JPS61105607A - Origin position setting device of robot - Google Patents

Abstract

PURPOSE:To make a robot mechanism system small in size and simple in structure by connecting a means for measuring a relative relation of a reference position of a robot and a synchronizing position of a one rotation signal from a detector, to the detector. CONSTITUTION:A robot is operated from a stopper position S, the number of generated pulses P is counted, and a position where a one rotation signal has been inputted after this counting value has exceeded PN is determined as an origin position. For instance, in case when a value of the pulse signal P has been measured at a position B, the counting value PN corresponds to a position D, and thereafter, a position of the one rotation signal outputted at a position C is determined as an operation origin of the robot. A position in a static coordinate system of the position C can be derived by a calculation, therefore, as a result, the operation origin of the robot is determined with respect to the static coordinate system. In this way, an operation coordinate system of the robot and the operation origin are determined based on an output signal of a rotating position detector of an increment type, therefore, an apparatus to be installed in order to obtain the operation origin becomes unnecessary, and a robot mechanism is made small in size, simple in structure and low in cost.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a robot origin position setting device, and more particularly to a device for accurately determining the robot origin position.

[Background of the invention]

An industrial robot has a coordinate system inside its control device for describing its own motion. On the other hand, in this type of robot, when the power is turned on, a so-called origin alignment operation is performed in order to establish the coordinate system. An example of this is shown in Japanese Patent Publication No. 58-192779, in which a sensor that is placed alongside each operating axis of a robot and detects the operating range of the operating axis is also used as a sensor for aligning the origin. Furthermore, as seen in Japanese Patent Application Laid-open No. vB58-132493, the movable part is rotated and swiveled around the rotation axis with the axis of the robot's rotation axis horizontal, and the level of the movable part is adjusted to the horizontal position. In addition, those attempting to determine the origin of the
As seen in Japanese Patent No. 86 and Japanese Patent Application Laid-Open No. 58-160087, the robot is actually operated, the positional error with respect to a fixed point on the gIJ fixed jig is measured, and the positional error is calculated by back calculation from this positional error. Some attempt to determine the origin of a moving part.

In the above-mentioned conventional devices, in which the origin sensor is commonly used as the operating range detection sensor, the electric circuit configuration becomes complicated due to the common use. Others require equipment such as a spirit level and measuring jig to align the origin.

[Purpose of the invention]

The present invention has been made based on the above-mentioned matters, and an object of the present invention is to provide a robot origin position setting device that can make the robot tag system compact and simple.

[Summary of the invention]

In order to achieve the above object, the present invention drives the arm of the robot by controlling the drive of a motor provided on each motion axis of the robot according to a motion control command, and a detector for detecting the amount of motion of each motion axis. In this robot, a stopper is provided on the arm near the operating axis of the robot, which serves as a reference position of the robot's operating origin, and the detector is provided with a stopper that serves as a reference position of the robot's operating origin, and the detector is provided with a stopper that serves as a reference position of the robot's operating origin and a synchronized position of the 1@ rotation signal from the detector. The robot is connected to a means for measuring the relative relationship, and includes a control means for determining the coordinate system and origin position of the robot based on the relative relationship value from this means.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows an articulated robot equipped with an example of the device of the present invention. In this figure, 1 is an operation control device, and this panel includes switches and display devices for operating the robot. is provided. Inside the operation control device 1, a servo actuator and the like are provided for operating each axis of the robot according to instructions from a W-actuator, a storage device, and an arithmetic device for controlling the motion of the robot. 2 is an articulated robot 1- electrically connected to the operation control device 1. This articulated robot 2 includes a base 3, a rotating base 4, a first arm 5, a second arm 61, and a wrist shaft 7.
, 8. A gripper 9 for handling the workpiece is provided at the tip of the wrist @7.8.

The movements of this robot include rotation of the swivel table 4 about the S1 axis relative to the base 3, and rotation of the first arm 5 about the S2 axis relative to the swivel table 4.
rotation of the second arm 6 about the axis S3 relative to the first arm 5; rotation of the wrist axis 7 about the axis S4 relative to the second arm 6;

This can be obtained by appropriately combining the rotation of the wrist shaft 8 about the shaft S5 with respect to the wrist shaft 7 and the opening and closing of the gripper 9.

FIG. 2 shows a drive system for rotating each member of such a robot around each rotation axis 81 to S5. In this figure, 13 is a drive motor such as a DC servo motor, 14 is a speed reducer, 15 is a component of the robot, and 12 is a rotational position detector for the drive motor 13, such as an incremental rotary encoder. Reference numeral 11 denotes a rotational speed detector of a drive motor 13 such as a taco generator. In this drive system, for example, the component 15 of the robot is the first arm 5, and when the first arm 5 is rotated by 02 degrees around the rotation axis S2 with respect to the swivel base 4, the reduction ratio of the reducer 14 is If R is the drive motor 13
The required rotation angle is Rθ2. For this request,
A calculation device built into the operation panel 1 gives a rotation angle increment command Δθ to the servo system that controls the drive of the first arm 5 at every minute sampling time, taking into account the required operating speed and acceleration. The servo system gives a rotation command to the drive motor 13, integrates the output pulse signal of the rotation position detector 12 generated by the rotation of the motor 13, and rotates the drive motor 13 until it matches the rotation angle increment command Δθ. .

That is, the motor 13 rotates by the required rotation angle Rθ2=ΣΔθ1 by the rotation angle increment command n times. Here, the output signal of the rotational speed detector 11 is also fed back to the servo system and used for stabilizing and smoothing the motor control operation.

FIG. 3 shows a stopper means constituting an example of the apparatus of the present invention, and in this figure, the operating axis of the robot is stopped by the stopper means. In this figure, 5 and 6 are the first and second arms of the robot 2 shown in FIG.

The stopper 6A is attached to the second arm 6. The stopper 5A is attached to the first arm 5. In this figure, the stoppers 5A and 6A are in contact with each other, and the second arm 6 rotates counterclockwise around the S3 axis with respect to the first arm 5, and cannot rotate further upward. For reverse rotation, i.e. clockwise rotation,
The second arm 6 is rotatable. Then, due to the clockwise rotation of the second arm 6, the stopper 6A rotates together with the second arm 6, and comes into contact with each other at the other end of the stopper 5A. Therefore, the second arm 6 is allowed to rotate relative to the second arm 5 only within a certain operating angle range.

Movement outside that range is restricted. Stoppers 5A and 6A are similarly provided for the other movement axes to limit their movement ranges.

On one stop side of the stopper provided in this way,
Consider a state in which all robot arms are stationary.

In FIG. 3, the angle θ2. and θ1. can be easily measured using, for example, a three-dimensional measuring device.

Therefore, the posture of the robot in the stationary coordinate system can be obtained. The operating angle of the robot is 8211% for the 17th arm 5 from the horizontal plane, and 8211% for the 2nd arm 6.
The upward angle based on the center line of the first arm 5 is 8. . When defined, the operating angle θzoo θ3° of the robot in the state shown in FIG. 3 is θ2°; θ2.
・・・・・・ (1) θ3゜=0゜−〇21
・・・・・・ It is calculated as in (2). Therefore, the state shown in FIG. 3 can be used as the operating standard for the robot.

Here, if stoppers 5A and 6A are completely rigid,
- Assuming that there is no cutting deformation, the angle θ2 obtained above is
゜, θ,. The origin of the robot's motion can be determined using the following. However, in reality, some deformation occurs due to the stoppers coming into contact with each other, so if the robot is operated for a long period of time, the origin of operation will become deviated. Therefore, the values obtained through the above measurements will be considered as reference values for robot operation.

Next, we will discuss the origin alignment function of an example of the device of the present invention, that is, the synchronization between the output signal of the incremental rotational position detector 12 attached to the servo motor 13 for robot operation and the reference posture position of the robot described above. I will explain about transformation. In the state shown in FIG. 3, it is assumed that the second arm 6 is rotated clockwise. At this time, as a result of the movement A of the second arm 6, the incremental rotational position detector 12 shown in FIG. 2 outputs a pulse signal P and a single revolution sign P1 as shown in FIG. In Fig. 4, the stopper position Its
Then, the second arm 6 starts operating.

Assume that the one-turn borrow sign P1 output from the position detector 12 is output at position B. If the number of pulses of the pulse signal P output from the position detector 12 between SB is measured, this number of pulses will be determined by the rotation angle of the servo motor 13 in FIG. The angle of rotation of the second arm 6 from the stopper position S is given as 15. In this way, it becomes possible to change the reference position from the stopper position S to the position of the one-turn mark P1 output by the rotational position detector 12. Here, in Fig. 4, the stopper position S
The second arm 6 starts operating from , and the rotational position detector 12
The number of pulse signals P from the second one-rotation signal P1 to the output point B was counted.

This may be done by counting up to the output point C as shown in the same figure; in short, count the number of pieces at an appropriate number that will not cause counting errors.
It is sufficient to count the pulse signals up to the output point of the rotation signal P.

With the synchronization function described above, the origin position of the robot can be accurately obtained at the stage of assembling the robot. Finally, we will discuss strategies for establishing the robot's origin position, that is, the coordinate system of the robot's motion, during actual operation. The output signal of the position detector 12 in FIG. 4 is always output at the same position. On the other hand, the stopper position S may shift as described above. Therefore, the above-described measures may not be able to accurately determine the origin position of the robot. Therefore, let the above-mentioned count value be P, and the number of output pulses per rotation of the rotational position detector 12 be P.
1, and use the count value P of . That is, while operating the robot from the stopper position S, the number of pulses P generated during that time is counted. Then, the position where the one-rotation signal is input after this count value exceeds the above-mentioned value PII is determined to be the origin position6.For example, as mentioned above, in FIG. If measured, the count values P and l correspond to the position. Therefore, the position in the stationary coordinate system of 0 position C, which defines the position of the one-rotation signal output at position C after passing the position as the robot's origin of motion, can be calculated by calculation as can be inferred from the above content. Since it is possible, the origin of the robot's motion is determined relative to the stationary coordinate system.
Since the number of output pulse signals P of the rotational position detector 12 corresponding to D is constant, when the stopper position S shifts to the C side, the position also shifts by the same amount to the C side, and the stopper position A shifts in the opposite direction. And the position shifts by the same amount in the opposite direction. The permissible range of the stopper displacement or positional displacement is that the position is between the positions BC in FIG. 4. In addition, in the above explanation, the value of the count value P is determined as described above, but the same effect may be achieved by setting it as well.
The direction in which the stopper misaligns is always from position S to position B.
Since we can predict that it will move further away, P=p+
-p, etc. may be used.

In addition, in order to detect the positional deviation of the stopper, the position i1A is
, C of the pulse number and position of the one-rotation signal [D.

Monitoring the number of rotational position pulses between 0 and issuing an alarm when there is a risk that the robot's operating origin is likely to be significantly deviated will have great benefits in terms of robot operation.

The structure of an example of the apparatus of the present invention that concretely implements the contents explained above will be explained with reference to FIG. In this figure, the same reference numerals as in FIG. 1 are the same parts. In this figure, reference numeral 21 denotes an operating means, which is composed of a keyboard or various switches. 22 is a display means for displaying the operation status of the robot and the operation status of the operating means, and is composed of a CRT display, a segment display tube, a liquid crystal display device, etc. 23 is a main control means, which accepts operation input from the operation means 21;

Judgment 1 It is in charge of display control on the display means 22 and main control regarding robot operation control. Reference numeral 24 denotes an operation control means, which generates various operation signals for the robot and controls the drive control means 32.
Outputs an operating signal to. 25 is a reset means, which initializes the operation control means 24 and the count value of the rotational position counting means 33; 26 is a rotational position comparison means, which compares the value set in the storage means 2'9 and the rotation Position counting means 3
The count values of 3 are compared and it is determined whether they match.

Reference numeral 27 denotes a 1@ rotation signal count comparison means, which counts the 1 rotation signal and compares it with the value set in the storage means 30 or 31 to determine whether the two coincide.

Reference numeral 28 denotes an input control means, which takes in the count values of the one-rotation position counting means 33 and once, the set signal counting means 34, and performs necessary processing.The means indicated by one or more numerals 23 to 28 are constituted by logic operation means. However, among them, the rotational position detection means 26. The storage means 29, 30, 31, etc. can also be composed of a logic IC1, a logic LSi, a dip switch, and the like.

Reference numeral 32 denotes a drive control means such as a servo amplifier, which operates the robot drive system, that is, the robot, in accordance with the operation commands from the operation control means 24.

35 is a robot drive system, and robot drive elements as shown in FIG. 2 are prepared as many as the number of operating axes of the robot. 33 is a rotational position counting means, which includes an incremental rotational position detector 1 as shown in FIG. 2 of the robot drive system 35.
The direction of rotation is determined from the pulse signal P of the rotational position outputted by No. 2, and the pulse signal P of the rotational position is counted by an up/down counter or the like. This counting means 33 is provided as many as the number of operating axes of the robot, and the counted value gives the operating position of each operating axis. Reference numeral 37 is a current detection means having a plurality of setting levels and consisting of a detection resistor, a comparator, etc., which is provided as many times as the number of operating axes of the robot, detects the operating current of the servo motor that drives each operating axis, and controls the drive control means 32. 638 is a switching means consisting of a relay element or a logic circuit, which provides a limit value of the operating current when driving each servo motor, and switches the set level of the detected current of the current detection means 37 in accordance with a switching signal from the main control means 23. . The same number of switching means 38 as the current detection means 37 are provided. Only one switching means 38 may be provided so that each of the switching means 38 switches the set value of the respective current detecting means 37, and the set values of all the current detecting means 37 may be switched at the same time. 36 is a limit detecting means. This is to detect when the robot moves and its operating axis contacts the stopper described above. In Figure 5, it is made up of a detection resistor and a comparator, and detects the operating current of each operating axis, and detects when the operating axis is in contact with the stopper. A signal is generated when the current exceeds a predetermined value. The limit detection means 36 are provided as many as the number of operating axes of the robot.

Each detection result may be input as a signal to the main control means 23, and each detection result is connected by an OR circuit, and when any of the operating currents exceeds a predetermined value, a signal is sent to the main control means 23. A signal may be input, and although the limit detecting means 36 and the current detecting means 37 are shown separately here, the current detecting section of both may be used in common.

Next, the operation of an example of the apparatus of the present invention described above will be explained.

First, as mentioned above, the movement axis of the robot is set at the stopper 5.
The reference position when stationary can be accurately measured by the contact between A and 6A. Assuming that the synchronization position of the one-rotation signal of the incremental rotational position detector 12 with respect to this preparation position is unknown, the case where this synchronization position is determined will be described with reference to FIGS. 5 and 6. In this operation, the rotational position comparison means 26 and storage means 29, 31 shown in FIG. 5 are not necessary depending on the system conditions. In the storage means 30, when the storage means 30 is a memory element of an arithmetic device, the one-rotation signal count value comparison means 27 is stored.
Even if the reference value P for comparison is already stored, it may be written in via the main control means 23 by operating the operating means 21. If so, it is assumed that the dip switch is set appropriately. The operation of the robot according to the present invention will be explained below.

Since the same operation is performed for all the operating axes, only the operation of one operating axis will be described below.

First, when the power is turned on and the operation means 21 is operated and the above-mentioned operation instruction is given, the main control means 23 in the operation control device 1 decodes the operation input and performs the action as shown in FIG. The operation will be described below in accordance with the flowchart shown in FIG. 6 and with reference to FIG.

Process 600: Operate the switching means 38 to detect the current detection means 3
Lower the current setting value in step 7. This is a measure to prevent deformation of the stopper and damage to the operating axis when the operating axis contacts the stopper, and limits the output torque of the servo motor of the robot drive system 35.

Step 601: Operate the reset means 25 to reset the count value of the one-rotation position counting means 33 and initialize the motion control means, and output a motion command to the drive control means 32 to keep the current motion position of the robot motion axis constant. let

Process 602: A command is given for the robot's motion axis to approach the stopper 22 at a specified low speed from a determined direction, and the motion control means 24 is operated. The motion control means 24 generates motion commands for the motion axes according to the commands, and the drive control means 32 that receives the commands operates the robot drive system according to the commands.

Process 603: The robot movement axis is 5A, 6A at the stopper.
The operating current increases due to contact with the limit detecting means 3.
6 outputs a detection signal.

Process 604: After stopping the operation of the operation control means 24, the reset means 25 is operated to perform the same action as in process 601.

Process 605: A command is given to move the robot's motion axis away from the stopper at a specified low speed, and the motion control means 24 is operated. The other operations of the operation control means 24 are similar to those in process 602.

Process 606: operate the 1-rotation signal count comparison means 27,
Count the one rotation signal and compare it with the set value of the storage means 30,
Wait for the signal that is output when both match.

Process 607: Stop the operation of the operation control means 24.

Process 608: The input control means 28 is operated to take in the count value of the rotational position counting means 33 and perform a predetermined process.

With the above operation, the operating axis moves to the stopper 5A.

The amount of movement of the operating axis from the position where the rotation position sensor 6A is in contact to the position where one rotation signal of the incremental rotation position detector 12 is output a predetermined number of times is the count value of the rotation position counting means 33 or the input control means 28. It is calculated from the read value (P above). Therefore, from the above-mentioned contents, the relationship between the one-rotation signal output position of the incremental rotational position detector 12 and the operating joint angle of the robot in the stationary coordinate system can be determined. Therefore, if the number of reading skipping pulses Pw and P described above and the number of reading comparisons of one rotation signal after one pulse reading skipping are appropriately determined,
Coordinates of robot motion axes can be determined. Therefore, the predetermined operation of the input control means 28 described above will be explained. As the first predetermined operation, the input control means 28
The read count value of the rotational position counting means 33 is displayed on the display means 22 via the main control means 23. The operator reads this display value, determines the number of reading skip pulses P and the reading comparison number of the 1@subborrowed sign, operates the operating means 21, and stores the reading skip pulse number PW in the storage means 29. The number of read and compared rotation signals is set in the storage means 31. If the storage means 29.31 is a dip switch, the value is set by operating the switch. Furthermore,
Based on this determination, the amount to correct the coordinate origin of the robot is determined, and the operation means 21 is operated to correct the amount of correction of the robot coordinate system provided inside the motion control means 24 (not shown in FIG. 5). Set to area. In this way, the robot coordinate system is determined. The above is a case where the origin alignment function of the present invention, which will be described later, and the above-mentioned functions are integrated into the operation control device 1.

If this is not the case, that is, once the coordinate system of the robot and various quantities for origin alignment are determined using the functions described above, the system within the operation control device is replaced and a robot drive control system including the origin alignment function described above is installed. In the case of incorporating the robot drive control system that gives the above-mentioned mfl, it is also possible to incorporate the robot drive control system that gives the above-mentioned mfl into the operation control device. It's okay. As the second predetermined operation, the input control means 28 is given the various quantity determination algorithm, the input control means 28 determines the various quantities, and the input control means 28 is caused to perform the same operation as described above. be.

In this system, all robot motion control functions are contained within operation 1111.

Next, regarding the origin alignment operation of the robot according to the present invention,
This will be explained using FIGS. 5 and 7. Note that since the system configuration is the same for realizing the above-mentioned function and for realizing this function, FIG. 5 will be used. First, the power supply (not shown in FIG. 5) is turned on if necessary, and the operating means 2
1 is operated to instruct the origin alignment operation, the main control means 23 decodes the operation input and performs the action shown in FIG. The operation will be described below with reference to FIG. 5 in the order of description in FIG. 7.

The operations from process 700 to process 705 are process 60 in FIG.
1 to 605, so the description thereof will be omitted.

Process 706: Operate the rotational position comparing means 26 to compare the count value of the rotational position counting means 33 and the set value of the storage means 29, and wait for a signal to be output when the two match.

Process 707: Operate the one-rotation signal count comparison means, count the one-rotation signal input after the operation, and wait for a signal to be output when the counted value matches the set value of the storage means 31.

Process 708: Stop the operation of the operation control means 24.

Process 7.09: The input control means 28 is operated to take in the count values of the rotational position counting means 33 and the one-rotation signal counting means 34 and perform predetermined processing.

Here, the process 709 may be omitted. this is.

As described above, this is a function when it is necessary to check the validity of origin alignment, and there are various measures for the function to be provided, that is, the predetermined processing, as described below. That is, (i) the input control means 28 causes the display means 22 to display the input counts of the rotational position counting means 33 and the one-rotation signal counting means 34 via the main control means 23;

(it) Same as (i), but the validity of the counted value is checked and the counted value is displayed as well as a warning is displayed if it is not valid.

In order to check this validity, the upper and lower limits of the count value at the time of 1M point alignment and other information must be given when going through the operation shown in Fig. 7, and a storage means for that purpose is also required. The illustration in Figure 5 is omitted.

The upper and lower limits of the count value and other information may simply be the upper and lower limits, or the increment per rotation of the servo motor 13 from one output to the next output of the one-rotation signal. The number of output pulses of the rotational position detector 12 of the formula may also be used,
Any displacement, deformation, etc. of the stoppers 21 and 22 described above may be determined as long as they can be determined by comparing them with the counted values.

Through the operations of processes 700 to 708 described above, the robot stops at the specified position and at the position synchronized with the one rotation signal output from the specified incremental rotational position detector 12. Therefore, the robot assumes a predetermined posture.

Since the coordinates for the robot operation under this posture condition are given in advance, the robot position and the coordinates match. Therefore, based on this matched position and coordinate system, the robot's movement control from now on, i.e.,
Although this is not the gist of the present invention, motion teaching by manual motion and playback motion based on the teaching data can be performed based on this established coordinate system.

The operational functions shown in FIGS. 6 and 7 described above can be implemented as separate systems, or both can be implemented as an integrated system. In the case of separate systems, the storage means 30 and the storage means 31 can be shared, that is, only one storage means can be used.

A description of the case where both are implemented as an integrated system will be omitted here. Figure 5.

From the explanation using FIGS. 6 and 7, the contents and structure of the operations are clear, and the operations shown in FIGS. 6 and 7 can be switched by operating the operation key - of the operation means 21. It is clear that this can be easily achieved.゛Finally, limit detection means 3
In the above description, the operating current is detected and the limit is detected by determining the magnitude of the operating current. However, another configuration example will be described below.

FIG. 8 shows another example of the limit detection means used in the present invention. In this example, the count value of the rotational position counting means 33 is taken in, and the limit detection means 36 is set to the limit based on the count value. is detected and the result is sent to the main control means 23. That is, when the operating axis of the robot reaches its limit and comes into contact with the stoppers 5A, 6A, the count value of the rotational position counting means 33 does not change and remains constant. Therefore, the limit detection means 33 monitors the count value, and if it detects that the value remains constant within a certain threshold area, it can be known that the stoppers 5A and 6A are in contact with each other. In the case of the embodiment, even if the stoppers 5A and 6A are not in contact, as long as the robot is stationary, the above detection condition is satisfied. A method in which the main control means 23 controls the operation by giving a command to the limit detection means 36 indicating whether or not the detection operation of the limit detection means 36 is possible, or the main control means 23 takes in the limit detection signal only when the limit detection signal is necessary. You just have to find a way to do that.

FIG. 9 shows another configuration example of the limit detection means 36 used in the present invention. The limit detection means 3-6 receives the operation command value of the operation control means 24 and the count value of the rotational position counting means 33. The system calculates the control deviation, which is the difference between the values, and detects when the control deviation exceeds a certain threshold.

That is, if the stoppers 5A and 6A contact each other and cannot move, the control deviation will increase, so a threshold value is provided for this value, and a value equal to or higher than the threshold value is detected. Note that the same function as the ninth Ili2I can be realized even if the limit detection means 36 takes in the control deviation determined inside the drive control means 32.

Furthermore, although the one-rotation signal counting and comparing means 27 has been described as counting the one-rotation signal and comparing it with a predetermined value, the system can also be configured as a one-rotation signal detection means that only determines the presence or absence of the one-rotation signal. .

In this case, storage means 30, 31. The one-rotation signal counting means 34 is no longer necessary, and the associated operational functions described above are also no longer necessary, and it is a matter of course that the system configuration can be simplified.

Furthermore, in the operation shown in FIG. 6, the rotational position is measured based on the count value of the one-rotation signal, but the rotational position is measured by the operation shown in FIG. You may perform the processing described in the explanation section; in this case,
With the exception of a portion, the two types of operation control shown in FIGS. 6 and 7 are no longer necessary, resulting in a significant system simplification.

Although the above explanation has been made regarding the case of an articulated robot, the present invention is of course applicable to other types of robots such as a Cartesian robot.

〔Effect of the invention〕

As described above, according to the present invention, the robot is operated based on the abutting action of the stopper provided for each operating axis of the robot and the output signal of the incremental rotational position detector provided on the servo motor for driving the operating axis. Since we have determined the motion coordinate system and motion origin of M! to obtain the motion origin. ! This eliminates the need for additional equipment, and the robot mechanism can be made smaller, simpler, and lower in cost, resulting in great effects.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram of an example of a robot to which the device of the present invention is applied, FIG. 2 is a configuration diagram of the drive system of the robot shown in FIG. 1, and FIG. 3 is a configuration diagram of an example of the device of the present invention. FIG. 4 is an explanatory diagram showing the relationship between the stopper and the operating axis of the robot, and FIG. FIG. 6 is a block diagram of an example of the apparatus of the present invention, FIG. 6 is a flow chart explaining the operation for determining a coordinate system obtained by the apparatus of the present invention, and FIG. 7 is a diagram showing the origin alignment operation by the apparatus of the present invention. Flowchart diagram for explaining. 81st! 1 and 9 are diagrams showing other embodiments of the limit detection means used in the apparatus of the present invention, respectively. 1... Operation control device, 2... Robot, 5, 6...
- Arm, 5A, 6A... Stopper, 21... Operating means, 22... Display means, 23... Main control means, 2
4... Operation control means, 25... Reset means, 26
. . . Rotation position comparison means, 27 . . 1 rotation signal count comparison means, 28 . . . Input control means, 32 . . . Drive control means, 33 . Drive system, 36... Limit detection means, 37... Current detection means, 38... Switching means. Haya 1 mouth'# 2 mouth ￥ 3 (Ritei 4 [￥] Rod 70

Claims (1)

[Claims] 1. The arm of the robot is driven by driving a motor provided on each motion axis of the robot according to a motion control command, and a detector is provided on each motion axis to detect the amount of motion. In the robot, a stopper is provided on the arm near the operating axis of the robot, and a stopper is provided to serve as a reference position of the robot's operating origin, and the detector is provided with a stopper that serves as a reference position of the robot's operating origin, and the detector is provided with a stopper that serves as a reference position of the robot's operating origin. connect means to measure the relationship;
A robot origin position setting device comprising control means for determining the coordinate system and origin position of the robot based on the relative relationship value from the means. 2. The robot origin position setting device according to claim 1, further comprising limit detection means for detecting the operating limit of the motion axis due to contact with the stopper. . 3. In the robot origin position setting device as set forth in claim 2, the control means uses the detection signal from the limit detection means to issue a command to move the operating axis, which is stationary due to contact with the stopper, in the opposite direction. 1 from the detector
An origin position setting device for a robot, which outputs an operation stop command when a count value of a rotation signal matches a predetermined value. 4. In the robot origin position setting device as set forth in claim 2, the control means uses the detection signal from the limit detection means to issue a command to move the operating axis, which is stationary due to contact with the stopper, in the opposite direction. output, determine whether the rotation count value of the operating axis from the detector matches a predetermined value, and if they match, output an operation stop command when the one rotation signal from the detector matches the predetermined value. A robot origin position setting device characterized by: