JPS6329809A - Robot control method - Google Patents

Abstract

(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a robot control method for a robot that inserts electronic components into a board.

BACKGROUND OF THE INVENTION In recent years, robot control devices have been required to be highly functional and intelligent. Demand for industrial robots on production lines is increasing as a result of high-mix, low-volume production.

An example of the conventional robot control device mentioned above will be described below with reference to the drawings. FIG. 2 shows a configuration diagram of a conventional robot control device. In Figure 2,
1 is a robot control section, 2 is a motor drive section, 3 is a position detection means, 4 is a speed detection means, 6 is an arm of the robot, 6a
-6d is a motor, 7 is a hand, 8 is a board, 9 is an electronic component, and 1° is a position control unit. In Figure 2, horizontal type 4
An axial robot is used to insert electronic components (fixed resistors, capacitors, etc.) 9 into the board.

A method of controlling the robot control device configured as described above will be described below.

First, the robot control unit 1 reads out the coordinates of the positioning point from all memory, and moves the hand 7 attached to the tip of the robot and the robot arm 6 to grab the electronic component.

Next, before the robot moves to the positioning point, the position control section 10 of the robot control section 1 sends a command signal to the motor drive section 2, and the motor drive section 2 drives the motors 6a to 6d in accordance with the command signal. The position control section 10 learns the current position and speed of the motor that drives the robot through the position detection means 3 and the speed detection means 4, and sends a command yk to the motor drive section 2 so that the robot stops at the positioning point. Next, the robot arm 6 is used to insert the electronic component 9 into the board 8.
The electronic component 9 was inserted into the board 8 by sending a command to the motor 6C that drives the vertical axis of the electronic component 9.

The problem that the invention aims to solve However, in the above configuration, FIG. 3(b).

As shown in (C) and (d), if the lead wire of the electronic component 9 is not inserted into the through hole 12 on the board 8 for some reason, there is a problem that the insertion is defective and the quality of the board 80 deteriorates. Was.

In view of the above-mentioned problems, the present invention provides a robot control method that uses a robot equipped with a force control function and determines whether or not an electronic component has been inserted into a board.

Means for Solving the Problems In order to solve all of the above problems, the robot control method of the present invention is such that when the robot inserts the electronic component into the board, the robot control section changes the direction of rotation of the no. (invention) or in a direction parallel to the board (second invention) to determine whether the electronic component is inserted into the board or not.

According to the above-described configuration, when the robot inserts an electronic component into the board and force control is applied to the rotational direction of the hand at the tip of the robot or the direction parallel to the board, the part will not be inserted normally. The force control of the robot is balanced within the reference position, and the fact that the robot moves outside the reference position in case of incorrect insertion is used to judge whether the insertion of electronic components into the board is good or not. Remove the parts,
The parts must be reinserted until they can be inserted correctly.

EXAMPLE Hereinafter, a robot control method according to an example of the present invention will be described with reference to the drawings. Figure 1 shows the first method of the present invention.
This figure shows the configuration of a robot control device used in this embodiment. In FIG. 1, 1 is a robot control section, 2 is a motor drive section, 3 is a position detection means, 4 is a speed detection means, 6 is an arm of the robot, 6a to 6d are motors, 7 is a hand,
8 is a board, 9 is an electronic component, 1o is a position control section, 11 is a force control section, and 12 is a force detection means. FIG. 4 is a flowchart of an example of the operation when force control is applied to the rotational direction of the hand at the tip of the robot.

A method of controlling the robot control device configured as described above will be described below with reference to FIGS. 1 and 4.

First, the robot control section 1 reads the position of the point to be positioned by the robot from the memory, and then uses the hand 7 attached to the tip of the arm 5 of the robot to pick up the electronic component 9 to be inserted into the board 8.

Next, the position control unit 10 sends a command signal to the motor drive unit 2 to move the robot to the read position;
Drives motors 6a to 6d. The position control section 10 learns the current positions and speeds of the motors 6a to 6d that drive the robot through the position detection means 3 and the speed detection means 4, and sends a command to the motor drive section 2 so that the robot stops at the positioning point. Next, in order to insert the electronic component 9 into the board 8, a command is sent to the motor 6c that drives the vertical axis of the robot arm 5, and after inserting the electronic component 9 into the board 8, force control is applied in the direction of rotation of the hand 7. The motor 6d sends a command from the force control unit 11 to the motor drive unit 2 to rotate the hand 7.
The force in the rotational direction of the hand 7 is detected through the force detection means 12 and fed back to the force control section 11, and the rotation of the hand 7 is stopped when the force is balanced with the command value. If the rotation has stopped at this point, it is checked through the position detection means 3 whether the position of the component 9 is within the reference position, and if the component 9 is located on the board 8.
If the part 9 is within the reference position inserted into the reference position, the work is finished, and if it is not the reference position, the part 9 is removed from the board 8, the positioning point of the same part is registered again, and the part is inserted again. Further, if the rotation of the hand 7 does not stop within a certain period of time, it is assumed that the component has been inserted incorrectly, and the component is inserted again in the same manner as described above.

As described above, according to this embodiment, when the robot inserts a component into the board, force control is applied in the rotational direction of the robot's hand to determine whether or not the component has been inserted into the board. Incorrect insertion of parts can be prevented.

Next, a second embodiment of the present invention will be described with reference to the drawings.

FIG. 5 is a control flowchart of a robot control device showing a second embodiment of the present invention. In FIG. 6, the difference from the first embodiment is that the insertion status of the component 90 into the board 8 is determined by controlling the force of the robot's hand 7 in the horizontal direction (direction parallel to the board 8). be.

A method of controlling the robot control device configured as described above will be described below.

When the robot knows the positioning point, moves to that point, and inserts the component 9 into the board 8, the robot controller 1 issues a command to the motor drive unit 2 to control the force in the horizontal direction of the robot's hand 7. send.

The force in the horizontal direction of the huff door is detected through the force detection means 12 and returned to the force control section 11, and the horizontal movement of the hand 7 is stopped when the force is balanced with the force command value. If the horizontal movement stops at this point, it is checked through the position detection means 3 whether the position of the part 9 is within the reference position, and if it is within the reference position where the part 9 is inserted, the work is finished. However, if it is outside the reference position, the component 9 is removed from the board 8, the positioning point of the same component is registered again, and the component is inserted again. Further, if the movement of the hand 7 continues for a certain period of time or more, it is assumed that the part has been inserted incorrectly, and the part is inserted again in the same manner as described above.

As described above, according to this embodiment, when the robot inserts a component into the board, force control is applied to the robot's hand in the horizontal direction to judge whether or not the component has been inserted into the board. can prevent incorrect insertion.

Effects of the Invention As described above, the present invention prevents incorrect insertion of electronic components into the board by applying force control in the rotating direction of the robot's hand or in the direction parallel to the board when the robot inserts the electronic components into the board. It is possible to prevent this, and its practical effects are similar to that of dogs.

[Brief explanation of drawings]

Fig. 1 is a block diagram of a robot control device used in an embodiment of the method of the present invention, Fig. 2 is a block diagram of a robot control device in a conventional embodiment, and Fig. 3 is a schematic diagram showing an example of inserting electronic components into a board. 4 is a flowchart of the first embodiment of the present invention, and FIG. 6 is a flowchart of the second embodiment of the present invention. 1...Robot control section, 2...・
Motor drive unit, 3...Position detection means, 4...
...Speed detection means, 6...Robot arm, 6a-d...Motor, 7...Hand,
8... Board, 9... Electronic components, 10.
...Position control section, 11...Force control section, 1
2...Force detection means. Name of agent: Patent attorney Toshio Nakao and 1 other person1-
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Claims (2)

[Claims] (1) A robot having N degrees of freedom, a motor for driving each arm of the robot, a position detection means for detecting the position of the motor, a speed detection means for detecting the speed of the motor, and a motor for driving each arm of the robot. A robot comprising a motor drive unit to be driven, a robot control unit that receives the outputs of the position detection means and speed detection means and sends operation command signals to the motor drive unit, and a hand attached to the tip of the robot. In the control method for a control device, when the robot inserts an electronic component into a board, the robot controller controls the state of insertion of the electronic component into the board by applying force control to the robot in the rotational direction of the hand. A robot control method characterized by determining pass/fail. (2) A robot having N degrees of freedom, a motor for driving each arm of the robot, a position detection means for detecting the position of the motor, a speed detection means for detecting the speed of the motor, and a motor for driving each arm of the robot. A robot comprising a motor drive unit to be driven, a robot control unit that receives the outputs of the position detection means and speed detection means and sends operation command signals to the motor drive unit, and a hand attached to the tip of the robot. A robot control method for a control device, wherein the robot control unit determines whether the electronic component is inserted into the board by applying force control in a direction parallel to the board of the robot.