JPS62159203A - How to prevent robot interference - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a method for preventing robot interference when a plurality of Q robots work in overlapping work areas.

Especially '0. The present invention relates to a robot interference prevention method suitable for preventing accidents caused by interference between the arms of a number of robots.

[Background of the invention]

BACKGROUND ART In recent years, with the proliferation of industrial robots, it has become increasingly common for multiple robots to perform welding and assembly work in overlapping work spaces. However, 1. In such a situation, there is a danger that one robot's arm may collide with the other robot's arm due to a teaching operation error or programming error.

There is. To prevent such troubles from occurring.

Robot interference prevention technology is needed.

As such robot interference prevention technology, a method of prohibiting a plurality of robots from entering an area where interference is possible has conventionally been used.

Furthermore, as disclosed in Japanese Patent Application Laid-Open No. 60-20895, a method of checking based on the distance of the robot's hand has also been proposed.

However, with the above-mentioned conventional technology, the range in which the robot can be interfered with is narrowed, or interference occurs with other than the robot's hands? There was a drawback that the detection was @fu-like.

[Purpose of the invention]

An object of the present invention is to eliminate the drawbacks of the prior art and quickly and reliably determine the presence or absence of interference between components that may interfere with each other in a plurality of robots. Our goal is to provide the following.

[Summary of the invention]

The present invention is based on the fact that the object at the base of the robot is segmented into lines and modeled as a combination of the basic constituent line segments of the robot, and that the interference U
) We will take out the robot components that have the potential to check each other'. Maximum distance and joint angle data 1
The maximum moving distance within the sampling period is calculated, and the maximum distance from the basic constituent line segment within the constituent existing region for the other constituent.

The above-mentioned four calculated values for both components to be checked are calculated using the maximum movement distance within one sampling period of joint angle data, and this added value and the check The feature is that the distance between the basic constituent lines of the two constituents being checked is compared to determine whether there is a possibility of interference between the two constituents being checked. With this configuration, it is possible to quickly and reliably determine whether or not there is interference between components that have the possibility of interference between a plurality of robots.

[Embodiments of the invention]

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

Fig. 1 is a system diagram showing an example of an apparatus for carrying out the method of the present invention, Fig. 2 is a block diagram showing details of the main parts of the apparatus, Figs. 3 and 4, and Figs. A diagram explaining the principle of the invention method, FIG. 6(A).

(B) and (C) are diagrams showing the structure of a table of setting data used in the method of the present invention, and FIG. 7 is a flowchart showing an example of the method of the present invention.

In the embodiment shown in FIG. 1 of the apparatus for carrying out the method of the invention,
Two robots 1-41 and 42Y are targeted.

The spinning robots 41, 42 are each connected to a robot controller 143, 44. Also robot 41.
42, a work coordinate system 49 is set.

There is one communication line 46. between the robot control devices 43 and 44.
A robot interference prevention device 45 is connected via 47. A keyboard display 48 is connected to this robot interference prevention bag [45].

The front t-pilot interference prevention bag [45, as shown in FIG.
(, AM (read/write memory) 53, and CPU (central processing unit) 51. The input/output interface 54 communicates with the robot 41, 42 through the robot controller 43, 44, and has a keyboard display. Data is input and output through 48.

The ROM 52 is configured to store processing programs. The AM53 is configured to store various setting data and intermediate processing results.The CPU5
1 is designed to perform necessary processing based on various data. The robot interference prevention 1f 45 may be provided with an output/display (not shown), so that when the robot 41, 42 stops, it displays the fact that the robot has stopped, the position of the arm that caused the stop, etc.

Next, an example of the method of the present invention will be described in connection with the operation of the robot interference prevention device 450.

First, in the present invention, the arm as the target robot 41.420 component is segmented into lines, and the robot 41.42 is modeled as being composed of basic component line segments.

Here, the line division of the robot's arm is divided into one robot 4
As an example for 1, arms 1 to 5 of the robot 41 shown in FIG. Model as a combination.

The same applies to the other robot 42.

Next, it is necessary to examine various data regarding the target robots 41 and 42.

First, for each arm VC of the robot 41, 42, the maximum distance from the basic constituent line segment within the arm existing area and the maximum movement speed V of the arm are calculated (.

Now, looking at the arm 3 of the robot 41, as shown in FIG.
0 The maximum distance 111 from the basic constituent line segment 30 is calculated.

The other arms of this robot 41 are calculated in the same way, and each arm of the other robot 42 is calculated in the same way.

The keyboard display 4 shown in FIGS. 1 and 2 displays data regarding the maximum distance 1 and maximum movement speed V from the basic constituent lines within the arm presence area of the robots 41 and 42.
8 through the input/output interface 54 of the robot interference prevention device 45 and stored in a table format in Am 53. In other words, the data of the robot 41 is
) is stored in a data table 61 indicating K, and the robot 4
Data No. 2 is stored in a data table 62 shown in FIG. 6(B). The addresses of the data tables 61 and 62 correspond to the arm numbers of the robots 41 and 42.

By the way, for all robots 41, 420) Q) arm combinations, the maximum distance 1 or the maximum distance.

There is no need to calculate the large movement speed V. The reason for this is that there is a combination of arms that cannot physically interfere. Therefore, in order to reduce the maximum distance (1), maximum movement speed (V), and calculation time (Q), combinations of arms that have a possibility of interference are extracted and registered in the data table 63 shown in FIG. 6(C). , it is sufficient to check for interference only for the combinations of arms registered here. Note that the numbers in the data table 63 shown in FIG. 6<C) correspond to the four arms of the robot 1-41.42.

In this embodiment, the data is stored in the HJAA453 in a table format, but these data are stored on a non-volatile storage device and are stored in the robot interference prevention device 453.
When starting up Kl(, it may be used as a VCO board on AM53.

Next, within the robot interference prevention device 45, processes 71 to 77 shown in the seventh example are executed. 3. The robot interference prevention device 45 is connected to the robot control device 43. .

It starts at the same time as 44 starts.

Process 71: Ct) file (process stored in 7M52) in the robot interference prevention device 45 program VCvF, Fig. 6 (A
) , CB) , (C> VC indicated data chi7'
/L/61, 62°63 to 1 (, In addition to creating it on AM53, initialize the Tanizuki register. Also, initialize the input/output interface 54 and change the time set from Robottsu 1-41.42. Set the timer so that data is captured at intervals of T.

Here, the time T is one sampling period of joint angle data, and refers to a time sufficient to complete one interference check processing sequence described below.

Process 72: Current joint angle data '12' from robot controllers 43 and 44! :Fetch, l(, store in AM53. As mentioned above, this process 72 is executed at intervals of time T.

Process 73: Use the joint angle data and the robot settings calculated in advance.
Using the position data and the coordinate transformation parameters of the basic constituent line segments, the positions of the basic constituent line segments in the work coordinate system 49 are calculated. This calculation °C uses the coordinate transformation method to calculate q! Obtain the position of the end of an r-based base or constituent line segment. The stiffness calculation result is temporarily stored in the KAM 53.

Process 74: Calculate the distance between the basic m-component line segment of the -10,000 arm and the basic constituent line of the other arm for one set of constant arm recombinations with possible interference notes registered in the data table 63. .

Process 75: For each set of two arms subject to interference check, from the data table 61 and 62, the maximum distance 2 and arm C') H large movement speed V and Kaoritoridasu.

Next, from the maximum movement speed V of the arm, the maximum movement distance T·V in the hour l'jlT circle is determined. This maximum movement distance 'f
' * v is arm 3K of robot 41.

When the child reaches 1, it becomes Tavlt as shown in Fig. 5, and the maximum movement distance T, yl
'r The enclosed range is the existence area 32 of arm 3 within time T
It is.

Now, regarding the maximum distance from the basic constituent lines within the arm existing area and the maximum movement speed of the arm, 113 and vt
When taking out s, 122 and V22, the maximum movement distance within time T is Twvls, T II, respectively.
It becomes V22.

Furthermore, the distance σ between the basic bottom lines of both arms to be checked is calculated.

In lie, the four values L13. T @vt3. J.
22°'l'@V22 is added, and this added value is compared with the distance.

L≧A1s + T@vxs -4-222+ T
e v2z If this is true, proceed to process 76; if false, proceed to process 77.

Process 76: If all the combinations in the data table 63 have been checked within time T, the process returns to process 72, and if there is a combination for which the checks have not been completed, the uncompleted combinations are checked.

Process 77: As there is a possibility of interference, the robot control device 43.4
4, and the robots 41 and 42 are stopped.

If the robot interference prevention device 45 is provided with an output display, it displays the fact that the robot 41, 42 has stopped, the position of the arm that caused the stop, etc.

In this example, the robots 41 and 42 are modeled as a combination of basic constituent line segments by segmenting the arms that constitute the robots 41 and 42, and checking for interference, so data processing can be easily performed. Moreover, it can be carried out using simple equipment.

In addition, in this example, the arms that have the possibility of interference are taken out and interference check is performed, and the data necessary for interference check is written in a short poem.

It is possible to process between

Furthermore, in this embodiment, by calculating the maximum movement distance Tsv of the arms of the robots 1-41 and 42 within the time T, the maximum movement speed V of the arms of the robots 41 and 42 is also taken into consideration. It is possible to reliably determine whether there is a possibility of interference between the 42 arms.

The above explained how to determine whether there is a possibility of interference between robots, but if there is an obstacle within the movement area of one robot, the obstacle is considered to be a robot with no arm. By performing the data processing described above, it is also possible to determine whether there is a possibility of interference between the robot and an obstacle.

Further, in the embodiment described above, the robot interference prevention device 45 and the robot control device [43, 44] are provided separately, and the drinking line 46.
47, the robot interference prevention device may be incorporated into the control device, and the robot interference prevention function may be included as one of the functions of the robot control device.

〔Effect of the invention〕

According to the present invention described above, the components of the robot are segmented into lines, the robot is modeled as a combination of basic component line segments, and the components of the robot that have the possibility of interference are checked. We take it out and determine whether there is a possibility of interference. Since the data processing can be performed easily and in a short time, it is possible to quickly determine whether or not there is a possibility of interference, and it can be carried out with a simple device.

In addition, according to the present invention, for one of the components to be checked for the possibility of interference, the maximum distance from the basic component line segment within the 1s bottom object existence region and one sampling of joint angle data. Calculate the maximum movement distance within the period, and for the other structure, calculate the maximum distance from the basic constituent line segment within the structure existence area and the maximum movement distance within one sampling period of joint angle data. Then, add the above four calculated values for both components to be checked, and compare this added value with the distance between the basic constituent lines of both components to be checked to determine the interference. The possibility is determined by calculating the maximum moving distance of the robot's components in one sampling period of the joint angle data, and the maximum moving speed of the robot's components is also taken into consideration. This has the effect of reliably determining whether there is a possibility of interference between the components of the robot, which in turn improves the safety of the robot, and contributes to the narrowing of the robot's movable range.

[Brief explanation of drawings]

Fig. 1 is a system diagram showing an example of an apparatus for carrying out the method of the present invention, Fig. 2 is a block diagram showing details of the main parts of the apparatus, Figs. A diagram explaining the principle of the invention method, FIG. 6(A). (B), (C) tsA diagram showing the configuration of a daple of setting data used in the method of the present invention, and FIG. 7 is a flowchart showing an example of the method of the present invention. 1-5...Arm as a component of a robot, 10-
50...Basic constituent line segment 31...Existence area of robot arm 3, 32...
Existence area of arm 3 within one rotation period of joint angle data, ! ...Maximum distance V from the basic constituent line segment within the robot's component existing area...Maximum moving speed T of the robot's components...1 sampling period of joint angle data Toy...of joint angle data Maximum moving distance of the robot'a component within one sampling period 41.42...Robots holding the component to be checked 43, 44...Robot control device 45...Robot interference prevention Device 48...Keyboard display 49...Robot work coordinate system 61.62...Arm data table 63 of robot 41.42...Data table 71 of arm combinations targeted for interference check ~77...Katsuo Ogawa, Patent Attorney, Processing Interference Check Data 2゜. Range I Figure 2 Figure 2 (A
(C) Figure 3 No. 5 (2)

Claims (1)

[Claims] The robot's components are divided into lines, the robot is modeled as a combination of basic component line segments, and robot components that have the possibility of interference are selected as targets for checking.
For one component to be checked, calculate the maximum distance from the basic component line segment within the component existence region and the maximum movement distance of joint angle data within one sampling period, and calculate the maximum distance of the other component. For the object, calculate the maximum distance from the basic constituent line segment within the constituent existing region and the maximum moving distance within one sampling period of joint angle data, and calculate the above 4 for both constituents to be checked.
The two calculated values are added together, and this added value is compared with the distance between the basic constituent lines of both constituents to be checked.
A robot interference prevention method characterized by determining whether there is a possibility of interference between two components to be checked.