JP3342786B2 - Robot hand position control method and position control device for connection pin automatic insertion / extraction robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to a position control device for a robot hand of an automatic insertion / extraction robot that performs extraction.

[0002]

2. Description of the Related Art An MDF (MAIN DISTIRIBUTING FRAME) is provided between an exchange and a user terminal in a telephone exchange system.
A switchboard and a user terminal are provided by inserting or removing connecting pins into and out of a large number of pin insertion holes formed in a fixed array on a matrix board provided in the main wiring board device. Switching between connection and disconnection is performed, and an automatic insertion / extraction robot is used to increase the efficiency of insertion and extraction of connection pins into and out of the insertion hole of the matrix board.

[0003] This type of automatic insertion / removal robot is composed of a robot hand capable of gripping connection pins and a drive mechanism thereof, and is arranged in a plane area opposed to a matrix board which is arranged in a large number on the same plane. The robot hand is arranged so as to be movable in the X and Y axis directions, and the robot hand is moved to a position facing the target connection pin or the insertion hole, and then the connection pin is inserted into the insertion hole. Or, it is configured to pull out the connection pin from the insertion hole, but since the robot hand itself is large, there is a disadvantage that the main wiring board device also becomes large,
Miniaturization was required.

[0004] Therefore, in response to the demand for miniaturization of the main wiring board device, the size of the automatic insertion / extraction robot is reduced, and the automatic insertion / extraction robot is combined with a plurality of matrix boards. There has been proposed a device that is provided. In this apparatus, an automatic insertion / extraction robot is provided for each unit so that the robot hand moves in the X-axis and Y-axis directions within a frame having an outer shape corresponding to a plane area facing a plurality of matrix boards. , And in each unit, set the origin positioning part of the robot hand,
The robot hand is moved to the position of the target insertion pin insertion / extraction hole with reference to the origin position.

[0005]

However, in the above-mentioned prior art, it is difficult to mount an automatic insertion / removal robot accurately on an array of a plurality of matrix boards in each unit without error. Because there are manufacturing and assembly errors for each robot,
When inserting and removing the connection pin, there is a problem that the robot hand cannot be accurately positioned at the target position of the insertion hole.

[0006]

SUMMARY OF THE INVENTION In order to solve such a problem, the present invention provides a plurality of matrix boards in which insertion holes for connection pins are provided in a matrix, and the plurality of matrix boards are arranged in a matrix. In the plane area facing the board, move the robot hand of the automatic insertion / extraction robot
In a robot hand position control method for a robot for automatically inserting and removing connection pins for inserting and removing the connection pins into and from the insertion holes by moving the robot hand in the Y-axis direction, the robot hand is moved between a predetermined reference position and a measurement pin. Moves to a position where the measurement pin is expected to be shifted from the reference position according to the distance of the reference position, and causes the robot hand to perform an operation of gripping the measurement pin at the moved position. When the measurement pin can be gripped by the operation, the amount of displacement of the measurement pin is calculated, and the calculation result is used as correction data.When the measurement pin cannot be gripped by the operation, the gripping operation is performed. Where you went
While moving the robot hand by a fixed amount from
The operation of gripping the measurement pin is repeated, and when the measurement pin can be gripped, the amount of deviation of the measurement pin is calculated, and the calculation result is used as correction data, and the robot hand moves the insertion pin with respect to the insertion hole. When inserting and removing the connection pin, the robot hand is moved in the X-axis and Y-axis directions based on the correction data.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a position control device for a robot hand of a robot for automatically inserting and removing connection pins according to the present invention. 1 is a schematic configuration diagram showing an embodiment of the present invention, FIG. 2 is a perspective view showing an example of the matrix board arrangement in FIG. 1, and FIG. 3 is a perspective view showing an example of mounting an automatic insertion / extraction robot.

In the figure, 1 is a motherboard, 2a to 2d
Is a matrix board soldered to the motherboard 1, and here, four matrix boards 2a to 2d
Are arranged and fixed in the X-axis and Y-axis directions, respectively, but the number and arrangement of the matrix boards are not limited to this. The matrix boards 2a to 2d are formed by drilling a large number of insertion holes (not shown) in a fixed arrangement, and inserting connection pins (not shown) into the insertion holes, so that conductors (not shown) provided on the matrix boards 2a to 2d, respectively. The connection between the exchange and the user terminal is established, and the exchange and the user terminal are connected, and by removing the insertion pin from the insertion hole, the connection between the exchange and the user terminal is released.

Reference numeral 3 denotes an origin positioning block serving as an origin positioning portion of a robot hand for automatic connection pin insertion / removal, which will be described later. The origin positioning block 3 is positioned near an outer corner of the matrix board 2a. 2 is fixed to the motherboard 1 by screws so as to be located at one corner of a region A indicated by a two-dot chain line. 4a is a matrix board 2a located near the outer corner.
The structure is such that at least a portion to be gripped by the robot hand is formed of a conductor or a conductor is provided in that portion, and a measurement pin 4b having a similar structure is provided by a matrix. X for board 2a
It is provided near the outer corner of the matrix board 2b adjacent in the axial direction.

The reference pin 4a and the measuring pin 4
b and 4c are the matrix boards 2a and 2b and 2 respectively.
It can be fixed with high precision so that a predetermined distance relationship can be maintained with respect to the insertion hole c. Since the origin positioning block 3 is fixed to a position very close to the reference pin 4a with a screw, it is possible to slightly adjust the position. Therefore, a position between the reference pin 4a and the origin positioning block 3 is set. Has substantially no mounting error.

Reference numeral 5 denotes a guide rail provided along two opposing sides of the motherboard 1. Reference numeral 6 denotes a connector provided on a side to be a rear end of the motherboard 1. Each matrix board 2 is connected to the other by the connector 6. It is electrically connected to a matrix board provided on the motherboard or an external device. Reference numeral 7 denotes a robot for automatically inserting and removing connection pins. The robot 7 extends between a pair of X frames 8, a connecting frame 9, and a front plate 10 in a rectangular frame shape, and between the pair of X frames 8. And a robot hand 12 provided on the Y frame 11 and having a pair of openable and closable gripping parts.

Here, the Y frame 11 is the X frame 8
The robot hand 12 moves in the X-axis direction along the X frame 8 by an X-axis motor (not shown) attached to the Y-axis and its power transmission mechanism. I do. The robot hand 12 is moved in the Y-axis direction along the Y frame 11 by a Y-axis motor (not shown) attached to the Y frame 8 and a power transmission mechanism thereof.

Accordingly, the robot hand 12 can freely move in the X and Y axis directions within the rectangular plane area defined by the outer portion formed by the X frame 8, the connecting frame 9 and the front plate 10. I have. Further, a Z-axis motor, its power transmission mechanism, and a Z-axis guide are assembled to the robot hand 12, so that the robot hand 12 can also move in the Z-axis direction shown in FIG. Furthermore, a hand opening / closing motor and the like are also attached to the robot hand 12.

Incidentally, a stepping motor is used as the motor for each axis and the motor for opening and closing the hand. Further, as a control system for controlling the movement of the robot hand 12 via each of these motors, the power supply 13, the detection circuit 14, and the measuring pins 4b
The first storage unit 15 stores the amount of displacement in the X-axis direction, the second storage unit 16 stores the amount of displacement of the measurement pins 4b of the matrix board 2b in the Y- axis direction, and the movement of the robot hand 12. In this case, the control unit 17 includes a calculation unit 17 that calculates a correction amount and a control unit 18 that controls the motors by controlling them. Robot 7 configured in this way
Is inserted and mounted between the two motherboards 1 provided with the matrix board 2 as shown in FIG. 3 by the guide of the guide rail 5, and the area A shown by the two-dot chain line in FIG. 3 shows a movement area of the hand 12 on a plane in the X and Y axis directions.

The robot 7 constructed as described above has the structure shown in FIG.
As shown in FIG. 2, the matrix board 2 is inserted between two motherboards 1 provided with a matrix board 2 and guided by a guide rail 5, and is mounted in a region A shown by a two-dot chain line in FIG.
Indicates a moving area of the robot hand 12 in a plane in the X and Y axis directions. FIG. 4 is a diagram showing the configuration of pin detection by the robot hand 12. As can be seen from this figure, the robot hand 12 has a pair of holding portions 12a and 12b for holding connection pins.

A voltage is applied from the power supply 13 to the grips 12a and 12b, and the hand opening / closing motor is driven to grip the reference pins 4 with the grips 12a and 12b, for example. 12b is reference pin 4
And the detection circuit 14 as a detection means detects that the gripping portions 12a and 12b have gripped the reference pin 4. I have.

The grip detection of the measuring pin 4b is performed in the same manner. Next, the operation of the above configuration will be described.
Now, as shown in FIG.
A moving area A in the axial direction faces each matrix board 2, and one corner of the moving area A
Is located.

In this state, first, an X-axis motor and a Y-axis motor (not shown) are driven by the control unit 18 based on an instruction from a host device (not shown), and the robot hand 12 moves in the X and Y-axis directions. It hits the origin positioning block 3. The X-axis motor and the Y-axis motor are stepping motors, and have a characteristic of stepping out and stopping when overloaded, so that the X-axis motor and the Y-axis motor are When the robot hand 12 is hit, the robot hand 12 is driven until it stops and stops, whereby the origin of the robot hand 12 is positioned.

After the origin is positioned, the control unit 18
The calculation unit 17 calculates the number of drive pulses of the X-axis motor and the Y-axis motor up to a. Then, the control unit 18 drives the X-axis motor and the Y-axis motor based on the calculation result, whereby the Y frame 11 is moved along the X frame 8.
Is moved in the X-axis direction, and the robot hand 12 is moved in the Y-axis direction along the Y frame 11 to face the reference pin 4a.

Thereafter, the control unit 18 drives the Z-axis motor and the hand opening / closing motor, thereby approaching the matrix board 2a by moving the robot hand 12 in the Z-axis direction, and holding the robot hand 12 by the holding units 12a, 12b. Gripping of the reference pin 4a is performed. Here the gripper 12
a, 12b grips the reference pin 4a.
4, when the detection signal is sent to the control unit 18, the control unit 18 subsequently drives the Z-axis motor and the hand opening / closing motor to open the reference pin 4a and to move the robot hand 12 in the Z-axis direction. Matrix board 2a by movement
Is performed.

Then, the control unit 18 causes the arithmetic unit 17 to calculate the number of drive pulses of the X-axis motor up to the shortest distance where the displacement of the measuring pin 4b is expected to occur due to an assembly error of the matrix board 2b. Based on the result, the control unit 18 drives the X-axis motor, thereby
Move the robot hand 12 along the frame 8 to the Y frame 1
1 is moved in the X-axis direction.

After that, the Z-axis motor and the hand opening / closing motor are driven by the control unit 18 to approach the matrix board 2b by moving the robot hand 12 in the Z-axis direction, and to measure by the gripping units 12a and 12b of the robot hand 12. The operation of gripping the use pin 4b is performed. By this operation, the detection circuit 14 detects that the grippers 12a and 12b have gripped the measuring pin 4b, and sends a detection signal to the controller 18. Then, the controller 18 controls the robot in the X-axis and Y-axis directions. The calculation unit 17 calculates a relative displacement amount between the hand 12 and the measurement pin 4b, and calculates the correction result Δx in the X axis direction and the correction data Δx in the Y axis direction.
the first storage unit 15 and the second storage unit 16 as y
To memorize.

However, if the detection circuit 14 does not detect the gripping of the measuring pin 4b by the grippers 12a and 12b, the controller 18 drives the Z-axis motor to once move the robot hand 12 away from the matrix board 2b. Further, the X-axis motor is driven by a predetermined pulse to move the robot hand 12 in the X-axis direction, and then the Z-axis motor and the hand opening / closing motor are driven to
The gripping operation of the reference pin 4b by the grippers 12a and 12b is retried.

This gripping operation is repeated until the gripping portions 12a and 12b of the robot hand 12 grip the measuring pin 4b. However, the gripping portions 12a and 12b grip the measuring pin 4b even in a retry operation by moving in the X-axis direction. Is not detected by the detection circuit 14, the control unit 18 drives the Y-axis motor for a fixed pulse, and further drives the X- axis motor for a fixed pulse, so that the gripping units 12a and 12b of the robot hand 12 perform measurement. The retry operation is repeated until the pin 4b is gripped.

As a result, the detection circuit 14 detects that the measurement pin 4b has been gripped, and sends a detection signal to the control unit 18. The control unit 18 then measures the robot hand 12 in the X-axis and Y-axis directions. The calculation unit 17 calculates the relative shift amount of the use pin 4b, and stores the calculation result in the first storage unit 15 and the second storage unit 16 as the correction data Δx and the correction data Δy.

The measurement and storage of the correction data Δx and Δy are performed when the robot 7 is first mounted or whenever the robot 7 is replaced. Matrix board 2 for robot hand 12
Positioning with respect to the insertion holes a to 2d is performed as follows. Now, in a state where the robot hand 12 is stopped at the origin position by the origin positioning block 3, when the coordinate data of the target insertion hole is sent from the host device, the control unit 18 transmits the X-axis to the reference pin 4a. The control unit 18 drives the X-axis motor and the Y-axis motor based on the calculation results of the number of drive pulses of the Y-axis motor and the Y-axis motor. In the X-axis direction,
The robot hand 12 is moved along the Y frame 11 in the Y axis direction.

After positioning the robot hand 12 at a position facing the reference pin 4a, the control unit 18 determines the number of drive pulses of the X-axis motor and the Y-axis motor up to the target insertion hole specified by the coordinate data. Is calculated by the calculation unit 17 using the correction data Δx stored in the first storage unit 15 and the correction data Δy stored in the second storage unit 16.

Then, based on the calculation result, the control unit 1
Reference numeral 8 drives an X-axis motor and a Y-axis motor, thereby moving the robot hand 12 in the X-axis direction along with the Y-frame 11 along the X-frame 8, and moving the robot hand 12 along the Y-frame 11 in the Y-axis. Move in the axial direction. With this movement, the robot hand 12 is accurately positioned at a position facing the target insertion hole.

Thereafter, the control unit 18 drives the Z-axis motor and the hand opening / closing motor to cause the robot hand 12 to insert or remove the connection pin from the insertion hole. In the above-described embodiment, the correction data Δx and Δy are obtained by gripping the measurement pins 4b provided on the matrix board 2b with the grippers 12a and 12b of the robot hand 12. and it provided measuring pin 4 c to the outer corner portion of the matrix board 2c as shown in FIG. 2, to obtain correction data Δx in the X axis direction in the measurement pin 4b, Y-axis direction by the measuring pin 4 c May be obtained.

[0030]

As described above, according to the present invention, it is expected that the measuring pin is shifted from the reference position in accordance with the distance between the reference position and the measuring pin given to the robot hand in advance. The robot hand is moved to a position where it moves, and the robot hand performs an operation of gripping the measuring pin at the moved position, and when the measuring pin can be gripped by this operation, the displacement amount of the measuring pin is calculated. Then, the calculation result is used as correction data, and when the measurement pin cannot be gripped by the operation, the position at which the gripping operation is performed is performed.
While moving the robot hand by a fixed amount from the
The operation of gripping the measurement pin is repeated, and when the measurement pin can be gripped, the amount of displacement of the measurement pin is calculated, the calculation result is used as correction data, and the robot hand moves the insertion pin with respect to the insertion hole. When inserting and removing the connection pin, the robot hand is moved in the X-axis and Y-axis directions based on the correction data.

Therefore, according to this, an effect is obtained that the robot hand can be accurately positioned at the target position of the insertion hole.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of a position control device of a robot hand of a connection pin automatic insertion / extraction robot according to the present invention.

FIG. 2 is a perspective view showing an arrangement example of a matrix board.

FIG. 3 is a perspective view showing a mounting example of a robot hand.

FIG. 4 is a diagram showing a configuration of grip detection of a robot hand.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Motherboard 2a-2d Matrix board 3 Origin positioning block 4a Reference pin 4b, 4c Measurement pin 7 Robot robot for automatic insertion / extraction 8 X frame 11 Y frame 12 Robot hand 12a, 12b Gripping part 13 Power supply 14 Detection circuit

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 3/00-3/04 B25J 9/10-9/22 B25J 13/00-13/08 B25J 19/02-19 / 06 G05B 19/18-19/46 B23Q 15/00-15/28 JICST file (JOIS)

Claims (3)

(57) [Claims] A plurality of matrix boards provided with connection pin insertion holes in a matrix are arranged in a plane, and a robot hand of an automatic insertion / extraction robot is provided in a plane area opposed to the plurality of matrix boards. A robot hand position control method for a connecting pin automatic insertion / removal robot which moves in the X-axis and Y-axis directions to insert / remove the connection pin into / from the insertion hole, comprising: In accordance with the distance to the pin, the measuring pin moves from the reference position to a position where the measuring pin is expected to be displaced, and the robot hand performs an operation of gripping the measuring pin at the moved position. When the measurement pin can be gripped by this operation, the amount of displacement of the measurement pin is calculated, and the calculation result is used as correction data, When the measurement pin cannot be gripped by the operation,
From the position where the gripping operation was performed, the robot hand
Movement of grasping the measuring pin while moving the
The operation is repeated, and when the measurement pin can be gripped, the displacement amount of the measurement pin is calculated, and the calculation result is used as correction data, and the robot hand inserts and removes the connection pin from the insertion hole. When performing the step (a), the robot hand is moved in the X-axis and Y-axis directions based on the correction data. 2. A plurality of matrix boards having connection pin insertion holes arranged in a matrix are arranged in a plane, and a robot hand of an automatic insertion / extraction robot is placed in a plane area facing the plurality of matrix boards. Moving the connection pin into the insertion hole by moving the connection pin in the insertion hole,
In the robot hand position control device for a connection pin automatic insertion / extraction robot that performs extraction, storage means for storing correction data of the robot hand in the movement in the X-axis direction and the Y-axis direction, and one of the plurality of matrix boards A reference pin provided on one of the base boards, a measurement pin provided on a different matrix board from the matrix board provided with the reference pin, a moving means for moving the robot hand in the X-axis and Y-axis directions, and the robot A gripping means provided on the hand, for gripping the connection pin, the reference pin, and the measurement pin; a calculation means; and the robot hand, wherein the robot hand is set in accordance with a distance between a predetermined reference position and the measurement pin. The measuring means moves to a position where the measuring pin is expected to be displaced from a position by the moving means. The robot hand performs an operation of gripping the measuring pin, and when the operation allows the measuring pin to be gripped, the amount of displacement of the measuring pin is calculated by the calculating means. Is stored in the storage means as correction data, and when the measurement pin cannot be gripped by the operation, the robot hand is moved from the position where the gripping operation is performed.
Operation to hold the measuring pin while moving by a fixed amount
Is repeated, when the measurement pin can be gripped, the amount of displacement of the measurement pin is calculated by the calculation means,
Control means for storing the calculation result as correction data in the storage means, wherein when the robot hand inserts and removes the connection pin from the insertion hole, the robot hand is controlled based on the correction data. A robot hand position control device for a connecting pin automatic insertion / removal robot, wherein the robot hand is moved in the X-axis and Y-axis directions. 3. The method according to claim 2, wherein when the grip portion of the robot hand is electrically connected to the reference pin or the measurement pin, it is detected that the reference pin or the measurement pin can be gripped. Robot hand position control device for automatic connection pin insertion / extraction robot.