WO2014123054A1 - Dispositif de commande de robot et procédé de commande de robot - Google Patents

Dispositif de commande de robot et procédé de commande de robot Download PDF

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Publication number
WO2014123054A1
WO2014123054A1 PCT/JP2014/052045 JP2014052045W WO2014123054A1 WO 2014123054 A1 WO2014123054 A1 WO 2014123054A1 JP 2014052045 W JP2014052045 W JP 2014052045W WO 2014123054 A1 WO2014123054 A1 WO 2014123054A1
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WO
WIPO (PCT)
Prior art keywords
traveling
axis
robot
behavior pattern
actuator
Prior art date
Application number
PCT/JP2014/052045
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English (en)
Japanese (ja)
Inventor
今井　一成
聡志 高津
祐希 高橋
Original Assignee
株式会社 アマダ
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Filing date
Publication date
Application filed by 株式会社 アマダ filed Critical 株式会社 アマダ
Publication of WO2014123054A1 publication Critical patent/WO2014123054A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
    • B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
    • B21D5/0281—Workpiece supporting devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39105—Manipulator cooperates with moving machine, like press brake
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43062—Maximum acceleration, limit
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a robot control device [robot control apparatus] and a robot control method [robot control method].
  • a 6-axis articulated robot is generally known (for example, Patent Document 1 below).
  • An example of a 6-axis articulated robot is shown in FIGS.
  • the robot 203 is placed on a traveling base 201 and holds a work piece (plate material) W bent by a bending machine 207 (press brake) 207. gripper] 205.
  • the holding unit 205 follows the bending motion [bent motion] of the workpiece W.
  • FIGS. 9 and 10 are in an initial state, and FIGS.
  • the holding unit 205 cannot follow the movement (deformation) of the workpiece W. In such a case, the bending process is hindered. Alternatively, it is necessary to slow down the processing speed of the bending machine so that the robot 203 can follow the movement of the workpiece W.
  • An object of the present invention is to provide a robot control device and a robot control method that can follow the movement of a workpiece without slowing down the processing speed of the bending machine.
  • an articulated arm having a holding part for holding a work bent by a bending machine, a traveling platform for moving the articulated arm along a traveling axis, and a joint of the articulated arm.
  • a robot control device for controlling a robot having an actuator for driving each of the traveling platforms, the control unit controlling the actuator, and the control unit controls the actuator to control the bending machine.
  • a follow-up operation for following the position of the holding portion according to the deformation of the workpiece bent at a time, and the control unit, during the follow-up operation, the rotation shaft of the joint of the multi-joint arm and the traveling platform Provided is a robot control device that controls the actuator so that all accelerations of the travel axis are equal to or less than a predetermined value.
  • the second feature of the present invention is that an articulated arm having a holding portion for holding a work bent by a bending machine, a traveling platform for moving the articulated arm along a traveling axis, and a joint of the articulated arm And a robot control method for controlling a robot having an actuator for driving each of the traveling platforms, wherein the position of the holding unit is controlled according to deformation of the workpiece bent by the bending machine by controlling the actuator.
  • the following operation is performed, and at the time of the following operation, the actuator is controlled such that all accelerations of the rotation axis of the joint of the multi-joint arm and the traveling axis of the traveling platform are equal to or less than a predetermined value.
  • a robot control method is provided.
  • FIG. 10 is a view taken in the direction of arrow X in FIG. 9.
  • FIG. 10 is a perspective view showing an operation (bending state) of the robot and the bending machine shown in FIG. 9. It is a XII arrow line view in FIG.
  • a press brake (bending machine) 1 includes a pair of C-shaped frames 3, a lower table 5, an upper table 7, and a control device (not shown: press brake 1). Control device).
  • a control device not shown: press brake 1).
  • an X-axis direction, a Y-axis direction, and a Z-axis direction are set.
  • the frame 3 is fixed to the floor surface.
  • the lower table 5 is fixed to the frame 3 below the frame 3 in the Y-axis direction and in front of the Z-axis direction.
  • the upper table 7 is supported by the frame 3 above the frame 3 in the Y-axis direction and forward in the Z-axis direction.
  • the upper table 7 is movable in the Y-axis direction with respect to the frame 3 (lower table 5).
  • a die D is attached to the lower table 5 via a die holder 9.
  • a punch P (see FIG. 3) is attached to the upper table 7 via a punch holder 11.
  • the upper table 7 is moved in the Y-axis direction by an actuator (for example, a servo motor) controlled by a control device.
  • a work (plate material) W (see FIG. 5) is sandwiched between the die D attached to the lower table 5 and the punch P attached to the upper table 7, and the work W is bent.
  • the upper table 7 is moved in the Y-axis direction here, only the lower table 5 may be moved, or both the upper table 7 and the lower table 5 may be moved. That is, the upper table 7 is moved relative to the lower table 5.
  • the robot 13 has a multi-axis (six axis) open loop structure [open [loop architecture] in which joints 15A, 15B, 15C, 15D, 15E, and 15F are connected in order from below. Yes.
  • the robot 13 includes a multi-joint arm including a base arm 17A, a first arm 17B, a second arm 17C, a third arm 17D, a fourth arm 17E, a fifth arm 17F, and a sixth arm 17G.
  • the first arm 17B is connected to the base arm 17A via the first joint 15A.
  • the first arm 17B is moved relative to the base arm 17A around the first rotation axis C1 (S axis) extending vertically by an actuator (for example, servo motor) controlled by the robot control device 19 (see FIG. 4). [Axially-rotatable].
  • the robot control device 19 exchanges signals (information) with the control device of the press brake 1.
  • the second arm 17C is connected to the first arm 17B via the second joint 15B.
  • the second arm 17C is rotatable (rotatable) with respect to the first arm 17B about a second rotation axis C2 (L axis) extending horizontally by an actuator controlled by the robot controller 19. swingable]).
  • the third arm 17D is connected to the second arm 17C via the third joint 15C.
  • the third arm 17D is rotatable (swingable) with respect to the second arm 17C around a third rotation axis C3 (U axis) extending horizontally by an actuator controlled by the robot control device 19.
  • the fourth arm 17E is connected to the third arm 17D through the fourth joint 15D.
  • the fourth arm 17E is rotatable about the fourth rotation axis C4 (R axis) extending along the third arm 17D (and the fourth arm 17E) by an actuator controlled by the robot controller 19.
  • the fifth arm 17F is connected to the fourth arm 17E via the fifth joint 15E.
  • the fifth arm 17F is rotatable (swingable) with respect to the fourth arm 17E about the fifth rotation axis C5 (B axis) by an actuator controlled by the robot control device 19.
  • the sixth arm 17G is connected to the fifth arm 17F via the sixth joint 15F.
  • the sixth arm 17G is moved to the fifth arm 17F around the sixth rotation axis C6 (T axis) extending along the fifth arm 17F (and the sixth arm 17G) by the actuator controlled by the robot controller 19.
  • the shaft can rotate freely.
  • the holding part [gripper] (end effector) 21 of the robot 13 is attached to the sixth arm 17G, and in this embodiment, the work W is held by a pinching claw.
  • the holding unit 21 may be configured to hold the workpiece W by a magnet or suction.
  • the robot 13 includes a traveling platform 25 at the bottom, and the base arm 17A is fixed to the traveling platform 25.
  • a base plate 23 is installed on the floor surface.
  • the traveling table 25 is supported by the base plate 23 via a linear guide bearing.
  • the traveling platform 25 is movable in the X-axis direction with respect to the press brake 1 by an actuator (for example, a servo motor) controlled by the robot control device 19. Therefore, the robot 13 can move linearly on the base plate 23 in the X-axis direction by the traveling platform 25.
  • the robot control device 19 includes a control unit [CPU] 27, a memory 29, an input unit [input unit] 31, and an output unit [output unit] 33. .
  • the input unit 31 receives a rotation position of the rotation shafts C1 to C6 detected by the sensor and a signal from the control device of the press brake 1.
  • the output unit 33 outputs a drive signal to the above-described actuator of the robot 13 and outputs the state of the robot 13 as a signal to the control device of the press brake 1.
  • the robot 13 is controlled by the robot control device 19 (control unit 27). First, the robot 13 holds the workpiece W before bending by the holding portion 21 and carries it to the press brake 1. Subsequently, the robot 13 follows the deformation of the workpiece W bent by the press brake 1 and rotates the arms 17B to 17G to maintain the holding of the workpiece W by the holding unit 21. At this time, if necessary, the entire robot 13 is also moved in the X-axis direction by the traveling platform 25. Further, the robot 13 continues to hold the workpiece W by the holding unit 21 even when the bent workpiece W is carried out from the press brake 1.
  • the processing speed of the press brake 1 (the lowering speed of the punch P) is independent of the specifications of the robot 13 (the specifications of the actuator for the arms 17B to 17G and the specifications of the actuator for the carriage 25 (arm 17A)). , Determined by the specifications of the press brake 1. For example, in order to maximize productivity, the punch P of the press brake 1 is lowered at a maximum speed suitable for bending.
  • the robot control device 19 ensures that the accelerations of the arms 17B to 17G (that is, the angular accelerations of the joints 15A to 15F) do not exceed a predetermined value (allowable value) during the follow-up, and the platform 25 The robot 13 is controlled so that the acceleration (the movement acceleration of the base arm 17A) does not exceed a predetermined value (allowable value).
  • the redundant brake [redundant axis] (traveling axis of the traveling platform 25) is used to press the brake 1
  • the workpiece W is bent while the workpiece W is held by the holding portion 21 without slowing down the machining speed (the lowering speed of the punch P).
  • the redundant axis is utilized by moving the traveling platform 25 to make the robot 13 run up.
  • the robot control device 19 changes the position P2 (distance X in FIG. 2) of the base arm 17A with respect to the holding position P1 of the holding unit 21 before the start of machining, and moves the traveling platform 25 during machining, thereby performing the above-described follow-up. Perform the action.
  • the robot controller 19 obtains in advance a plurality of behavior patterns of the platform 25 (arm 17A) and arms 17B to 17G that enable the follow-up operation, and the acceleration of the arms 17A to 17G is a predetermined value from the obtained behavior patterns. A group of behavior patterns not exceeding (allowable value) is selected.
  • the robot control device 19 further selects one behavior pattern from the selected group of behavior patterns, and using the selected behavior pattern, the arms 17B to 17G and the traveling platform 25 (arm 17A) of the robot 13 are selected. ) To control.
  • the robot controller 19 obtains a plurality of behavior patterns by calculating the behavior pattern of the robot 13 (arms 17B to 17G) enabling the follow-up operation for each distance X (movement in the X-axis direction and joints).
  • Each rotation of 15A to 15F is a parameter). That is, the robot controller 19 obtains the behavior patterns of the arms 17B to 17G every time the distance X is increased by a predetermined value.
  • the obtained behavior pattern is stored in the memory 29.
  • the robot controller 19 selects one behavior pattern from the group as an optimum behavior pattern using a selection criterion [selection criterion] (evaluation function [evaluation function]).
  • selection criterion for example, at least one of the following first to fifth selection criteria is used. Which selection criterion is used is determined by the operator of the robot 13. The selected selection criterion is input to the input unit 31 by the operator.
  • the first selection criterion (evaluation function f1), a behavior pattern having the smallest maximum acceleration (or maximum speed) of the platform 25 (arm 17A) and the arms 17B to 17G of the robot 13 is selected.
  • the second selection criterion (evaluation function f2), the behavior pattern having the smallest average value of the maximum acceleration (or maximum speed) of the traveling platform 25 (arm 17A) and the arms 17B to 17G is selected.
  • the third selection criterion (evaluation function f3), a behavior pattern having the smallest standard deviation of the maximum acceleration (or maximum speed) of the traveling platform 25 (arm 17A) and the arms 17B to 17G is selected.
  • the behavior pattern having the smallest total operation amount of the traveling platform 25 (arm 17A) and the arms 17B to 17G is selected.
  • the behavior pattern with the smallest total number of reversal operations of the traveling platform 25 (arm 17A) and the arms 17B to 17G is selected.
  • a seven-axis redundant system having one axis of the traveling platform 25 (arm 17A) and six axes of the arms 17B to 17G (joints 15A to 15F) is constructed.
  • the tracking operation is controlled using redundancy. Therefore, even when the position and posture of the holding unit 21 with respect to the workpiece W are constant during the follow-up operation of the holding unit 21 (sixth arm 17G) (that is, the position of the holding unit 21 in the XYZ coordinate system and the XYZ axis).
  • the control unit 27 obtains a behavior pattern by an inverse kinematic function [inverse kinematics function] using a pseudo-inverse matrix [pseudo-inversetrixmatrix].
  • the robot 13 (the traveling platform 25 (arm 17A) and the arms 17B to 17G) is controlled so that the acceleration of the arms 17A to 17G does not exceed a predetermined value (allowable value) during the following operation. Therefore, it is not necessary to slow down the processing speed of the press brake 1. Accordingly, the workpiece W can be bent without reducing productivity.
  • Table 1 shows the movement amount of the robot during the follow-up operation, that is, the rotation angle of the arms 17B to 17G (joints C1 to C6) and the moving distance X of the traveling platform 25 (arm 17A). Since the robot of the prior art does not move in the X-axis direction (that is, does not have a redundant axis), the distance X is 0 mm.
  • all the accelerations of the seven axes are controlled to be equal to or less than the allowable values using redundancy. That is, by moving the traveling platform 25 (distance X is 657.4 mm) and performing a follow-up operation, the operation amount of each axis is relatively reduced. As a result, all the seven-axis accelerations in the robot 13 are less than the allowable value. It should be noted that the start time of the arm that starts rotating first among the arms 17B to 17G (joints 15A to 15F) and the start time of movement of the traveling platform 25 may coincide with each other. You don't have to.
  • the driving of any of the arms 17B to 17G may be started after a predetermined time has elapsed from the start of movement of the traveling platform 25 (arm 17A).
  • the traveling platform 25 starts simultaneously with the start of driving of the arms 17B to 17G.
  • the acceleration of ⁇ 17G exceeds the allowable value. Therefore, by starting driving any of the arms 17B to 17G after a lapse of a predetermined time from the start of the movement of the traveling platform 25, the accelerations of all the seven axes can be made to be less than or equal to the allowable values. In this case, the time required for bending the workpiece W can be made shorter than in the prior art.
  • the acceleration of all the seven axes can be made to be less than the allowable value by starting to move the traveling platform 25 after a predetermined time has elapsed from the start of driving any of the arms 17B to 17G. Even in this case, the time required for bending the workpiece W can be made shorter than that of the prior art.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Abstract

Selon la présente invention, un dispositif de commande de robot comporte une unité de commande pour la commande d'un robot (13) ayant ce qui suit : un bras à articulations multiples ayant une partie de maintien (21) pour maintenir une pièce à travailler qui est pliée par une machine à cintrer (1) ; une base de déplacement (25) qui amène le bras à articulations multiples à se déplacer le long d'un arbre de déplacement ; et un actionneur pour entraîner les articulations (15A-15F) du bras à articulations multiples et de la base de déplacement (25). L'unité de commande commande l'actionneur et réalise une opération de suivi pour le suivi de la position de la partie de maintien (21) en fonction de la déformation de la pièce à travailler qui est pliée par la machine à cintrer (1). L'unité de commande, au moment de l'opération de suivi, commande l'actionneur de telle sorte que l'accélération de chacun des arbres de rotation des articulations (15A-15F) du bras à articulations multiples et de l'arbre de déplacement n'est pas supérieure à une valeur prescrite, et par conséquent, sans ralentissement de la vitesse de traitement de la machine à cintrer, le mouvement de la pièce à travailler peut être suivi.
PCT/JP2014/052045 2013-02-07 2014-01-30 Dispositif de commande de robot et procédé de commande de robot WO2014123054A1 (fr)

Applications Claiming Priority (2)

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JP2013021950A JP2014151385A (ja) 2013-02-07 2013-02-07 ロボット制御装置およびロボット制御方法
JP2013-021950 2013-02-07

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106670883A (zh) * 2017-02-16 2017-05-17 遨博（常州）自动化技术有限公司 一种六轴机器人
WO2017113219A1 (fr) * 2015-12-30 2017-07-06 深圳配天智能技术研究院有限公司 Procédé, appareil et système pour planifier un cintrage suivant une trajectoire
CN109590356A (zh) * 2019-01-30 2019-04-09 福建渃博特自动化设备有限公司 一种折弯跟随方法及终端
CN110134062A (zh) * 2019-04-17 2019-08-16 华中科技大学 一种基于强化学习的多轴数控机床加工路径优化方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6657627B2 (ja) * 2015-07-13 2020-03-04 セイコーエプソン株式会社 ロボット制御装置、ロボットおよびロボットシステム
JP6088601B2 (ja) 2015-08-10 2017-03-01 ファナック株式会社 走行軸付きロボットにおけるツール先端の振れを抑制するロボット制御装置

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JPH06122025A (ja) * 1992-10-14 1994-05-06 Komatsu Ltd プレスブレーキロボットシステムのワーク曲げ追従方法
JP2001287185A (ja) * 2000-04-10 2001-10-16 Amada Co Ltd 曲げ加工機用ロボット
EP1772204A1 (fr) * 2005-10-07 2007-04-11 CREA S.r.l. Plieuse pour tôles avec manipulateur intégré dans un dispositif de butée arrière
JP2011011263A (ja) * 2009-06-30 2011-01-20 Fanuc Ltd 付加軸付きロボットのオフラインプログラム作成装置

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JPH0732277A (ja) * 1993-07-16 1995-02-03 Toshiba Corp ロボットの制御装置
JPH07164358A (ja) * 1993-12-16 1995-06-27 Meidensha Corp ロボット制御装置
JP4396553B2 (ja) * 2005-03-16 2010-01-13 株式会社デンソーウェーブ ロボット制御装置，コンピュータプログラム

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JPH06122025A (ja) * 1992-10-14 1994-05-06 Komatsu Ltd プレスブレーキロボットシステムのワーク曲げ追従方法
JP2001287185A (ja) * 2000-04-10 2001-10-16 Amada Co Ltd 曲げ加工機用ロボット
EP1772204A1 (fr) * 2005-10-07 2007-04-11 CREA S.r.l. Plieuse pour tôles avec manipulateur intégré dans un dispositif de butée arrière
JP2011011263A (ja) * 2009-06-30 2011-01-20 Fanuc Ltd 付加軸付きロボットのオフラインプログラム作成装置

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017113219A1 (fr) * 2015-12-30 2017-07-06 深圳配天智能技术研究院有限公司 Procédé, appareil et système pour planifier un cintrage suivant une trajectoire
CN106670883A (zh) * 2017-02-16 2017-05-17 遨博（常州）自动化技术有限公司 一种六轴机器人
CN109590356A (zh) * 2019-01-30 2019-04-09 福建渃博特自动化设备有限公司 一种折弯跟随方法及终端
CN110134062A (zh) * 2019-04-17 2019-08-16 华中科技大学 一种基于强化学习的多轴数控机床加工路径优化方法
CN110134062B (zh) * 2019-04-17 2020-12-08 华中科技大学 一种基于强化学习的多轴数控机床加工路径优化方法

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