JPH0630865B2 - Industrial robot equipment - Google Patents

Description

Description: TECHNICAL FIELD OF THE INVENTION The present invention relates to an industrial robot, and more particularly to a means for discriminating a rotation range of an arm thereof.

The range of rotation of industrial robots is regulated by mechanical stopper means or also by software or the field of programming. Conventionally, these mechanical restricting means and software restricting means are independent of each other and not related to each other. Therefore, even if the position of the mechanical stopper is changed, the programmable data remains unchanged despite the change.
On the contrary, even if the movement range of the robot is changed in the program, the mechanical stopper mechanism is not changed in relation to it, so that they are independent from each other.

That is, according to the conventional technique, since the mechanical regulation means of the rotation range and the software regulation means are not related to each other, the operation range of the industrial robot is limited to only one of them. It's just regulated.

OBJECTS OF THE INVENTION Therefore, an object of the present invention is to correlate a mechanical rotation range control means with a rotation range control means in the field of software so that the operation range of a robot can be controlled from both fields. It is to be.

Means for Solving the Problems Under the above-mentioned object, the present invention provides a robot main body of an industrial robot device with a mechanically position-changeable rotation range regulating means, and when the position of the rotation range regulating means is changed. ,
The changed rotation range is stored in the storage means of the controller of the robot body, and when the operation range of the robot is input by a program or teaching, it is discriminated by the determination means of the controller whether or not it is within the changed operation range. I am able to do it.

As a result, the rotation range of the arm of the industrial robot is regulated by mechanical means, and is also regulated in the software, that is, the program creation stage. Therefore, the rotation range of the arm of the industrial robot can be reliably regulated from both the mechanical field and the software field.

Configuration of the Invention FIG. 1 shows an industrial robot apparatus 1 of the present invention. The industrial robot apparatus 1 includes, for example, a horizontal articulated robot main body 2 and a controller 3 for controlling the robot main body 2.

The robot body 2 is, as shown in FIG.
Two stoppers 5 at the rotation angle θ at the arm rotation shaft 4
a and 5b are provided in a state where the position can be freely changed by a mounting position changing means 51 such as a screw, and are centrally connected to a driving motor 6 and an absolute position detecting means 7 such as an absolute shaft encoder.

The stoppers 5a and 5b correspond to overrun sensors 8a and 8b fixed to the frame 10 of the robot body 2 and 9a and 9b per degree. In the case of this embodiment, the stoppers 5a, 5b restrict the rotation range of the arm rotation shaft 4 and are mounted so as to be positionally adjustable, and corresponding to the overrun sensors 8a, 8b and 9 degrees per degree.
The a and 9b are fixed to the frame 10.

Further, the controller 3 is constituted by a position control means 11 such as a microcomputer and has a built-in program for controlling the movement of the robot main body 2. As shown in FIG. 2, the movement data input by the input means 12 is stored. Based on the above, the rotation amount and the rotation speed of the motor 6 are controlled via the drive means 13. The rotation amount of the motor 6 is detected by the absolute position detection means 7 and directly input to the position control means 11.

And this controller 3 is characterized by
In the teaching mode, a storage means 14 for storing the rotation angle of the absolute position detection means 7 as a boundary value is provided,
Further, when the movement of the robot main body 2 is designated, a discriminating means 15 for discriminating whether the program point or the teaching point is inside or outside the boundary position is provided. The overrun sensors 8a and 8b are also connected to the position control means 11, and the position control means 11 is also connected to the alarm means 16 such as a lamp or a buzzer.

The position control means 11 stores a program necessary for the movement of the robot main body 2 in advance, and by executing the program, the robot main body 2 is caused to sequentially perform the necessary movements. At this time, the arm rotation shaft 4 is attached to the stopper 5
The rotation angle θ is mechanically restricted by the abutting relationship between a and 5b and the contact angle 9a and 9b. Therefore, when the arm rotation shaft 4 tries to rotate beyond the rotation angle θ, the stopper 5a or the stopper 5b moves 9a or 9b per degree.
Since it hits the overrun sensor 8a or the overrun sensor 8b before the contact with the overrun sensor 8b, these overrun sensors 8a, 8b send an overrun signal to the position control means 11 to interrupt the program, or the motor 6 Sends a command to set the power of the to off state.

By the way, the rotation angle θ can be easily adjusted by adjusting the positions of the stoppers 5a and 5b. Figure 3 shows
The flowchart when changing the rotation range of the arm rotating shaft 4 is shown.

First, the operator attaches the positions of the stoppers 5a and 5b and adjusts them by the position changing means 51, and then the rotation angle θ.
Is changed to set a new rotation range on the arm rotation shaft 4, and then the input means 12 is operated to set the program of the position control means 11 to the teaching mode. In this teaching mode, the position control means 11 causes the overrun sensors 8a, 8
driving means 1 even when receiving an overrun signal from b
3 is set to be continuously driven without turning off the power. After that, the operator actually moves the robot main body 2 or operates the input means 12 to give a rotary motion in either direction to the arm rotary shaft 4, so that, for example, the stopper 5a is correspondingly overrun. It hits the sensor 8a, and the arm rotation shaft 4 is stopped there. The absolute angle of the arm rotation shaft 4 at this time is detected by the absolute position detection means 7 and stored in the storage means 14 as the boundary value of the rotation range. In this storage, the position control means 11 provides the storage means 14 with the variation of the overrun sensors 8a and 8b and the margin angle for safety which are input by the input means 12 in advance.
The actual boundary value is stored as a value that takes into account the correction value of those variations and the margin. In this way, the new rotation range is stored in the storage means 1 as data for the change on the software after the mechanical change of the stoppers 5a and 5b.
4 is input. The above boundary values are similarly applied to one rotation direction and the opposite rotation direction. This is the end of the program.

Next, FIG. 4 shows a flow chart in the case of changing the motion data of the robot body 2.

The operator inputs a teaching point by the teaching operation of the robot body 2 or by keying in the program point from the input means 12,
Input the program points and change the data of the exercise points for each operation step of the exercise program.
In the changing process, the input data of the new movement position is identified by the determining means 15 each time. That is, the determination means 15 refers to the boundary value data stored in the storage means 14, and determines for each input of new motion point data whether or not it is within the changed rotation range,
When it is in the turning range, the input of the data is validated and taken into the exercise program, but when it is outside the turning range, the data is invalidated and the alarm means 16 and the like are operated to move the data outside the turning range. The operator is informed that there is something and is ready for re-entry. In this way, the robot body 2
The new motion point of (1) is always identified even in the stage of creating a new program, and is valid only when it is within the rotation range.

Other Embodiments of the Invention In the above embodiments, the stoppers 5a, 5b on the arm rotation shaft 4 side are provided.
Although the position can be freely changed, the position may be changed on the side of the overrun sensors 8a, 8b and the degrees 9a, 9b. Further, the amount of change may be continuous or may be changed only stepwise.

Further, although the above description assumes one arm rotation axis 4 for the sake of convenience, a multi-joint type robot has a plurality of rotation axes, and therefore the above operation is performed for each rotation axis. become.

Effects of the Invention In the present invention, the following unique effects are obtained.

On the robot body side, the rotation range of the arm rotation axis is mechanically regulated by the stopper and the contact, and the operation position of the arm rotation axis is also confirmed at the stage of programming the predetermined movement of the robot body. Since only valid data is changed, the operating range from mechanical means and program means is surely regulated and safety is ensured. In this way, the arm rotation axis of the robot body can be easily changed by changing the mechanical stopper or the degree of contact, and the program content is also changed by software corresponding to the change. Therefore, it becomes easy to change or adjust the operating position.

The robot body does not have a unique origin. It does not return to the original position at the start or end of exercise, so unexpected movements at the use stage can be prevented, and personal injury or collision can be prevented.

[Brief description of drawings]

FIG. 1 is a schematic side view of an industrial robot apparatus, FIG. 2 is a block diagram of a controller, FIG. 3 is a flow chart diagram when changing a rotation range, and FIG. 4 is a flow chart diagram when changing motion points. Is. 1 ... Industrial robot, 2 ... Robot main body, 3 ... Controller, 4 ... Arm rotation axis, 5a, 5b ... Stopper, 51 ... Mounting position changing means, 6 ... Driving motor, 7 ... ... Absolute position detecting means, 8a, 8b ... Overrun sensor, 9a, 9b ... Per degree, 10 ... Frame, 11 ... Position control means, 12 ... Input means, 13
...... Driving means, 14 …… Storage means, 15 …… Discrimination means,
16 ... Alarm means.

Claims (1)

[Claims] 1. An industrial robot apparatus comprising a robot main body and a controller, wherein an absolute position detecting means for detecting an arm rotation position and an arm rotation range regulating contact having an overrun sensor are provided, and the contact is freely contactable with the contact. And a stopper for operating the overrun sensor, a means for varying the mounting position of the hit or stopper, a storage means for a boundary value corresponding to the overrun sensor position, and a program point or a teaching point stored in the storage means. An industrial robot apparatus, comprising: a discriminating means for discriminating whether the boundary value is inside or outside.