WO2017051445A1 - Système d'apprentissage pour robot à articulations multiples - Google Patents

Système d'apprentissage pour robot à articulations multiples Download PDF

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Publication number
WO2017051445A1
WO2017051445A1 PCT/JP2015/076821 JP2015076821W WO2017051445A1 WO 2017051445 A1 WO2017051445 A1 WO 2017051445A1 JP 2015076821 W JP2015076821 W JP 2015076821W WO 2017051445 A1 WO2017051445 A1 WO 2017051445A1
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WO
WIPO (PCT)
Prior art keywords
teaching
articulated robot
teaching member
robot hand
contact
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PCT/JP2015/076821
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English (en)
Japanese (ja)
Inventor
加藤正樹
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富士機械製造株式会社
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Publication date
Application filed by 富士機械製造株式会社 filed Critical 富士機械製造株式会社
Priority to PCT/JP2015/076821 priority Critical patent/WO2017051445A1/fr
Priority to JP2017541185A priority patent/JP6647308B2/ja
Publication of WO2017051445A1 publication Critical patent/WO2017051445A1/fr

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  • the present invention relates to a teaching system for performing correction teaching in an articulated robot.
  • Articulated robots that perform predetermined tasks such as delivering objects to and from the other device perform origin search using origin marks and positioning pins for each drive axis, and perform operations according to the control program.
  • Teaching to be memorized is performed. For example, in the case of a transfer robot, it is required to transfer an object to an accurate position by executing a stored control program. However, if there is an error in the accuracy of the parts of the robot or the receiving side that receives the object, the work performed by numerical control cannot be performed accurately. Therefore, conventionally, a teaching system is disclosed in Patent Document 1 below.
  • This conventional example is an articulated robot teaching system that moves a workpiece gripped by a chuck at the tip to a target position.
  • the position of the chuck and the workpiece is roughly aligned, and the workpiece is gripped by the chuck.
  • the floating body on the chuck side moves so that the center positions of the two coincide.
  • the position of the chuck is detected by a sensor, and the true chuck position is calculated by the calculation unit based on the position data.
  • the conventional teaching system is to provide a floating mechanism for an articulated robot, and the robot itself requires a special structure. Accordingly, the addition of a special structure increases the price of the articulated robot. In addition, the floating mechanism makes the articulated robot structurally weak, and easily causes a failure. Therefore, it is desirable that teaching can be performed without adding a new configuration and with an articulated robot having a conventional structure without any burden on the operator.
  • an object of the present invention is to provide a teaching system for performing correction teaching without adding a new configuration to an articulated robot in order to solve such a problem.
  • An articulated robot teaching system is an articulated robot in which an arm member is connected by a joint mechanism including a drive motor, and a predetermined operation is performed with a counterpart device by a robot hand provided at a distal end portion.
  • a first teaching member held by the counterpart device, a second teaching member held by the robot hand and brought into contact with the first teaching member, and the first teaching member held by the counterpart device The two teaching members held by the robot hand are brought into contact with the teaching member from a plurality of directions, the contact position is obtained based on the torque value of the drive motor that is raised by the contact, and the position of the robot hand is calculated.
  • a control device is an articulated robot in which an arm member is connected by a joint mechanism including a drive motor, and a predetermined operation is performed with a counterpart device by a robot hand provided at a distal end portion.
  • a first teaching member and a second teaching member are prepared, and the two teaching members held in the robot hand are brought into contact with the first teaching member held by the counterpart device from a plurality of directions.
  • Correction teaching for correcting an error can be performed by obtaining a contact position based on the torque value of the drive motor that is raised by the contact and calculating the position of the robot hand.
  • FIG. 1 is a perspective view showing the processing machine line.
  • six machine tools 5 are mounted on a base 2 as a base.
  • the six machine tools 5 are all NC lathes of the same type, and have the same outer shape and dimensions.
  • Each machine tool 5 is covered with an exterior cover 6, and a processing chamber closed for each machine tool 5 is formed inside the machine tool 5.
  • one work transfer chamber is constituted by the front cover 7, and a transfer device for delivering the workpieces to and from each machine tool 5 is mounted therein.
  • FIG. 2 is a front view of the machining portion showing the inside of the cover of the machine tool 5.
  • a processing module 10 that executes processing is incorporated in an exterior cover 6 having a width interval shown in the drawing.
  • the machining module 10 as viewed from the front side includes a turret device 13 having a tool base 14 on the front side and a spindle chuck 11 for holding a workpiece arranged vertically.
  • the center O of the spindle chuck 11, that is, the rotation axis of the spindle is located substantially in the center when viewed in the width direction of the exterior cover 6.
  • the spindle chuck 11 is integrated with a spindle that is rotatably supported with respect to the spindle stock 12 and is configured to be rotated by a servo motor disposed at the back rear of the exterior cover 6.
  • a column 15 is disposed on the right side behind the spindle chuck 11 and the turret device 13 positioned in the front, and stands along the side wall of the exterior cover 6.
  • a servo motor 16 is installed on the top of the column 15 to constitute an X-axis drive mechanism for moving the turret device 13 in the vertical direction.
  • a servo motor 17 is installed at the back rear side, and a Z-axis drive mechanism for moving the turret device 13 in a direction parallel to the main shaft, that is, in a horizontal direction through the drawing is configured.
  • the cutting tool mounted on the tool table 14 is selected by the turning index of the turret device 13. Then, the cutting tool is moved to a predetermined position by the X-axis drive mechanism or the Z-axis drive mechanism, and boring processing or the like is performed on the work held by the rotating spindle chuck 11.
  • the workpiece held by the spindle chuck 11 is fed from the outside of the machining chamber of the machine tool 5 by a conveying device during machining.
  • FIG. 3 and 4 are perspective views showing the transfer device.
  • FIG. 3 shows a state in which the articulated robot arm 20 is extended to deliver a workpiece to and from the machine tool.
  • FIG. 4 shows a state in which the articulated robot arm 20 is folded to move between machine tools.
  • the articulated robot arm 20 of the present embodiment is folded into a compact state by driving the joint mechanism, and can be operated at a distant position by the extended posture.
  • the transfer device 8 including the articulated robot arm 20 is assembled so as to move across the front of a plurality of machine tools arranged side by side. Specifically, it is assembled to the front portion of the base 2 on which the machine tool 5 is mounted.
  • the illustrated base 2 has a size for mounting two machine tools. In the processing machine line 1 shown in FIG. 1, three bases 2 are installed close to each other in the width direction.
  • the transport device 8 has a traveling device 30 assembled to the base 2, and the traveling device 30 is equipped with an articulated robot arm 20 to constitute a so-called articulated robot.
  • the traveling device 30 has a rack 32 and two rails 33 fixed in a horizontal direction with respect to a support plate 31 fixed to the front surface of the base 2.
  • a traveling slider is fixed integrally to the traveling platform 35, and the traveling slider is assembled so as to slide while gripping the rail 33.
  • the traveling table 35 is provided with a traveling servo motor 36, and a pinion 37 fixed to the rotating shaft meshes with the rack 32. Accordingly, the pinion 36 rotated by the drive of the servo motor 36 rolls the meshing rack 32, and the traveling table 35 moves along the rail 33 on the front surface portion of the base 2.
  • the articulated robot arm 20 is mounted on the traveling platform 35 via a turn table 38.
  • the articulated robot arm 20 is configured to enable delivery of a workpiece to and from the machine tool 5 within a particularly narrow width.
  • the machine tool 5 is designed to be mounted on two rails 201 laid on the base 2, and has a narrow structure as shown in FIG. Therefore, the articulated robot arm 20 is designed so that a workpiece can be delivered in the internal space of the exterior cover 6 having a narrow lateral width.
  • the outer cover 6 has a width of about 450 mm, while a workpiece having an outer diameter of 300 mm can be grasped and delivered.
  • an upper arm member 22 is connected to a support base 21 fixed to a turning table 38 via a first joint mechanism 23, and a forearm member 25 is connected to the upper arm member 22 with a second joint mechanism. 26 are connected to each other.
  • the support base 21 has a pair of support plates 211 erected, and the upper arm member 22 is formed with a pair of upper arm plates 221 corresponding to the pair of support plates 211.
  • the plates 211 and 221 are connected to each other by a joint shaft, and the angle of the upper arm member 22 is adjusted by driving the first joint mechanism 23.
  • a space is formed between the pair of upper arm plates 221 in the upper arm member 22, and the forearm member 25 is configured to enter the space.
  • the forearm member 25 is formed with a pair of parallel forearm plates 251 on the left and right, and the forearm plate 251 and the upper arm plate 221 are connected by a joint shaft. Therefore, the angle of the forearm member 25 relative to the upper arm member 22 is adjusted by driving the second joint mechanism 26.
  • a robot hand 28 is attached to the forearm member 25 at the end opposite to the second joint mechanism 46.
  • the robot hand 28 has a clamp mechanism in which three chuck claws are driven by hydraulic pressure, and can grip and release a workpiece.
  • the robot hand 28 is assembled to the forearm plate 251 via a rotation mechanism so that the grip angle of the chuck claw can be adjusted.
  • Such an articulated robot arm 20 is operated by a predetermined operation driven by the upper arm member 22, the forearm member 25 and the robot hand 28 which are movable parts.
  • the rotational position of each drive unit such as the first and second joint mechanisms 23 and 26 with respect to the servomotors 471 to 473 (see FIG. 5) controls the movement position of the robot hand 28 and the direction of the work gripped by the robot hand 28. Is indexed. Therefore, in order for the transport device 8 to perform work accurately, the rotation angle of each servo motor 471 to 473, 36 according to the control program must correspond to the operation of the articulated robot arm 20 and the traveling device 30. .
  • the control program can be obtained by causing the articulated robot arm 20 or the like to perform the origin search with the rotation position of the servo motor in the basic posture set to zero degree, or to actually perform the workpiece transfer operation with the machine tool 5.
  • Teaching for storing the operation is performed.
  • a mechanical error may occur in the operation of the articulated robot arm 20 of the transfer device 8 while the operation of the processing machine line 1 is continued.
  • the value of the three-dimensional coordinate stored by teaching and the actual movement are distorted. Therefore, correction teaching for correcting the rotation angle of the servo motors 471 to 473, 36 is required for a predetermined operation of the articulated robot arm 20 or the like.
  • FIG. 5 is a block diagram showing a transfer control device of the transfer device 8 incorporated in the processing machine line 1.
  • the transport control device 40 includes a microprocessor (CPU) 41, a ROM 42, a RAM 43, a nonvolatile memory 44, a servo control unit 48 including controllers 451 to 454 and servo amplifiers 461 to 464, and the like connected via a bus line 49. Yes.
  • the CPU 41 performs overall control of the entire control unit.
  • the ROM 42 stores system programs executed by the CPU 41, control parameters, and the like, and the RAM 43 temporarily stores calculation data, display data, and the like.
  • the nonvolatile memory 44 stores information necessary for processing performed by the CPU 41, and stores a workpiece transfer program in the transfer device 8.
  • the transfer device 8 that executes the transfer program the operation of the articulated robot arm 20 and the stop position of the traveling device 30 are stored by teaching.
  • a correction program for correcting when an error occurs between the coordinate data stored by teaching and the actual operation is stored.
  • the transfer device 8 includes servomotors 471 to 473 of the first joint mechanism 23, the second joint mechanism 26, and the robot hand 28 in the multi-joint robot arm 20, and the servomotor 36 in the travel device 30 via the servo control unit 48. Connected to the CPU 41.
  • the servo motors 471 to 473 and 36 of the transport device 8 are fed back based on the rotation control command from the CPU 41 and the current position information (current rotation angle) from the rotary encoder built in the servo motors 471 to 473 and 36. Control is executed.
  • the servo amplifiers 461 to 464 supply current to the servo motors 471 to 473 and 36 to drive them based on torque commands from the controllers 451 to 454.
  • FIG. 6 is a cross-sectional view schematically showing the spindle chuck 11, the robot hand 28, and the jig to be used at the time of executing the corrected teaching.
  • Teaching operations are performed in the order of (a), (b) and (c). It is done in stages.
  • the first teaching member 51 is mounted on the spindle chuck 11 side
  • the second teaching member 52 is mounted on the robot hand 28 side.
  • the first teaching member 51 is a cylindrical body whose diameter is changed in three stages. The portion with the largest diameter is the grip portion 511 gripped by the spindle chuck 11, and the portions with different diameters are the large diameter measuring portion 512 and the small diameter measuring portion 513.
  • the second teaching member 52 is a bottomed cylindrical body having a bottom portion 521 and a cylindrical portion 522.
  • the large diameter measuring part 512 of the first teaching member 51 has a circumferential surface with an outer diameter formed slightly smaller than the inner diameter of the cylindrical part 522 of the second teaching member 52, and the small diameter measuring part 513 is a smaller outer diameter. It has a circumferential surface with a diameter. Therefore, the first teaching member 51 and the second teaching member 52 can be fitted as shown in the figure, and a gap is generated in the radial direction when fitting.
  • the drawing shows a case where an error has occurred in the alignment of the central axes O1 and O2. However, since the amount of deviation at this time is extremely small, it is allowed by the gap, and a relationship is established in which the first teaching member 51 and the second teaching member 52 are fitted as shown in the figure.
  • the correction teaching process according to the correction program will be described.
  • the first teaching member 51 is mounted on the main spindle chuck 11 and the second teaching member 52 is a robot. Mounted on the hand 28. Then, the conveying device 8 moves the articulated robot arm 20 to the position of the machine tool 5 targeted by the driving of the traveling device 30, and the correction teaching work is performed there.
  • the position is confirmed by bringing the second teaching member 52 on the articulated robot arm 20 side into contact with the first teaching member 51 on the spindle chuck 11 side at a plurality of locations.
  • the first teaching member 51 and the second teaching member 52 are moved in the horizontal direction (Z-axis direction) so that the center axes O1 and 02 of the second teaching member 52 are aligned with each other, as shown in FIG. 6A. Is abutted in the Z-axis direction.
  • the position of the second teaching member 52 at this time is taken as the first measurement position.
  • the second teaching member 52 stops at the second measurement position moved in the Z-axis direction and away from the first teaching member 51 (right side of the drawing).
  • the second measurement position is a position where the tip portion of the cylindrical portion 522 overlaps the large diameter measurement portion 512 of the first teaching member 51.
  • the tip end portion of the cylindrical portion 522 is positioned at the end portion of the large diameter measuring portion 512.
  • the second teaching member 52 moves in the X-axis direction and the Y-axis direction orthogonal to the Z-axis and is applied to the second teaching member 52.
  • the tip portion of the cylindrical portion 522 hits the large-diameter measuring portion 512 to perform measurement.
  • the third measurement position is a position where the tip portion of the cylindrical portion 522 overlaps with the small diameter measurement portion 513 of the first teaching member 51. Again, the tip portion of the cylindrical portion 522 is positioned at the end portion of the first teaching member 51, but the tip portion of the cylindrical portion 522 hits the small diameter measuring portion 513 to perform measurement. .
  • the movement during the correction teaching operation is controlled based on teaching using the first and second teaching members 51 and 52 stored in advance.
  • the second teaching member 52 is abutted against the first teaching member 51 in the three-axis directions at the first to third measurement positions.
  • the movement in the Z-axis direction and the X-axis direction is performed by driving the first and second joint mechanisms 23 and 26 of the articulated robot arm 20, and the movement in the Y-axis direction is performed by driving the traveling device 30. Is called. That is, it is performed by drive control of the servomotors 471 to 473,36.
  • the torque generated in the servo motors 471 to 473, 36 is proportional to the current. Accordingly, when the second teaching member 52 is abutted against the first teaching member 51, the torque value increases due to the resistance, and the current values of energization of the servo motors 471 to 473 and 36 in the servo amplifiers 461 to 464 increase. Therefore, by detecting an increase in torque value, that is, an increase in current value, the rotation angle of each of the servomotors 471 to 473, 36 is obtained based on the signal from the encoder obtained at that timing. From the rotation angles of the servo motors 471 to 473, 36, the coordinate value of the contact position where the members abut each other is calculated.
  • the second teaching member 52 is abutted against the first teaching member 51 in the Z-axis direction row, and the coordinate value of the contact position is calculated.
  • the second teaching member 52 is abutted against the first teaching member 51 from a total of four directions in the two directions toward the central axis O1 in the X-axis direction and the Y-axis direction. The coordinate value of each contact position is calculated.
  • the second teaching member 52 is abutted against the first teaching member 51 from four directions, and the coordinate value of each contact position is calculated.
  • the position of the central axis 01 of the first teaching member 51 at the second measurement position and the third measurement position is calculated.
  • the position of the center axis O ⁇ b> 1 of the first teaching member 51 is the center position of the spindle chuck 11.
  • the second teaching member 52 the position of the central axis O2 at the first measurement position in FIG. Therefore, the deviation of the central axis O2 from the central axis 01 is calculated. That is, the control error on the XY coordinate plane on the three-dimensional coordinate is calculated.
  • an error from the initial value is calculated from the contact position of the first measurement position.
  • the moving distance between the opposite side in each of the X-axis direction and the Y-axis direction, that is, the ratio of the gap is obtained. Then, it is confirmed whether or not there is an inclination in the movement of the robot hand 28 in the Z-axis direction from the value of the ratio between the second measurement position and the third measurement position. That is, if the ratio in the X-axis direction and the ratio in the Y-axis direction are the same in the second measurement position and the third measurement position, the robot hand 28 moves straight along the central axis O2 in the Z-axis direction. I understand that. On the other hand, if the ratio value is different between the second measurement position and the third measurement position, the movement is in the Z-axis direction inclined with respect to the central axis O2. At that time, the inclination of movement is calculated from the ratio value.
  • the teaching system of the present embodiment automatic correction is performed on the articulated robot arm 20 or the like that performs work in a narrow processing space, such as the transfer device 8 for the machine tool 5, and thus visual inspection by an operator, etc. This work is unnecessary and is extremely effective. Further, the teaching system of the present embodiment prepares the first and second teaching members 51 and 52 and stores the correction program, so that it is not necessary to add a special device or structure, so that the conventional conveying device 8 ( It can be used for articulated robots). In addition, since the coordinate values of the three-dimensional coordinates are calculated based on the change in the torque values of the servo motors 471 to 473, 36, the configuration is simple and the cost can be reduced.
  • first and second teaching members 51 and 52 have a simple shape, their creation is easy and inexpensive. And since the 1st teaching member 51 is formed with the large diameter measurement part 512 and the small diameter measurement part 513, the inclination of the movement of the Z-axis direction by the articulated robot arm 20 can be calculated
  • the measurement by the movement in the X-axis direction and the Y-axis direction is subsequently performed on the side of the conveying device 8.
  • the operation can be performed in a short time.
  • the shape of the first and second teaching members 51 and 52 is particularly limited as long as the teaching member on the robot hand 28 side can be abutted against the teaching member on the spindle chuck 11 side from a plurality of directions. is not.
  • the above effect can be obtained by using a block body and a cylindrical body that can be fitted together.
  • the holding of the spindle chuck 11 and the robot hand 28 may be reversed in the first teaching member 51 and the second teaching member 52.
  • a hemispherical protrusion may be formed on the inner peripheral surface of the distal end portion of the second teaching member 52 corresponding to the location where the first teaching member 51 is abutted.
  • the teaching system according to the present invention is particularly effective in the transfer device 8 used for the machine tool 5, but may be other articulated robots.

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Abstract

La présente invention concerne un système d'apprentissage permettant de réaliser un apprentissage correctif sans ajouter une nouvelle structure à un robot à articulations multiples. Le système d'apprentissage comprend : un robot (8) à articulations multiples auquel des éléments bras (22, 25) sont reliés par un mécanisme d'articulation doté de moteurs d'entraînement (471, 472, 473) et qui effectue un travail spécifié avec un dispositif partenaire (5) au moyen d'une main (28) robot qui est placée sur l'extrémité distale ; un premier élément d'apprentissage (51) qui est maintenu sur le dispositif partenaire ; un second élément d'apprentissage (52) qui est maintenu sur la main robot et qui est mis en contact avec le premier élément d'apprentissage ; et un dispositif de commande (40) servant à amener le second élément d'apprentissage (52) qui est maintenu par la main (28) robot en contact avec le premier élément d'apprentissage (51) qui est maintenu par le dispositif partenaire (5) à partir de plusieurs directions, à déterminer une position de contact sur la base des valeurs de couple des moteurs d'entraînement (471, 472, 473) qui s'élèvent en raison dudit contact, et à calculer la position de la main robot.
PCT/JP2015/076821 2015-09-22 2015-09-22 Système d'apprentissage pour robot à articulations multiples WO2017051445A1 (fr)

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PCT/JP2015/076821 WO2017051445A1 (fr) 2015-09-22 2015-09-22 Système d'apprentissage pour robot à articulations multiples
JP2017541185A JP6647308B2 (ja) 2015-09-22 2015-09-22 多関節ロボットのティーチングシステム

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PCT/JP2015/076821 WO2017051445A1 (fr) 2015-09-22 2015-09-22 Système d'apprentissage pour robot à articulations multiples

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WO2020090079A1 (fr) * 2018-11-01 2020-05-07 株式会社Ｆｕｊｉ Machine de transport de pièce ouvrée automatique
JPWO2019171571A1 (ja) * 2018-03-09 2020-10-22 株式会社Ｆｕｊｉ 自動作業機
WO2022130495A1 (fr) * 2020-12-15 2022-06-23 株式会社Fuji Système d'apprentissage pour dispositif de transport automatique de pièces à travailler

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JPWO2019171571A1 (ja) * 2018-03-09 2020-10-22 株式会社Ｆｕｊｉ 自動作業機
JP7065175B2 (ja) 2018-03-09 2022-05-11 株式会社Fuji 自動作業機
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CN112888533A (zh) * 2018-11-01 2021-06-01 株式会社富士 工件自动搬运机
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JP7042925B2 (ja) 2018-11-01 2022-03-28 株式会社Fuji ワーク自動搬送機
CN112888533B (zh) * 2018-11-01 2024-02-06 株式会社富士 工件自动搬运机
WO2022130495A1 (fr) * 2020-12-15 2022-06-23 株式会社Fuji Système d'apprentissage pour dispositif de transport automatique de pièces à travailler

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