WO1994009950A1

WO1994009950A1 - Double arm robot operating method

Info

Publication number: WO1994009950A1
Application number: PCT/JP1993/001578
Authority: WO
Inventors: Hiroaki Takechi
Original assignee: Kabushiki Kaisha Komatsu Seisakusho
Priority date: 1992-10-30
Filing date: 1993-10-29
Publication date: 1994-05-11
Also published as: JPH06143084A

Abstract

In a double arm robot having a carry-in-side arm for carrying a work into a working machine and a carry-out-side arm for carrying out a work from the working machine, both of which arms are provided on both sides of one support post so that these arms are operated with a mutual interference region provided, a double arm robot operating method characterized in that a signal for discriminating the condition (1) of the arms not gripping a work and positioned out of the mutual interference region, the condition (2) of the arms gripping a work and positioned out of the mutual interference region, the condition (3) of the arms gripping a work and positioned in the mutual interference region and the condition (4) of the arms not gripping a work and positioned in the mutual interference region from one another is outputted for each arm so as to move one arm out of the two to a position in the interference region after it has been ascertained with reference to this condition signal outputted for the other arm that the latter arm is out of the interference region. According to this arrangement, one arm is moved in the interference region after the condition of the other arm has been ascertained, whereby the interference of the arms with each other can be prevented. Similarly, the interference of an arm of a double arm robot with that of an adjacent double arm robot can be prevented, and the passing of a work from one arm to the other and the delivering of a work between the arms can be done without causing one arm from interfering with the other. Even when a plurality of working machines and a plurality of double arm robots are used, they can be used as a production line or independently, i.e., they can be applied to works flexibly. Moreover, works can be carried into and from a plurality of working machines by one double arm robot without causing the arms to interfere with each other.

Description

Description Operating method of dual-arm robot

The present invention relates to a dual-arm robot for hand-held work, such as when a teaching-playback-type mouth-boat having two arms is used to carry a work in and out of a processing machine for performing a press operation or the like. The present invention relates to a method of operating a dual-arm robot when performing a robot. Background art

Conventionally, when a robot transports a work to a press machine, the robot is arranged between a plurality of press machines, and the robot moves from a press machine in a previous process to a press machine in a subsequent process. The work was transported sequentially.

For example, Vol. 51, Vol. 1, No. 19, Yaskawa Technical Report No. 3 198 7 P24 (Prior Art 1), Robot No. 711 1989 Jan. 01, P70 and Fujikoshi Technical Report Vol 45 N0 2 (19989) Threaded 102 P78 (Conventional technology 2), Press technology Vol.29 No.1 No.1

As disclosed in P46-47 (Prior Art 3), a multi-joint type robot in which a robot is fixed to the side of a press machine and transported between press machines, and a press technology 29 Special-purpose machines as disclosed in Vol. 11, No. 11, pages 42 to 44 (Prior Art 4) are generally well known. In recent years, according to Japanese Utility Model Laid-Open Publication No. 3-445778 (prior art 5), a robot having a swivel column provided with a plurality of arms on a circumference. A robot has been proposed in which a work is transferred between press machines by transferring the work.

If the press machine is used as a so-called single-shot press machine that is not installed in a line, the robot dedicated to the line described above cannot be used, and the press technology Vol. Use a single-shot press dedicated machine as disclosed in claim numbers 66, 35, 8 (Prior Art 6), or as shown in Press Machine Vol. 29, No. 11, P 51 (Prior Art 7). In addition, one vertical robot or horizontal articulated robot, which is an ordinary industrial robot, was sometimes installed in front of the press.

However, as shown in the above-mentioned prior arts 1 to 3, the robot operation method in which a robot is installed between press machines and the press machine does not work when the press machine is in line. It is suitable for low-mix high-volume production, but for high-mix low-volume production, the equipment was large and productivity was poor.

In addition, in the case of the special-purpose machine shown in the prior art 4, in addition to the above-mentioned problems, since the degree of freedom as a robot is small, it is necessary to match the line (pass line) for transferring the work between the press machines. There was a problem that setting took a long time.

In the robot shown in the prior art 5, a plurality of arms are attached to the swivel column, and the robots shown in the prior arts 1 to 4 directly back the workpiece processed by the press machine in the previous process of the line. It solves the problem that it cannot be carried into the process press, but has the problem that there is only one pivot and multiple arms cannot operate independently. The motor that drives the arm joints directly supports the weight of the arm and the weight of the workpiece. Therefore, there is a problem that the driving power becomes large.

In addition, as shown in Prior Art 6, dedicated robots used for press machines that are used alone have the problem that a single unit can only carry in or out. However, there is a problem that the setup takes a long time because the robot has a low degree of freedom.

Furthermore, the method of installing one general-purpose port bot in front of the press machine as shown in Prior Art 7 has a high degree of freedom and can perform the same work as humans, and the setup time is simple. There was a problem that the cycle time was longer for the work.

In addition, the robots shown in the prior arts 1 to 5 have no problem when used as a line, but cannot be used when each press machine is operated alone. On the other hand, the robot shown in the conventional technology 6 has a problem that it cannot be used when the press is used as a line.

Furthermore, the robots shown in the prior arts 1 to 6 are basically robots that supply and carry out to and from a press machine with one robot. Could be supplied and unloaded.

Also, with the robots shown in the prior arts 1 to 5, continuous punching of short objects is impossible, and only the robot shown in the prior art 6 has a high degree of freedom, so punching is possible. . However, the robot shown in the conventional technology 6 has only one arm, so once the work is inserted, it cannot be excavated without any support, so the gripped part of the work cannot be machined, or Even if it can be done, there is a problem that the cycle time becomes longer because it is once placed on the table. The present invention has been made in view of the above, and by constantly outputting the state of each arm of a dual-arm robot, it is possible to prevent interference between the arms of the dual-arm robot, and to prevent a plurality of robots from interacting with each other. The robots can be prevented from interfering with each other, the dual-arm robot can be easily used with various systems without interference, and a single dual-arm robot can work on multiple presses without reducing the cycle time. Since loading and unloading is now possible, the mouth bot can be used efficiently. In addition, a single robot has been able to use a single robot that could not be used alone with a conventional line-dedicated robot, or a line that was not possible with a single press machine. It is intended to provide a method of operating a dual-arm robot. Disclosure of the invention

According to the present invention, in order to achieve the above and other objects, according to the present invention, loading a workpiece into a working machine, which is provided so as to operate with interference areas on both sides of one support column. In a dual-arm robot having a side arm and an unloading side arm for unloading a work from the work machine, a state in which the work is not gripped and the arm is out of the interference area between the arms. A signal for identifying each of the state outside the area (1), the state within the interference area between the arms while gripping the work (3), and the state (4) within the interference area between the arms without gripping the work is output for each arm. When one of the arms is moved into the interference area, it is confirmed that the other arm is out of the interference area after confirming from the state signal of the other arm that the other arm is moved. A method of operating a dual arm robot is provided.

According to this configuration, when one arm moves into the interference area, the other arm moves. The arm is moved after its condition is confirmed, preventing interference between the arms. Similarly, the interference between the arms of the adjacent two-armed robots can be prevented, and the work can be switched between the arms and received without interference. Also, when multiple working machines and multiple dual-arm robots are used, they can be used as a line or independently, and can flexibly respond to machining workpieces. In addition, one dual-arm robot can carry in and out of multiple work machines without interference.

In addition, in addition to the above configuration, in state (2), the interference area with respect to the adjacent double-armed robot, in state (2), within the interference area with the adjacent double-armed robot, in state (3), The state outside the interference area for the arm robot and the state outside the interference area for the adjacent dual-arm robot may be added to the state II.

BRIEF DESCRIPTION OF THE FIGURES

The present invention will be better understood from the following detailed description and the accompanying drawings, which illustrate embodiments of the invention. The embodiments shown in the accompanying drawings are not intended to specify the present invention, but merely to facilitate explanation and understanding.

In the figure,

FIG. 1 is a perspective view showing an example of a use state of a dual-arm robot operated by the method of the present invention.

FIG. 2 is a schematic structural explanatory view of the dual-arm robot shown in FIG. FIG. 3 is a first operation flowchart of the dual-arm robot shown in FIG.

FIG. 4 shows a second operation flowchart of the dual-arm robot shown in FIG.

Fig. 5 shows the dual arm robot installed before each of multiple presses. FIG. 6 is a plan view showing an example of the arrangement.

FIG. 6 is an operation flowchart of the dual-arm mouth bot shown in FIG. FIG. 7 is a plan view showing an example in which a plurality of presses are installed around one dual-arm robot.

FIG. 8 is an operation flowchart of the dual-arm robot shown in FIG. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, a method of operating a dual-arm robot according to a preferred embodiment of the present invention will be described with reference to the drawings.

In FIG. 1, reference numeral 1 denotes a press, 2 ′ denotes a carry-in machine arranged on the front right side of the press 1, for example, and 3 denotes a carry-out machine arranged on the front left side of the press 1. Reference numeral 4 denotes a double-arm robot installed in front of the press 1 and between the above-mentioned two carry-in units 2 and the unloading unit 3.

The dual arm robot 4 has a structure as shown in FIG. In the figure, reference numeral 5 denotes a vertically installed support, and a four-axis type first arm 6a and a second arm 6b are provided on both sides of the support 5 in a double arm shape. The arms 6a and 6b have the same structure, and a bracket 7 is supported so as to be able to move up and down along a linear guide 8 provided at a position symmetrical on both sides of the support column 5. The bracket 7 is provided vertically on the side of the column 5 and is screwed to a feed screw rod 9 driven to rotate by a motor 9a. At the end of the bracket 7, a first arm 10, a second arm 11 and a hand 12 are sequentially connected rotatably in the horizontal direction, and each arm and hand is connected to a drive motor (not shown). Thus, it is rotated over a predetermined rotation angle.

The first arm 10, 10, which is the rotation fulcrum of the left and right arms 6 a, 6 b One-rotation fulcrums 01 and 02 are separated by the same distance L and L on the left and right of the column 5, and the operating ranges of both arms 6a and 6b are partially overlapped and have a so-called interference area. are doing. Note that L and L may be L ≠ L.

The motor 9a for the feed screw 9 of the arms 6a and 6b and the motor of each joint are operated by the controller 13 without interference between the arms 6a and 6b in the interference area. The operation is automatically controlled as described above, and the operation is performed by a teaching device 14 provided in the controller 13.

In the above configuration, when the supply and discharge of the work 15 to and from the press 1 during the operation of the press 1 is performed by the dual-arm robot 4, the dual-arm robot 4 is moved to the front side of the press 1 and positioned. And fix

Then, the left and right arms 6 a and 6 b are operated by a command signal from the controller 13, for example, the work is supplied from the work supply table 2 by the left arm 6 a, and the work is supplied by the right arm 6 b. The processed work is discharged onto the work discharge table 3. The supply and discharge of the work may be performed by the both arms 6a and 6b.

At this time, the arms 6a and 6b operate independently in accordance with the command of the controller 13, and the arms 6a and 6b have the above-mentioned area despite the interference area. The controller 13 is operated without interference based on the data previously taught.

Although the arms 6a and 6b have areas that interfere with each other, each of the arms 6a and 6b detects its own operating state, and transmits the state signals to the other arm and the adjacent arm. The robot is sent to the corresponding arm of the dual-arm robot placed at the location. And the arm that receives this partner's status signal Based on this, it does not interfere with the opponent's arm. The operating states of the arms 6a and 6b are the four states of ①, ②, ③ and ① shown in Table 1 below.

table 1

Here, for simplicity, the state of both arms and the state of the adjacent dual-arm robot are simultaneously Determined but may be represented individually.

This signal is expressed as a 2-bit signal between the arms, and is always output to the partner's arm side (controller). The arm to be operated changes the state of the partner's arm as necessary. FIG. 3 is an operation flowchart showing a first operation example of the dual-arm robot 4 shown in FIG. The operation shown in this operation flow chart is as follows.The arm 6a on the loading side moves the work out of the interference area again after putting the work into the press 1 in the interference area, and the arm 6b on the unloading side At the end of the press working, the work is taken out of the press 1 in the interference area and moved out of the interference area.

In the loading machine 3, the workpiece is gripped by a vacuum or the like, and is gripped by the hand 12 of the loading arm 6a.

The arm 6a on the loading side grips the workpiece 15 gripped by the loading machine 3 above, and when it is confirmed that the workpiece is released, a work release finger signal is sent to the loading machine 3 side, and the loading machine 3 Is released from the gripping of the work. Then, it is confirmed that the work is released by the carry-in machine 3, and immediately before the carry-in arm 6a moves to the press 1 side, that is, just before moving into the interference area, the state of the carry-out arm 6b side becomes ①. Whether or not there is, that is, the status signal from the unloading arm 6 confirms that the unloading arm 6b is out of the interference area. After that, the arm 6a on the loading side moves into the interference area, and after confirming that the press 1 has risen to reach the top dead center, the work is set in the press 1 and the work is set in the press 1. Release and move out of press 1

In this state, a press start signal is output and press 1 starts, and the loading side The arm 6a moves out of the interference area to the state of ①.

When the carrying-in arm 6a completes the workpiece carrying-in operation and the carrying-out arm 6b detects a signal indicating that the carrying-in arm 6a has changed to the ① state, The arm 6b moves into the interference area, confirms the unloader signal from the press 1, and then grasps and carries out the processed work in the press 1.

In this way, the carry-in arm 6a is moved to the interference area after checking the state signal of the carry-out arm 6b (work carry-in), and the carry-out arm 6b is also moved into the carry-in arm. 6 After confirming the ① status signal in a, it is moved into the interference area. '

FIG. 4 is an operation flowchart showing a second operation example of the dual-arm robot 4 shown in FIG. The operation shown in this operation flowchart is basically the same as the above-described first operation example shown in FIG. 3, and only different portions will be described below.

The workpiece is gripped by the loading arm 6a, and a part of the workpiece is loaded into the press 1. Then, a start signal is given to the press machine 1 from the arm 6a, and punching by the press 1 is performed. After that, the work is fed by a predetermined amount, and the start signal is given again by press 1 to perform punching. By repeating this operation, products are sequentially punched from the workpiece. The number of punching depends on the size of the work, etc., and is counted by a counter.

If punching is performed a predetermined number of times with the arm 6a on the loading side gripped as described above, the gripped part will be in the way, so grip the already punched part with the arm 6b on the unloading side. Switch and punch the remaining part a predetermined number of times. In the second operation example, when the carry-in arm 6a moves into the interference area, the carry-out arm 6b is output from the signal in the state (1) in which the carry-out arm 6b outputs. Is moved to state, that is, “between the unloader and press” (confirmation outside the unloading arm interference area).

On the other hand, when the unloading arm 6b moves into the interference area, the out-of-load arm interference area is also confirmed before it is confirmed. In this case, the arm 6a on the loading side is gripping the work, and therefore is in the state ②, and the signal in the state から from the arm 6a on the loading side is checked.

FIG. 5 shows an embodiment in which dual-arm robots 4a, 4b, 4, 4d are installed on the front sides of a plurality of presses 1a, 1b, 1c, Id, respectively. The operation (third operation example) in this embodiment is, for example, that the work is gripped from the supply table 16 by the left arm 4 aL of the first dual-arm robot 4 a arranged on the leftmost side. To the first press 1a. After processing with the first press 1a, the work is carried out with the right arm 4aR of the first double-arm robot 4a, and the first arm provided between the first and second presses la and lb. Unload to intermediate stand 17a.

Next, the work 15 of the intermediate table 17a is carried into the second press lb by the left arm 4bL of the second double-arm robot 4b. Work 15 was processed by the second press lb, then unloaded by the right arm 4 bR of the second dual-arm robot 4 b and provided between the second and third presses lb and lc. Unload to the second intermediate table 17b.

Next, the work 15 on the second intermediate table 17b is carried into the third press 1c by the left arm 4cL of the third dual-arm robot 4c. After the work 15 is processed by the third press 1c, the work 15 is unloaded to the unloading section 18 by the right arm 4cR of the third dual-arm robot 4c. By repeating this operation and aligning the operation timing of each press 1a, 1b, lc, the arms of the three dual-arm robots 4a, 4b, 4c operate synchronously and without interference Can be done.

An operation flowchart in this case is as shown in FIG.

In this case, as in the first and second operation examples, the state signals of the left and right arms of each dual-arm robot and the state of the mutually-interferable arms of the adjacent dual-arm robot are recognized and interfere with each other. I try not to.

That is, in FIG. 6, before the left arm (loading arm) 4aL of the first dual-arm robot 4a moves into the interference area, the state from the right arm (loading arm) 4aR is reached. (1) Receive the signal and check the area outside the unloading arm interference area. At this time, the right arm (carry-out arm) 4aR of the first dual-arm robot 4a is connected to the left arm (carry-in arm) 4bL of the second double-arm robot 4b adjacent thereto. Check that is in state ④.

When the carrying-in operation of the left arm 4 a L of the first dual-arm robot 4 a is completed and this state is reached, the right arm 4 a confirms that the outside of the carrying-arm interfering area is present, and 4 a R performs a series of operations in states ①—③—②—①. Then, when the right arm 4 a R ends and returns to the state 再び again, the left arm 4 b L of the second dual arm robot 4 b becomes the first dual arm robot 4 a After confirming that the right arm 4aR of the left arm 4aR is in the state を, the same operation as the left arm 4aL of the first dual-arm robot 4a is performed. After the operation of the left arm 4aL is completed, the right arm 4aR performs the same operation as the right arm 4aR of the first dual-arm robot 4a.

Next, a fourth operation example is shown.

Of the three dual-arm robots 4a, 4b, and 4c, two dual-arm robots When the 4a and 4b are used as lines, the first two presses la and lb and the first and second dual-arm robots 4a and 4b are used in the same manner as in the third operation example above. Operate, and the second intermediate table 17b becomes the unloading position. The remaining third press 1c and the third dual-arm robot 4c can work independently independently of the other presses la and 1b and the dual-arm robots 4a and 4b.

In addition, all press machines and dual-arm robots can be operated independently, and Fig. 7 shows a case where multiple (two) presses la and 1b are installed around one dual-arm robot 4. 5 shows an operation example.

The two presses 1a and 1b are arranged on the front side and right side of the dual-arm robot 4, and the first press 1a located on the right side is supplied with the coiled work 19 from the loading machine 18 Is done. The supplied work 19 is punched out to a predetermined size by the first press 1a, and is then carried out of the first press 1a by the right arm 4R of the dual-arm robot 4. At this time, the waste material after the punching is automatically discharged to the scrap container 20. The work 19 carried out from the first press 1a by the right arm 4R is supplied to the second press 1b arranged in front of the dual-arm robot 4, and is again supplied to the second press 1b. Pressed in lb. Next, the work 19 is carried out to the unloader 21 by the left arm 4L. Here, the first and second presses 1a and 1b are moved synchronously, and the left and right arms 4L and 4R of the robot are moved in accordance with the timing, thereby making both arms 4L , 4R can carry in and out the work 19 without interference.

The operation flow chart at this time is as shown in FIG. This place In this case, the arm on the loading side (arm 4R on the right side) and the arm on the unloading side (arm 4L on the left side) confirm that the other party's state is □ immediately before entering the respective interference areas. After that, a predetermined operation is performed.

In the fifth operation example, the case where two presses 1a and 1b are used for one dual-arm robot is shown, but when three presses are supported, the dual-arm robot 4 The work 19 is supplied by the left arm 4 L of the dual-arm robot 4, and the work from the third press is separately carried out by a discharge device such as an air ejector.

As described above, according to the present invention, by always outputting the state of each arm of the dual-arm robot, it is possible to prevent interference between the arms of the dual-arm robot, and also to prevent the robots of multiple robots from interacting with each other. Interference can be prevented, the dual-arm robot can be easily used in various systems without interference, and a single 2-arm robot can carry in / out workpieces to multiple presses without reducing the cycle time. Robots can be used efficiently. In addition, a single robot can use a stand-alone robot that was not possible with a conventional line-dedicated robot, or a line that was not possible with a single-shot press machine. .

Although the present invention has been described with reference to exemplary embodiments, it is understood that various changes, omissions, and additions can be made to the disclosed embodiments without departing from the spirit and scope of the present invention. It is obvious to the trader. Therefore, the present invention is not limited to the above-described embodiments, but should be understood to include the scope defined by the elements described in the claims and the equivalents thereof. Industrial applicability

As described above, the method for operating a dual-arm robot according to the present invention is extremely useful for loading and unloading a work to and from a processing machine that performs a press operation or the like.

Claims

The scope of the claims

1. A carry-in arm for carrying a work into and out of a work machine, and a carry-out arm for carrying a work out of the work machine, provided on both sides of one support column so as to operate with interference areas. In a dual-arm robot with

A state where the arm is not in the interference area between the arms without gripping the workpiece, a state where the workpiece is gripped and the area between the arms is out of the interference area, a state where the workpiece is gripped and the area between the arms is in the interference area, and the workpiece is gripped. For each arm, a signal for identifying each state ④ in the interference region between the arms is output for each arm, and when one arm of both arms is moved into the interference region, the signal is obtained from the state signal of the other arm. A method of operating a dual-arm robot, wherein the robot moves after confirming that the other arm is out of the interference area.

2. In state (2), the interference area for the adjacent double-armed robot, in state (2), the interference area for the adjacent double-armed robot, in state (3), for the adjacent double-armed port 2. The method for operating a dual-arm robot according to claim 1, wherein states outside the interference area are added to an adjacent dual-arm robot to the state outside the interference area and the state (2).