Horizontal articulated robot and return-to-origin method thereof

A return-to-origin method of a horizontal articulated robot, the horizontal articulated robot comprising at least:

• a base;
• a base side link rotatably connected to the base;
• an arm section side link coupled to the base side link;
• an arm section freely rotatably connected to the arm section side link;
• a hand section freely rotatably connected to the arm section to hold the work;
• a storage means for storing teaching data;
• and a control means configured to control drive of the base side link, the arm section, and the hand section on the basis of the teaching data, the horizontal articulated robot being used for transferring the work, and the base side link and the arm section side link constituting a link mechanism configured to control in such a manner that a movement locus of a center point of a coupling shaft of the arm section side link and the arm section becomes a predetermined straight line,
• wherein recording of a coordinate of the horizontal articulated robot is continuously executed during transfer and return-to-origin operations,
• wherein when a request for return-to-origin is input, the control means determines whether the coordinate of the horizontal articulated robot when the request is input is within a predetermined range from the latest recorded coordinate,
• wherein when the coordinate is within the predetermined range, the control means calculates a locus of return-to-origin and moves the horizontal articulated robot to the return-to-origin position in a direction of returning from the transfer direction,
• wherein when the coordinate is not within the predetermined range, the control means calculates the transfer path based on past teaching data stored in the storage means, determines if there is any calculated transfer path close to the current coordinate, and if there is a transfer path close to the current coordinate, the control means moves the horizontal articulated robot to the transfer path, and then moves same to the return-to-origin position, and
• wherein if there is no calculated transfer path close to the current coordinate, the control means determines whether the hand section is positioned outside of a turn safe area, and when the hand section is positioned outside, the control means pulls in the hand section to an inside of the turn safe area and then moves the horizontal articulated robot to the return-to-origin position through the specified via point.

A horizontal articulated robot used for transferring a work, comprising:

• a base;
• a base side link rotatably connected to the base;
• an arm section side link coupled to the base side link;
• an arm section freely rotatably connected to the arm section side link;
• a hand section freely rotatably connected to the arm section to hold the work;
• a storage configured to store at least teaching data;
• and
• a controller configured to calculate a transfer path on the basis of the teaching data to control drive of the base side link, the arm section, and the hand section,
• wherein the base side link and the arm section side link constitute a link mechanism configured to control in such a manner that a movement locus of a center point of a coupling shaft of the arm section side link and the arm section becomes a predetermined straight line,
• wherein the controller is configured to continuously execute recording of a coordinate of the horizontal articulated robot during transfer and return-to-origin operations,
• wherein when a request for return-to-origin is input, the controller is configured to determine whether the coordinate of the horizontal articulated robot when the request is input is within a predetermined range from the latest recorded coordinate,
• wherein when the coordinate is within the predetermined range, the controller is configured to calculate a locus of return-to-origin and moves the horizontal articulated robot to the return-to-origin position in a direction of returning from the transfer direction,
• wherein when the coordinate is not within the predetermined range, the controller is configured to calculate the transfer path based on past teaching data stored in the storage, and determine if there is any calculated transfer path close to the current coordinate, and if there is a transfer path close to the current coordinate, the controller is configured to move the horizontal articulated robot to the transfer path, and then moves the horizontal articulated robot to the return-to-origin position, and
• wherein if there is no calculated transfer path close to the current coordinate, the controller is configured to determine whether the hand section is positioned outside of a turn safe area, and when the hand section is positioned outside, the controller is configured to pull in the hand section to an inside of the turn safe area and then move the horizontal articulated robot to the return-to-origin position through the specified via point.