arm. The 2nd and 3rd predecessor ships are provided with bath connections 1 and 4 (MIGm bath connections in this embodiment) at the end effector binding.

And 1i1111% 胛 + 3a Wayohi Torch 4 Nakano L) Sode 茛へ】 is paternally at -7gP. .

Further, the torch 4 is set so that its bath contact operating point coincides with the point P, so that the rotation angle in the direction of the arrows a and β is determined. ,)
- Attitude angle 0 and rotation angle φ for the straight 1 dll of frame 4
(so-called Euler angle) to identify point P and iti! iN
It is an nJ song.

Reference numeral 5 denotes a power supply device 1. The device 5 winds the γ inner column electrode 4a of the torch 4, and the T spool 6 is the same pattern. Although the gutter is not shown in the figure, it is designed so that the feed roller can be rotated to drain the electric pipe 4a4e (oil for drawing out), and the bath contact power supply 58 can be connected to *m4tt and the work piece W. 1i
The power supply 5b is equipped with a power supply 5b for example 1U pressure of about 100 to 2.0υOv.

For IAi, the small '14L is limited to t and f is used. A current sensor 5C is connected in series to the power supply 5b,
Furthermore, the power source 5b and the current sensor 5C are connected in parallel to the power source 5a via a clear means 5d.

Reference numeral 7 denotes a known computer which serves as the control device a for the entire embodiment. Computer 7 includes a CPU and memory.

The path line B of the computer 7 has a power supply 5a,
The flow sensor 5C and the clear means 5d are connected.

Furthermore, on the pass line B, there is a robot RO's X4iii+
The nervo thread Sx is connected, and this servo system Sxi!
X lli+l+ 0) Power 1siX, fhini its position i'i! The encoder EX that outputs If N is used. Similarly, pass line B has the same configuration as T: Y-axis servo system sy, z@11 servo SZ, α
It is traditional to have a servo indicator Sα for the axis and a servo indicator Sβ for the β axis.

5-8 is a remote control panel for manually moving the torch 4.
Manual operation snap switch group SW, rotary switch SV for commanding speeds other than bath contact, T for switching to three modes (manual mode M, test mode TE, and auto mode A) Kome mode changeover switch SM.

Use the numeric keypad TK, numeric keypad rK O) to set various conditions in the valley switching position described below. Use the second condition setting selector switch SE, correction switch RE, and start the operation in the Folding mode or change the deeding content. A start switch STA is provided on the left side to capture the data into memory. .

The changeover switch SR has the following four changeover positions SE, ~SE.

+t+ switching position f! ISE+ -+ik k complement 1m r
It is equipped with three clothing elements: L, J, inner sleeve ff1lCj, and sensing "S", and each display lamp can be lit and selected by pressing key numbers "1" to "3" on the numeric keypad TK. can.

(21 cutting position SE, ... bath contact condition number W position is M6-, and if it is stored in the memory of computer 7 in advance, bath contact pressure No. 1, bath contact pressure No. 1, bath contact pressure I, and bath contact condition No. The contact speed 'Jw' can be set as a set, and it can be called up by pressing the key number on the numeric keypad 'rK that corresponds to the desired set.

+3+ 1JJ 4'A position S Ea...Sensor manager 1 number SEMI display 81, computer 7
The memory stores a set of subroutines necessary for sensing the bath tangent WL of the torch 4's electrode 4a@body, and the numeric keypad TK
It can be called up at any time using the . , SEM
tkh r99J first sets the length of the electrode protrusion of the torch 4 at a constant level ("extension stand set" and Ij-i'
) means 1η order.

(4) Switching position SE4... has a display section indicating the correction method number AUX good, and in this embodiment, the key can of the numeric keypad TK -Q
By pressing l'00j1-01J, the sensing of the first fish and the second fish are respectively selected.

As shown in Fig. 1, the workpiece W is a long and narrow horizontal member W.
A vertical member W2 of a P# plate is placed and temporarily attached on the upper left side of the plate 1, and a right angle commercial line formed by these members Wl - W2 is connected from the welding start point P8 at one end to the bath welding end point at the other end. P9
Continuously until 'I! 7I.

Moreover, due to individual differences or installation errors, the work W
It is assumed that the flat JfS is moving on the axial plane and there is a possibility of T stiffness or positional deviation in the rotational direction. .

Then, the operator performs teaching on the workpiece W to be taught while operating the speed control panel 8, and creates a series of user blocks. The contents of the Gerotani step in this program are shown in Figure 2. On the other hand, since the teaching work is not particularly the gist of the present invention, it will not be described in detail.

In Figures 1 and 2, point PO is the position 1 where the tip of electric conductor 4a of torch 4 is positioned with [extension stand mount], and point P, @k', is an appropriate distance in the direction in which bath HHwt extends. At the first fish-eye and second fish-eye sensing starting points respectively set in step 4, sensing the front surfaces f, , f, of members W1 and W2 using these points as starting points,
The two points of welding 1i11 WL from this point are points Ps and P
It is 4. Point P is the third sensing circle starting point, and from this point the end Tk1f of member W2 is sensed,
The surface point obtained from this is point P6.

Further, point P is a standby point, points P8 and P are the bath contact start point of series a, and bath contact end point PIO are retreat points.

Next, when the operator finishes creating the user program by teaching, he switches the switch SM to the test mode TE and operates the switch STA to execute the program step by step (the 11th bath is not executed). ) and any errors will be corrected. Then, switch SM 5e is set to auto mode A, and switch STA is set to
When the lk operation is performed, the above-mentioned program is executed continuously, and the welding machine W is automatically welded in sequence.

Now, let us assume that we have carefully observed the workpiece W that was actually automatically welded and found that by moving the bath welding end point a very small distance in the direction in which the bath tangent line extends, the T force will be reduced and the finishing result will be better.

Therefore, the operator attaches the workpiece W for the next rice processing to the workpiece attachment (one step ahead), and performs the program correction work as follows. That is, the operator ○- switches the switch SM to the test mode rE, and each time the switch STA is operated, one step of the aforementioned program is executed with bathing. The min # of the process executed by the computer 7 at this time and the corresponding correction work performed by the operator will be explained with reference to the flowchart of FIG. 3 and the explanatory diagram of FIG. 4.

(A1) In this step, the computer 7 determines whether or not there is a "correction" command (processing PRI).

(A2) If there is no sign from switch RE, then l'-NO.
J is determined, and the steps are newly processed PR, ), and the following processing pR, is performed. Execute.

(A3) If the process PR+o is finished, the execution of that step is finished.

In this embodiment, only the bath contact end point is corrected, and steps N111 to 11 are repeated by the operation of the switch S'rA.

The welding robot RO main body performs the following operations based on the command output from the computer 7 (see Figure 4).
First, the torch 4 is positioned at the starting point P1 of the m1-point sensing circle 10-1, and sensing of SEMNalolj is executed. The computer 7 stores the position information of the point P, / on the bath tangent line WL as a result of this sensing.

ΔP2 is calculated and stored with the position information of point J2 at the time of teaching. Next, position 1 and 4 at the second fish sensing starting point PsJ, and complete the sensing of SEMI East "01". Then, the computer 7 locates the point P4' of the tangent line WL in the same manner as the light, and sets the point P4' at the time of teaching.
, the difference ΔP from the tiltW information is calculated and stored.

Next, the computer 7 points P at the time of teaching.

The location information of iiJ N[jmugi/\P2. Correct it with △P, take the point P, / of the position correction cut, and remember it.

Next, the torch 4 is hyper-positioned at the point Pg'.

The computer 7 also corrects the sensing direction according to the rotation correction value of the previous correction contents Δl), ΔP4, and issues an instruction. As a result, the torch 4 rotates in a direction perpendicular to the end surface f3 of the workpiece W2, senses it, and the computer 7 takes in the positional information of the point Pe' on this surface, and compares it with the positional information of the point P6 at the time of teaching. P6 is r-calculated η
Self-injury.

Next, the torch 4 is positioned at point P. computer 7
sets the next target point P8 to lo 16 Sodemasall11△P1. △
Correct the position with P1゜△l''6 and stop II at point P
, r. As a result, the torch 4 turns to the contact starting point Ps' and moves g. When the torch 4 reaches the point P,', the computer 7 corrects the next target point P, 111. Value △P8. The position is corrected by ΔP4+ΔPa in the same way as before, and the corrected point P1. command the position information of .

Therefore, the torch 4 moves from the point P,' toward the point LJ,/ without welding along the m tangent WL.

When the torch 4 thus reaches the point Pi' and the step is completed, the operator moves the switch SM to the test mode T.
E to manual mode M, switch 5WO)
While visually observing the operation, set the electrode tip of the torch 4 to a point Pa'
From there, the optimum point Pe+' is positioned as the welding end point. Thereafter, when the switch SM is switched to the test mode TE again, the correction switch RE is pressed and operated, and the switch STA is further operated, the computer 7 performs the processing PR,
I do.

Therefore, upon receiving the bond from the switch RE, the computer 7 determines that there is a correction, and then determines whether or not there is a sensor correction (processing PRa).

As mentioned above, it has △Pn (n=2.4.6) (1)? "Processing 1'Rs T:" i, t [Y
ES j
91') to remove the previous sensor correction mouse (△P, 1) and obtain this positional information (point P9+) 'a! Position 1'l'i (point f's) at the time of teaching can be substituted for 03. (processing pR,),.

Mouth 1j et al., Sentoku tail is Hiraidai Momosha only, Mere is Kyouzai 11
1) Run the Yuzu Seoma where the bacteria live, and if it is only in the rotation range, reverse only that rotation part from the current position 1#@.

Of course - 1 song II': In the old version, the gutter creates and draws the parallel line of translation from the current position information and reverses its rotation range.

...J Memory processing hat 1゛If there is no sensor Yuzumasa, the current position information will be used as the position at the time of teaching.
Write this as is (processing PR8), this process 1'R
s is a point that is not affected by the sensing results (for example, in the Mokuo-relaxation case, the pH at one point in the sensing area Pl + Par
It is used to stop the withdrawal point PtoJ.

-1:4- That night, I made a series of corrections about T-work W:, 1
When the operator wants to hit the sea bream #i contact, the operator sets switch Sm to auto mode A and operates switch STA.
The I-mentioned modification program is executed in succession.

Therefore, the torch 4 performs sensing three times as in the test mode, and then directly determines the position at point lJ1.

Then, the torch 4 moves from the point P1 to the welding start point 1)11' in a direct line between the welding points 1) and 11', and from the welding start point ps/ to the welding end point P,1' where the welding condition is W101. At his request, Bohir fillet bathing is performed. Simulated, the torch 4 finishes welding when it reaches the m-contact final point p,, /, and reaches the retreat point P between 111 and 111.
Move $1°.

In addition to the embodiments described above, the present invention can also be modified as described below.

(I) In addition to the Cartesian coordinate rotary robot as in the above-mentioned embodiments, the robot may also be a robot with a machine #1 structure, and the processing line may be a robot with a mechanical #1 structure other than the m-joint edge, cutting tilInbA, if
Other forms such as a wired connection may also be used. Of course, the end effector of the robot must be compatible with these machining lines.

14- (In the above embodiment, the sensing of ID processing name is
Although a bath torch itself is used as a sensor, a known contact type or non-contact type sensor may be used.

[Phase] In the above-mentioned embodiment, the explanation about -positive point position 1# information is also applicable to the addition of point position information that is not present at the time of teaching.

In the embodiment described above, the point position information is about correcting the disengagement end point, but it can also be used to correct and add the torch attitude (0, instep) at the valley point.

α) In the self-described embodiment, the explanation will be made using the playback method Rohot, but the NC manual method can also be used.

As detailed above, when using the control method of the present invention,
When recording the correction value by sensing in the test mode, and then modifying or adding the teaching position r1i information,
The new teaching point score in manual mode is as follows:
From now on, you can write the correction value and replace the obtained T position information with the previous teaching position information, or write it in the new T position, so you can change the program as needed after observing the finished base. You can make zero corrections, eliminate the need to re-create all programs, and reduce work 1.
A huge improvement in the 1st hit rate can be achieved.

[Brief explanation of drawings]

The drawings are all miniatures of the non-inventive embodiments; Fig. 1 is an overall schematic diagram of a bath wetting machine employing the present invention, Fig. 2 is a step diagram of a program, Fig. 3 is a flow chart, and Fig. 4 is a diagram showing a step diagram of a program. is an explanatory diagram for fV. In the figure, RO is a mouthpiece, 4 is a bath torch, 7 is a computer, and 8 is a remote control! 1, W is a workpiece. Applicant ShinMaywa Industries Co., Ltd.

Claims (1)

[Claims] (1) For the industrial Kawaguchi hot spring where the taught position information was to be measured using a sensor, a small (at least one-dimensionally sensed position 1) 2. By adding the desired point to the team that corrects or adds to the building information, the position information obtained by performing the first shift of marking correction from the position information of the desired point is used as the song's own teaching position information. Alternatively, a control method for an industrial robot in which the number of axes is set to υrT: <L/T.