KR-102964605-B1 - Control method for work robots and work robots

KR102964605B1KR 102964605 B1KR102964605 B1KR 102964605B1KR-102964605-B1

Abstract

Task: To solve the problem of coordinate misalignment that occurs when correcting the motion path of a work robot based on position information acquired by a position information measuring device. A means of solution: a process of creating a first motion path having a first teaching point p and a direction change section (421-424), a process of creating a second motion path having a second teaching point P set on the first motion path and an arc path (521-525), a process of acquiring position information at the second teaching point or in the vicinity thereof by a position information measuring device (30), a process of correcting the coordinates of the first teaching point based on the position information, and a process of performing work by a work device (20) at the first teaching point of the corrected first motion path, and having a teaching point foreground path (531-533) and a teaching point rear path (541-543) which are straight paths entering the second teaching point P that becomes a passing point, and the teaching point foreground path (531-533) or the teaching point rear path (541-543) are continuous with an arc path, a work robot control method and a work robot (1).

Inventors

이쿠시마 가즈마사

Assignees

무사시 엔지니어링 가부시키가이샤

Dates

Publication Date: 20260512
Application Date: 20250627
Priority Date: 20240701

Claims (20)

A process for creating a first motion path having three or more first teaching points and a direction changing section; A process of creating a second motion path having three or more second teaching points set on the first motion path and an arc path; A process of acquiring position information at the second teaching point or its vicinity while moving a position information measuring device along the second operation path; A process for correcting the coordinates of the first teaching point of the first operation path based on the above location information; and A process of performing work by a work device at at least some of the first teaching points while moving along a corrected first motion path; As a work robot control method having, In the process of creating the second operation path described above, a path before the teaching point, which is a straight path entering the second teaching point that serves as a passing point, and a path after the teaching point, which is a straight path on the same straight line as the path before the teaching point installed immediately after the second teaching point, are installed. The foreground path of the above-mentioned teaching point or the rear path of the above-mentioned teaching point is continuous with the above-mentioned arc path, Work robot control method.
In paragraph 1, A method for controlling a work robot, wherein the foreground path of the above-mentioned teaching point overlaps with the above-mentioned first operation path and is a straight path entering the above-mentioned second teaching point from the same direction, or a tangent to the above-mentioned direction change part, and is a straight path entering the above-mentioned second teaching point from the same direction as the above-mentioned first operation path.
In paragraph 1, A method for controlling a work robot, wherein the second teaching point, which serves as a passing point of the second operation path, comprises a teaching point foreground path which is a straight path entering the second teaching point, and a teaching point rear path which is a straight path on the same straight line as the teaching point foreground path.
In paragraph 1, A work robot control method in which, in the process of creating the above-mentioned second motion path, a straight path before the arc and a straight path after the arc are installed in all arc paths.
In paragraph 1, The second teaching point that serves as the above-mentioned passing point includes a second teaching point A and a second teaching point B adjacent to the second teaching point A, and The above arc path includes arc path A and arc path B, and The above-mentioned teaching point foreground path includes teaching point foreground path A, which is a straight path entering the above-mentioned second teaching point A, and teaching point foreground path B, which is a straight path entering the above-mentioned second teaching point B. The above-mentioned teaching point post-path includes a teaching point post-path A, which is a straight path on the same straight line as the teaching point foreground path A installed immediately after the second teaching point A, and a teaching point post-path B, which is a straight path on the same straight line as the teaching point foreground path B installed immediately after the second teaching point B. The above-mentioned teaching point post-path A functions as an arc preceding path A that is continuous with the above-mentioned arc path A, and A work robot control method in which the above-mentioned teaching point foreground path B functions as an arc after-line path B that is continuous with the above-mentioned arc path B.
In paragraph 5, In the process of creating the second motion path above, an arc-post-straight path A installed immediately after the arc path A, and A work robot control method for installing an arc path B immediately preceding the above arc path B.
In paragraph 5, In the process of creating the second motion path above, selecting the arc that satisfies the first condition in which the center angle is minimized and/or the second condition in which the distance is minimized as the arc path A, as a path passing through one of the arcs of the first circle and the second circle that are adjacent to and opposite to the path after the teaching point above. A work robot control method comprising selecting, as the arc path B, the arc that satisfies a first condition in which the center angle is minimized and/or a second condition in which the distance is minimized, as a path passing through one of the arcs of the third and fourth circles that are tangent to the straight path after the arc above.
In Paragraph 7, In the coordinate system of the second operation path mentioned above, an inaccessible zone is set, and A work robot control method in which, in the process of creating the above-mentioned second motion path, an arc path that does not enter the above-mentioned inaccessible zone is selected as the above-mentioned arc path A and the above-mentioned arc path B.
In paragraph 6, The above arc path A is a path that passes through one of the arcs of the first and second circles that are opposite and adjacent to the end point of the path A after the teaching point, and A work robot control method in which the above-mentioned arc path B is a path passing through one of the arcs of the third circle and the fourth circle that are adjacent to the starting point of the above-mentioned teaching point foreground path B.
In Paragraph 9, A work robot control method in which, in the process of creating the second motion path above, a combination of arc paths satisfying a first condition in which the sum of the central angles of the arcs of two circles selected from among combinations of paths passing through the arcs of two circles among the first to fourth circles is minimized, and/or a second condition in which the travel distance is minimized, is selected as arc paths A and B.
In Paragraph 10, A work robot control method in which, in the process of creating the second motion path, a combination of arc paths satisfying a fourth condition in which the center angle of the arc of a circle adjacent to a specific second teaching point is minimized, which is selected from among combinations of paths passing through the arcs of two circles among the first to fourth circles, is applied in priority to the first condition and the second condition to select arc paths A and B.
In paragraph 8, A work robot control method wherein the above arc paths A and B include an elliptical arc path and/or a circular arc path formed by a composite arc.
In paragraph 1, A work robot control method in which two adjacent second teaching points all have different X and Y coordinates.
In paragraph 1, A work robot control method comprising, in the process of creating the second motion path above, selecting as the arc path A a path that passes through one of the first circle and the second circle facing each other adjacent to the path after the teaching point, a first condition in which the center angle of the arc is minimized, and/or a second condition in which the distance is minimized.
In paragraph 1, A work robot control method in which the number of the second teaching points is less than the number of the first teaching points.
In paragraph 1, A method for controlling a work robot, wherein the second teaching point includes one or more first teaching points selected from the first teaching point.
In paragraph 1, A work robot control method in which the above first operation path is such that adjacent first teaching points are all connected in a straight line path.
In paragraph 1, A method for controlling a work robot, wherein the first operation path includes one or more paths that move without performing work between first teaching points, and the paths that move without performing work are all straight paths.
In paragraph 4, A work robot control method in which the above arc-post-straight path is a path that intersects the above second motion path located upstream of the above arc-post-straight path.
In paragraph 1, A work robot control method in which, in a process of acquiring the above position information, the position information measuring device is moved at a speed faster than the average moving speed of the above work device.

Description

Control method for work robots and work robots The present invention relates to a control method for a work robot having a first motion path and a second motion path, and to a work robot. It is being practiced to reduce production processes, shorten production time, and improve quality by moving a work device mounted on an industrial robot along a work path to repeatedly perform the same operation (e.g., coating, machining, or lamination) on multiple workpieces of the same shape. However, since the workpieces may exhibit individual variations such as shape or misalignment in installation positions, there is a challenge in that if the operation is performed without correcting the work path, quality degradation occurs, such as the generation of defective products due to misalignment in the work position. As a means of solving the above problem, a method is known in which a position information measuring device (e.g., a laser measuring device or an imaging device) is mounted on an industrial robot, position information such as the distance or coordinates of each workpiece is acquired before operation, and by feeding back to the control device of the industrial robot, a repetitive operation is performed by reflecting the correction of position information for each target workpiece. The acquisition of position information for multiple target workpieces is performed by establishing a measurement path connecting the multiple workpieces and moving a position information measuring device along the measurement path. However, if measurement is attempted by maintaining a constant movement speed of the position information measuring device, there is a problem in that vibration occurs at bends, making it impossible to accurately acquire position information. Therefore, Patent Document 1 proposes an image measurement system that eliminates sudden acceleration and deceleration by automatically generating a smooth measurement path consisting of straight lines and large arcs of radius, and suppresses the occurrence of vibration without decelerating the robot. [Fig. 1] This is a perspective view showing a work robot of the first embodiment. [Fig. 2] This is a diagram showing the first operation path of the first embodiment example. [Fig. 3] This is a diagram showing the second operation path of the first embodiment example. [Fig. 4] This is a block diagram illustrating a robot control device of the first embodiment. [Fig. 5] This is a flowchart explaining the work sequence by a work robot. [Fig. 6] (a) is a diagram showing the first and second operation paths of a comparative example set in a control program, (b) is a diagram showing the actual device operation in the first and second operation paths of a comparative example, (c) is a diagram showing the incorrect correction in the first and second operation paths of a comparative example, and (d) is a diagram showing an example of the first and second teaching points after correction in the second operation path having a teaching point forepath that is tangent to the first operation path. [Fig. 7] This is a flowchart explaining the sequence of creating a second motion path by the robot control device. [Fig. 8] This is a diagram illustrating four second teaching points set in the first operation path of the first embodiment. [Fig. 9] This is a diagram explaining the sequence of creating the path in front of the teaching point and the path behind the teaching point for the second teaching point of Fig. 8. [Fig. 10] This is a diagram illustrating the sequence of creating two paired candidate circles arranged to include the foreground path and background path of the teaching point in Fig. 9. [Fig. 11] This is a diagram illustrating the order of selecting an arc path that satisfies the first and second conditions among the candidate circles of Fig. 10 as the selected arc path. [Fig. 12] A diagram illustrating the method of calculating selected arc paths, wherein (a) is an explanatory diagram of arc paths in paired candidate circles, (b) is an explanatory diagram of the first combined arc path, (c) is an explanatory diagram of the second combined arc path, (d) is an explanatory diagram of the third combined arc path, and (e) is an explanatory diagram of the fourth combined arc path. [Fig. 13] This is a diagram showing the second operation path of the second embodiment example. [Fig. 14] This is a diagram illustrating four second teaching points set on the first operation path of the second embodiment. [Fig. 15] This is a diagram explaining the sequence of creating the path in front of the teaching point and the path behind the teaching point for the second teaching point of Fig. 14. [Fig. 16] This is a diagram illustrating the sequence of creating two paired candidate circles arranged to include the foreground path and background path of the teaching point in Fig. 15. [Fig. 17] This is a diagram illustrating the order of selecting an arc path that satisfies the first and second co