JPS6162103A - Robot system that allows you to change the origin alignment order - 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 Application of the Invention] The present invention relates to a robot system, and more particularly, to an improvement in origin alignment in a robot having relative position detectors for detecting each axis. It is something.

[Background of the invention]

Conventionally, articulated robots have been equipped with a relative position detection Jlk mechanism using pulse encoders to position each axis, and when the power is turned on, the origin of each axis is aligned in the order of commands. It is necessary to do so. However, the instructions for performing home alignment are originally set by the robot manufacturer, so when home alignment is performed, there is a risk that the robot may come into contact with surrounding objects depending on where it is installed. In some cases, there may be problems that require modification of the surrounding environment.

[Purpose of the invention]

In view of the above problem K, the present invention can arbitrarily change the order of origin alignment of the axes, thereby preventing contact without modifying the surrounding environment when aligning the origin. The present invention aims to provide a robot system in which the order of origin alignment can be changed.

[Summary of the invention]

The present invention provides a robot body having a plurality of axes, a relative position detection mechanism that detects the rotational position of each axis of the robot body, and a control device that controls each axis by detection of the position detection mechanism. , a display device that displays the order of origin alignment for each of the axes; an input mechanism that can arbitrarily change the origin alignment order of each axis based on the display device; When the order of origin alignment for the axes is changed, means is provided for aligning the origin of each axis in accordance with the changed origin alignment order, thereby achieving the above object.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to the accompanying drawings.

The robot of the embodiment can be roughly divided into a robot body 1,
The robot body 1 includes a control section 2 for controlling the robot body 1.

The robot main body 1 includes a base 11, a column 12 mounted on the base 11, and a lower portion connected to the upper portion of the column,
and an upper arm 13 made of a parallel link mechanism, and the upper arm portion 13
It consists of a forearm 14 connected at one end to the upper part of the forearm 14, a wrist 15 connected to the other end of the forearm 14, and a gripping tool 16 attached to the tip of the wrist 15. And the robot body 1 is at the front.

It has five shafts for connecting each of the parts 11 to 16. That is, the five axes are a rotation axis 1a for rotating the strut 12 with respect to the base 11, a brachial axis 1b for rotating the upper arm 18 with respect to the strut 12, and a rotation axis 1b for rotating the forearm 14 with respect to the upper arm 13. The motor 3 is driven by a forearm shaft 1c that can move, a bending shaft 1d that can rotate the wrist 15 with respect to the forearm 14, and a twisting shaft 1e that can rotate the gripping tool 16 with respect to the wrist 15. allows each to rotate.

Furthermore, the five shafts 1a to 1e are provided with positioning mechanisms 4 for detecting their respective rotational positions.

That is, as shown in FIG. 2, the position detector 'wt4 is of a relative type in which a pulse encoder 41 is disposed at a position facing one end of the motor 3 rotating shaft, and is a relative type position detector 41 that drives the motor 3. At this time, the pulse encoder 41 detects and integrates the rotational position of the shaft 3, thereby adjusting the rotational position of the shaft 3.
K so that the rotational position of e can be detected. In FIG. 2, one end of an arm 10 is attached to the other end of the rotating shaft of the motor 8 via a monic drive 5 of a speed reduction mechanism. The arm 10 is a pseudomorphization of each of the above-mentioned parts, that is, the base 11, the strut 12, the upper arm 13, the forearm 14, the wrist 15, and the gripping tool 16.

On the other hand, the control device 2 is capable of operating the robot body 1 by controlling each of the axes 1a to lb based on detection by the position detection mechanism 4.

When this robot system performs work, it first rotates each part 11 to 15 to the position of a proximity switch (not shown) to reset an integrator counter (not shown), and thus, for each axis 1a to le. By resetting, each of the axes 1a to 1c can be aligned with the origin. The order of the origin alignment is set in advance. In Figure 1, 6 is the teaching/
This is an auxiliary teaching device that has an operation section for inputting during playback.

Therefore, if the order of origin alignment of the respective axes 1a to 1e is determined, there is a risk that the robot main body 1 will come into contact with surrounding objects. Therefore, it is provided with a display device 7 that displays the order of origin alignment for each of l1411a to 1e, and an input device s8 that can change the origin alignment order based on the display on the display device 7.

The display device 7 is a CRT, for example, as shown in FIG.
The screen can display the names of the respective axes 1a to 1e and the order in which origin alignment should be performed for each axis. The input mechanism 8 comprises, for example, a keyboard, and the order of origin alignment is determined by operating key buttons while watching the display device 7 and correcting the position of the axis to which the order is to be changed. can be changed arbitrarily. Therefore, when the order of origin alignment is changed by the input mechanism 8, the changed desired order is stored in memory, and the origin alignment can be performed according to the contents of the memory at the time of origin alignment. The memory is non-volatile, such as a bubble memory, which can continue to store the contents when the power is turned off and then turned on again.

Next, the procedure for changing the origin alignment will be explained according to the flowchart of FIG.

Now, the origins of the respective axes 1a and 1e are aligned, or in the order shown in FIG. 5(a), for example, the first axis is the rotation axis La.

It is assumed that the second position is the upper arm axis 1b, the 13th position is the forearm axis IC, the 14th position is the bending axis 1d, and the fifth position is the twist axis 1e. At this time, the order of origin alignment for each of the axes 1a to 1e is displayed on the screen of the display device 7, as shown in FIG.

In the above state, for example, if you want to change the order of the first scan to the upper arm axis 1b and the second scan to the forearm axis 1a, first in step 100, the operator operates the input mechanism 8 and the cursor 9 When the cursor 9 is positioned at the sign of the upper armpit axis 1b and the number 1 is input, and the cursor 9 is positioned at the sign of the rotation axis 1a and the number 2 is input, the order of origin alignment is changed from K. As a result, step 1
The order changed in 01 is stored in table 2 as shown in FIG. 5(b).

Thereafter, the origin of each of the axes 13 to 1e can be aligned according to the change order. That is, in step 102, the axis Ia
The counter for performing origin alignment is reset by the number of times ~1e, and in step 103 the contents of table 2 (here 2a
), and in step 104, step 103
The content (2a) read in is the content of table 1 specified by (2a).
By reading out the upper arm axis 1b, the upper arm axis 1b is read out.

Then, in step 105, the upper arm axis 1b is driven to align the origin of the upper arm axis 1b, and in step 106,
Then, it is determined whether or not the origin alignment of the upper arm axis 1b has been completed normally. As a result of this determination, if the origin alignment work cannot be performed normally, an abnormality process is carried out in step 109, but if it is completed normally, +1 is added to the counter in step 107.
In step 108, the number of counters incremented by +1 is compared with the total number of axes. The processes of steps 108 to 108 are repeated until the comparison result is that the number of counters I≧the total number of axes. As a result, the order of origin alignment is the upper arm @lb first, the rotation axis 1a second, the forearm axis 1c third, the bending axis 1d fourth, and the twisting axis 1e fifth. be exposed.

Therefore, the input mechanism 8 and the display device 7 can be used as shown in FIG.
By rewriting the contents of Table 2 shown in ), the order of origin alignment for the axes can be changed to a desired order.

〔Effect of the invention〕

As described above, according to the present invention, the order of origin alignment can be arbitrarily changed using the input mechanism and display device, so that when the origin alignment is performed, the robot body is This has the advantage that it is possible to reliably prevent contact with objects and that it is not necessary to modify the surrounding area.

[Brief explanation of drawings]

Figure 1 is a side view showing one embodiment of the robot system by Kinoe BAK, Figure 2 is a schematic diagram showing the relationship between the position detection mechanism and the arm, and Figure 3 is a block diagram of the robot system.
Figure 4 is a front view showing the display device and input mechanism, Figure 5 (a)
), (b) is the theory E! which shows the memory contents of each memory! A
6 are flowcharts showing the procedure for aligning the origin of each axis. l...Robot body, 1a...Rotating axis, 1b...
Upper arm axis, 1c... Forearm axis, 1d... Bending axis, 1e.
... Twisted υ axis, 2... Control device, 4... Position detection mechanism, 41... Pulse encoder, 7... Display device,
8...Input mechanism. Figure 1 H $ 2 Figure $ 3 Figure half 4 Mouth

Claims (1)

[Claims] a robot body having a plurality of axes; a relative position detection mechanism that detects the rotational position of each axis of the robot body;
a control device that controls each axis through detection by the position detection mechanism; a display device that displays the order of origin alignment for each of the axes; and a display device that displays the origin of each axis based on the display of the display device. A robot capable of changing the order of origin alignment, comprising: an input mechanism capable of arbitrarily changing the alignment order; and means for driving the control device to align the origin of each axis according to the origin alignment order. system.