JPH0411353B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to a sensor device suitable for use in painting robots and the like.

``Prior Art'' In recent years, a painting robot as shown in FIG. 7 has been used as a device for automatically painting the inside of, for example, an automobile door or locker. In this figure, 1 is a robot body, 2 is an arm, and a coating unit 4 is rotatably and displaceably attached to the tip of arm 2 via a flexible wrist 3. Here, the coating unit 4 is attached to the base 5 attached to the flexible wrist 3.
, a sensor 6 attached to the base 5, a paint spray gun 7, and a rod 8 supported in a state projecting downward from the base 5 by a rod support portion (not shown). On the other hand, code 10
1 is a door such as an automobile door or a door, and the door 10 is formed with a rectangular window frame, and this window frame has a groove 10a for fitting a window glass between an outer window frame 10b and an inner window frame. 10c. Then, the door 10 is painted using the painting unit 4.
When painting the inside of the robot body 1, while moving the painting unit 4 in the direction of arrow A,
The door 10 is opened by detecting the groove 10a and inserting the rod 8 into the groove 10a and pulling it in the direction of arrow B. Next, after pulling out the rod 8 from the groove 10a, the coating unit 4 is moved to the inside of the door 10, and the interior is coated with the coating spray gun 7.

Now, in the conventional painting robot mentioned above, a reflective photoelectric sensor shown in FIG. 8 is widely used as the sensor 6. In this figure, the light emitted from the light emitting diode 6a is reflected by the reflective surface 12 (in this case, the groove 10a, the window frame 10b forming the groove 10a,
10c) and is received by the phototransistor 6b, the output of which is supplied to the robot control device 13. In this case, the sensor 6 detects the window frame 10b and the groove 1 shown in FIG.
0a and the window frame 10c, the output is a mountain and a groove 10a at the window frames 10b and 10c.
It becomes a trough at , resulting in a bimodal curve as shown in the figure (b). Therefore, by clipping this at an appropriate level L, it is possible to obtain two pulses PS ₁ and PS ₂ corresponding to the mountain part, as shown in Figure A, and by this, the groove 10a can be detected. be able to. When the groove 10a is detected, for example, by the rise of the pulse _PS2 , the rod 8 is returned a predetermined distance in the direction B in FIG. 7, inserted into the groove 10a, and the door 10 is opened.

"Problems to be Solved by the Invention" By the way, in the conventional painting robot described above, since the painting is done in various colors, the reflectance of the reflective surface 12 also changes variously. When the paint is black, the reflectance decreases, so the output of the sensor 6 also decreases overall as shown by curve C ₂ in Figure 9 (b).
Even the mountain portion becomes lower than the level L, and the pulses PS ₁ and PS ₂ cannot be obtained, making it impossible to detect the groove 10a. On the other hand, if the paint is white,
As the reflectance increases, the output of the sensor 6 increases overall as shown by the curve _C3 in Figure 9B, and now even the valley part becomes higher than the level L, and the pulse _PS1 ,
Only a single pulse is obtained instead of PS ₂ , and again the groove 10a cannot be detected. In addition, the reflectance changes depending on the unevenness of the reflective surface 12,
Similarly, the groove 10a may not be detected.

The present invention solves the above-mentioned problems, and provides an industrial robot that can always accurately detect the window glass mounting groove of an automobile door, regardless of the paint color of the automobile door or the unevenness of the surface of the automobile door. The purpose is to provide equipment.

``Means for Solving the Problems'' The present invention provides an industrial robot in which a sensor for detecting a window glass mounting groove of an automobile door and a rod that enters the groove are provided at the tip of an arm, and An industrial robot device comprising: a control device that opens or closes the automobile door by moving a rod that is driven and inserted into the groove, the control device including the sensor; When crossing the two window frames of the automobile door and the window glass mounting groove sandwiched between the window frames, the output signal from the sensor is extracted at predetermined time intervals, and the amount of change in the output signal is sequentially measured. determining means for detecting the windowpane mounting groove of the automobile door based on the calculated amount of change; and when the determining means detects the windowpane mounting groove, moving the rod onto the windowpane mounting groove. The vehicle door is characterized by comprising driving means for positioning and inserting the rod into the groove, and moving the rod in a direction in which the automobile door is opened or closed while the rod is inserted into the groove. do.

"Operation" According to the present invention, the amount of change in the output signal of the sensor at each predetermined time interval is calculated, and the window glass mounting groove of the automobile door is detected based on the amount of change. Even if the reflectance changes due to a change in the unevenness, etc., the window glass mounting groove of the automobile door can always be accurately detected. Thereby, the rod can be reliably inserted into the window glass mounting groove to open or close the automobile door.

"Embodiments" Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of essential parts of an embodiment of the present invention, and parts corresponding to those in FIGS. 7 to 8 are given the same reference numerals. In this figure, 20 is an amplifier that amplifies the output signal of the phototransistor 6b of the sensor 6, and 21 is an A/D (analog/digital) converter that converts the analog detection signal S supplied from the amplifier 20 into digital detection data D. It is a vessel. The detection data D output from the A/D converter 21 is transmitted via the bus line 25.
The signal is supplied to the CPU 26 and undergoes processing to be described later.
Further, 27 is a ROM that stores programs used in the CPU 26, and 28 is a RAM that is used as a work area and the like.

Next, the waveform diagrams shown in Figs. 2 and 3 and the waveform diagrams shown in Figs.
The operation of this embodiment will be explained with reference to the flowchart shown in the figure.

Now, in order to open the door 10 prior to painting the inside of the car door or the door, a search for the groove 10a is started, and the sensor 6 detects the window frame 10b → the groove 10a.
→When passing over the window frame 10c one after another, the output of the phototransistor 6b of the sensor 6 becomes a bimodal curve as shown in FIG. That is, sensor 6
As the position moves in the order of A → B → C → D → E, the output of the phototransistor 6b changes to the peak at the position B and D corresponding to the window frames 10b and 10c, and the position corresponding to the groove 10a. It becomes a valley at C. Then, the output signal of the phototransistor 6b is amplified by the amplifier 20, converted to digital detection data D by the A/D converter 21, and then sent to the CPU 26.
is supplied to

Next, the CPU 26 proceeds with the operation of detecting the groove 10a according to the flowchart shown in FIG. first,
Loop l ₁ consisting of step S ₁ and steps S ₂ and S ₃
It is detected that the sensor 6 has approached the window frame 10b, that is, that the sensor 6 has reached the position A shown in FIG. Step _S1 is an initialization routine, and as shown in FIG. 5, the variable i is set to 0 (step _SP1 ), and then, at that point, the
The detection data D supplied from the converter 21 is temporarily stored in the RAM 28 as detection data D _i (=D ₀ ) (step SP ₂ ). The next step _S2 is the differential data
This is the N _i calculation routine, and as shown in Figure 6,
Add 1 to the variable i (step ST ₁ ), temporarily store the detected data D _i in the RAM 28 (step ST ₂ ),
Calculate the difference data N _i =D _i −D _i-1 (step
_ST3 ). Then, in step _S3 , it is determined whether or not the difference data N _i is 0 _.
If so, return to step _S2 through loop _l1 , and if difference data N _i is not 0, proceed to the next step _S4
Proceed to. That is, the sensor 6 is at position A shown in FIG.
At the point when the difference data N _i , which is the difference between the consecutive detection data D _i and D _i-1, starts to stop being 0,
It is determined that the sensor 6 has approached the window frame 10b, and the process proceeds to the next step _S4 . In this step _S4 , it is determined whether the difference data N _i is positive or not, and if the difference data N _i is negative (N _i <0), error processing is performed and the sensor 6 is returned to its original position. Start searching again. On the other hand, if the difference data N _i is positive (N _i >0)
It is assumed that the sensor 6 is moving in the direction approaching the window frame 10b, and the process advances to the next step _S5 .

Next, in step _S5 and a loop _l2 consisting of steps _S6 , _S7 and _S8 , it is detected that the sensor 6 has reached above the window frame 10b (position B shown in FIG. 2).
Step _S5 is the same initialization routine as step _S1 , and step _S6 is the same differential data as step _S2 .
This is a N _i calculation routine. Then, in step _S7 , it is determined whether or not the difference data N _i is positive. If the difference data N _i is positive (N _i >0), the process proceeds to step _S8 , and the process proceeds to step _S6 through loop _l2 . and if the difference data N _i is 0 or negative (N _i
≦0), proceed to the next step _S9 . That is, the sensor 6 reaches position B shown in FIG.
When N _i changes from positive to negative, it is considered that the sensor 6 has reached above the window frame 10b. Here, if the variable i becomes larger than the predetermined number K in loop _l2 , this is determined in step _S8 , and it is assumed that the window frame 10b could not be found within the predetermined time, error processing is performed, and the sensor 6 Return it to its original position and start searching again.

Next, step _S9 , steps _S10 , _S11 and
The loop _l3 consisting of _S12 detects that the sensor 6 has reached the upper part of the groove 10a (position C shown in FIG. 2). First, after executing the initialization routine in step _S9 , the differential data N _i calculation routine in step _S10 is executed, and in step _S11 , it is determined whether N _i is negative or not, and the differential data N i is calculated. If _i is negative (N _i <0), proceed to step _S12 and loop
l ₃ returns to step _S10 , and the differential data N _i
If is 0 or positive (N _i ≧0), proceed to the next step.
Proceed to S ₁₃ . That is, when the sensor 6 reaches the position C shown in FIG. 2 and the difference data N _i changes from negative to positive, it is considered that the sensor 6 has reached above the groove 10a. Here, if the variable i becomes larger than the predetermined number K in loop _l3 , this
It is determined in _S12 that it is assumed that the groove 10a could not be found within a predetermined time, and error processing is performed.

Next, in step _S12 , the _coating unit 4 (seventh
(see figure). In other words, the sensor 6 detects the groove 10 at the time when the detection data D _i-1 is read.
It is assumed that the robot reaches above point a, and the posture of the robot at that point is memorized. The reason why the time point at which the detection data D _i-1 was read is set here is as follows. As shown in FIG. 3, if detection data Da, Dc, and De are obtained sequentially before and after the portion where the output of the phototransistor 6b of the sensor 6 becomes the minimum value, the detection data Dc is taken as the minimum value, and When data Db, Dd, and Df are obtained sequentially, the detected data Dd is set to the minimum value, and the detected data Db and De
are obtained sequentially, the detection Db is set to the minimum value.
In this way, the point in time when the difference between successive detection data goes from negative to positive (for example, De−Dc>0), or 0
If a point in time (for example, De-Db=0) is detected, the point immediately before that point can be regarded as the minimum value.

Next, step _S14 , steps _S15 , _S16 and
The sensor 6 connects to the window frame 10c with the loop l ₄ consisting of S ₁₇ .
It is detected that the position is above (position D shown in FIG. 2). First, after executing the initialization routine in step _S14 , executing the differential data N _i calculation routine in step _S15 , and then in step _S16 ,
It is determined whether or not the difference data N _i is positive. If the difference data N _i is positive, the process proceeds to step _S17 , returns to step _S15 through loop _l4 , and if the difference data N _i is 0 or negative. In this case, sensor 6 is on window frame 10
It is assumed that the value above c has been reached, and the search is terminated. On the other hand, if the variable i becomes larger than the predetermined number K in loop _l4 , this is determined in step _S17 , and it is assumed that the window frame 10c could not be found within the predetermined time, and error handling is performed.

When the groove 10a is detected in the above-described procedure, the coating unit 4 is moved based on the position information stored in step _S13 , the rod 8 is inserted into the groove 10a, and the door 10 is opened.

Note that the method for detecting the groove 10a is not limited to the above method, and for example, the sensor 6 is once placed on the window frame 10.
Proceed to the top of c, then window frame 10c → groove 10a →
It is also possible to detect while returning the window frame 10b. Further, in the embodiment described above, a case has been described in which a concave portion (groove 10a) of the door 10 is detected, but a convex portion can also be detected in the same manner. Further, in the above-described embodiment, the case where the locker door 10 is opened has been described as an example, but the opening is not limited to this, and may be, for example, a car door.

"Effects of the Invention" As explained above, according to the present invention, there is provided an industrial robot in which a sensor for detecting a window glass mounting groove of an automobile door and a rod that enters the groove are provided at the tip of the arm; a control device that opens or closes the automobile door by driving an arm to move a rod inserted into the groove;
The industrial robot device is equipped with an industrial robot device, wherein the control device includes a control device that detects a signal from the sensor when the sensor crosses two window frames of the automobile door and a window glass mounting groove sandwiched between the window frames. determining means for extracting the output signal of the output signal at predetermined time intervals, sequentially calculating the amount of change in the output signal, and detecting the window glass mounting groove of the automobile door based on the calculated amount of change;
When the window glass mounting groove is detected by the determination means, the rod is positioned above the window glass mounting groove, the rod is inserted into the groove, and the rod is inserted into the groove. Since the present invention is configured to include a driving means for moving the rod in the direction in which the automobile door is opened or closed, the following effects can be achieved.

Regardless of the color of the paint on the car door, the unevenness of the surface of the car door, etc., the window glass mounting groove of the car door can always be accurately detected.

Thereby, the rod can be reliably inserted into the window glass mounting groove of the automobile door to open and close the automobile door.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of one embodiment of the present invention, FIG. 2 is a diagram showing the relationship between the position of the sensor 6 and the output of the phototransistor 6b in the same embodiment, and FIG. 3 is a diagram showing the relationship between the position of the sensor 6 and the output of the phototransistor 6b in the same embodiment. 4 to 6 are flowcharts for explaining the groove detection operation of the same embodiment. FIG. 7 is a side view showing an example of a painting robot.
The figure is a diagram for explaining an example of the sensor 6 used in the painting robot shown in Fig. 1. Figs. 2 is a diagram showing the relationship between a signal obtained by cutting the signal at level L and pulses PS ₁ and PS ₂ obtained when the signal is cut at level L. FIG. 1...Robot body, 2...Arm, 6...Sensor, 8...Rod, 10...Door (car door),
10a...Groove (window glass mounting groove), 10b, 10
c...window frame, 13...robot control device (control device, determination means, drive means), 26...CPU (determination means).

Claims (1)

[Scope of Claims] 1. An industrial robot having a sensor for detecting a window glass mounting groove of an automobile door and a rod that enters the groove at the tip of an arm, and an industrial robot that drives the arm to move into the groove. An industrial robot device comprising: a control device that opens or closes the automobile door by moving an intruding rod; When crossing the frame and the window glass mounting groove sandwiched between the window frame,
a determining means for extracting an output signal from the sensor at predetermined time intervals, sequentially calculating an amount of change in the output signal, and detecting a window glass mounting groove of the automobile door based on the calculated amount of change; when the means detects the glazing groove, positioning the rod over the glazing groove and inserting the rod into the groove;
An industrial robot device comprising: driving means for moving the rod in a direction in which the automobile door is opened or closed while the rod is inserted into the groove.