JPH01250020A - Track recording device for moving body - Google Patents

Abstract

PURPOSE:To know the speed and acceleration of the moving body from the length of a track drawn in a prescribed time by holding a printer head on the tip of the arm of an industrial robot and printing different print patterns at prescribed constant intervals. CONSTITUTION:The printer head 3 is held on the tip of the arm of the industrial robot. Then a sequence circuit 4 changes print patterns of the printer head 3 with time according to time control data inputted from an operation part. The arm tip performs the printing operation from a teaching point A to a point B. During this period, five-dot printing is performed at dot intervals N, so marks M1, M2... are drawn at intervals of one second. Thus, the track from the point A to the point B is drawn on the recording paper and it is judged whether or not the track conforms with a taught track. Further, the speed and acceleration are known from the size between the marks.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device for recording the movement trajectory of the tip of a moving body such as an arm of an industrial robot.

(Prior technology) In order to record the movement trajectory of the tip of a moving body whose position is controlled spatially, such as the arm of an industrial robot, a contact type method is used in which a ballpoint pen or the like is attached to the tip of the arm and the trajectory is written on recording paper. There is also a non-contact type in which a light emitting element is attached to the tip of the arm, images are captured by multiple cameras, and trajectory data is obtained through calculation processing.

Although the former is inexpensive, it can only record two-dimensional data and cannot obtain the velocity or acceleration of a moving object on orbit. Also, recording paper will tear when recording high-speed orbits, so
Not suitable for recording high-speed orbits. On the other hand, the latter is capable of three-dimensional recording and can even measure the speed and acceleration of a moving object on orbit, but it is expensive. However, except for special uses, it is generally sufficient to be able to record two-dimensional trajectories and measure velocity and acceleration.

(Problems to be solved) This invention focuses on these points, and the speed,
To provide a relatively simple and inexpensive trajectory recording device for a moving object such as an industrial robot arm, which can measure acceleration and also record high-speed trajectories since the recording paper does not tear even in two-dimensional recording. It is.

(Another Means to Solve the Problems) In the present invention, a non-contact printing printer head is held on a moving object whose position is spatially controlled, such as the tip of an arm of an industrial robot, in order to record the trajectory. and,
A sequence circuit that manages the print pattern of the printer head over time is connected to this printer head. Furthermore,
An operating section for inputting this time management data is connected to the sequence circuit.

(Function) Since the printing pattern is changed at predetermined regular intervals set by the operation section, the length of the trajectory drawn during the predetermined time can be known. Then, in turn, velocity and acceleration can be calculated. Also, since it uses a non-contact printing method, the recording paper will not tear.

(Example) An example in which an inkjet printer head is used as a non-contact printing type printer head will be described with reference to the drawings.

1 to 3, an inkjet printer head (hereinafter referred to as head) 3 is attached via a bracket 2 to the tip end 1 of an arm of a teaching/reproducing industrial robot R (not shown in its entirety). By the way, head 3
This has a so-called 12-dot configuration in which 12 nozzles are arranged in a direction perpendicular to the direction of print, and the number of dots, that is, the print pattern, can be managed by selecting the nozzles that will work. A sequence circuit 4 is also attached to the bracket 2. The sequence circuit is for time management of the printing pattern, and has a set repetition time interval △T at which the nozzles are activated for printing, and changes the number of nozzles activated at every predetermined dot interval N. It is a circuit whose main part is a microcomputer with a program. Furthermore, for the jitance circuit 4, the dot spacing N
An operation unit 6 for setting a print start position and a print stop position is provided on an operation panel (not shown) of the industrial robot. Then, the head 3, the sequence circuit 4, and the operation section 6 are sequentially connected to the electrical wiring 5.
7 is connected.

In the operation unit 6, the printing start point is set to teaching point A, and the printing stopping point is set to teaching point B. Here, the printing repetition time interval ΔT
is unique and constant to the circuit 4 in this case, and the dot interval N for changing the printing pattern is set to 1/△T, so that the printing that is always done with 1 dot is changed to 5 dots every second. so that it is printed.

A recording paper is placed along the expected trajectory of the tip of the arm of the industrial robot R, and the industrial robot R is operated in a test mode. When the tip of the arm comes to a position directly facing the teaching point A, the head starts printing as shown in FIG. 4, and continues printing until it reaches the teaching point B, recording the trajectory P on the recording paper.

During this time, five dots are printed at every dot interval N, so marks M1, M2, . . . are added every second. In this way, the trajectory between points A and B is drawn on the recording paper, which is used to judge whether it matches the taught trajectory, and by measuring the dimension between each mark, the average speed between them can be directly read. . Also, from these average speeds,
The average acceleration between each mark can be calculated. Note that since the recording is done in a non-contact manner, the surface of the recording paper does not necessarily have to be of good quality.If the quality of printing is not important, the gap between the recording paper and the head cannot be made to an accurate size. .

As another example, the sequence circuit for time-managing the print pattern may not be attached to the head (it may be attached within the control device of the industrial robot).

The number of dots for normal printing and pattern change is also 1 each.
It is not limited to dots and 5 dots, but especially when the number of dots during normal printing is small (and the repetition time interval △T
The smaller the value, the clearer the trajectory.

There is no need to relate the dot interval N to the printing repetition time ΔT, and it is convenient to set it as 1/ΔT in order to know the speed and acceleration.

Furthermore, the method is not limited to two-dimensional trajectory recording; a three-dimensional model may be arranged and the trajectory may be written on it.

(Effects) As described above, according to the present invention, the trajectory of a moving object such as an arm of an industrial robot can be recorded using a relatively simple and inexpensive trajectory recording device, and speed and acceleration can be easily measured. Moreover, even in two-dimensional recording, it is possible to record at high speed without tearing the recording paper.

[Brief explanation of the drawing]

The drawings show an embodiment of the invention, in which FIGS. 1 and 2 are side views, FIG. 3 is a schematic circuit diagram, and FIG. 4 is a schematic diagram. In the drawing, 3 is an inkjet printer head; 4 is an inkjet printer head;
is a sequence circuit, and 6 is an operation unit.

Claims (2)

[Claims] (1) A non-contact printing printer head is held at the tip of a moving body whose position is spatially controlled, and a sequence circuit for time management of the print pattern is connected to this printer head, and this sequence circuit is connected to the time management system. A device for recording the trajectory of the mobile object, which is connected to an operation section for inputting data. (2) The recording apparatus according to claim 1, wherein the printer head is an inkjet printer head.