JPH05303422A - Direct teaching type robot - Google Patents

Abstract

PURPOSE:To make it possible to teach also the force operation of an operator's handiwork effect device. CONSTITUTION:A power sensing sensor 30 for detecting power applied to an object 5 to be worked when an operator works the object 5 by the handiwork effect device 3 is connected to the head part of a robot arm 1 by a bracket 31. A storage device 32 stores force applied by the operator through the device 3 and detected by the sensor 30 correspondingly to a teaching point on the object 5. A force sensing sensor 2 is prepared for inputting a teacher's moving command by force and provided with a handle 6 to be grasped by the operator to operate the robot. When the robot executes work based on teaching data, a control device 8 accesses the force information stored in the device 32 correspondingly to the individual position of the object 5 and reproduces positioning teached by the operator and a force applying method.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direct teaching type robot.

[0002]

2. Description of the Related Art In a work using a robot, it is necessary to accurately provide the robot with position information necessary for the work. In addition to the position information, the information necessary for work includes the magnitude and direction of the force applied to the work object. In order to teach the robot a complicated hand movement, these positions and forces are combined to the robot. It is necessary to teach accurately. In particular, in order to accurately teach the skill of a skilled worker to the robot, it is necessary to efficiently acquire the relationship between the position and the force during the actual work.

Usually, since a robot has high repeatability of positioning, a direct teaching method is often used in which the hand effector of the robot is directly positioned on a work object and the position is stored. In this method, it is necessary to accurately and simply position the hand effector at a predetermined position,
Conventionally, as the positioning method, a method of performing translation in the X, Y, and Z axis directions of the robot tip and rotational movement around each axis by operating a teaching box has been mainly used.

According to this method, X,
Switches for individually changing the Y- and Z-axis position and the rotation angle around each axis are provided, and teaching is performed by combining these, but an operation of appropriately selecting a switch to be operated to obtain an intended movement. Is complicated and it is difficult to obtain the desired position and posture.

As a method of improving this operability, a force sensor is attached to the wrist portion of the robot, the force applied to the wrist portion is detected by this, and the robot is operated by compliance control using this signal as an input. , The operator moves the robot by holding the robot's hand effector by hand and applying force in the intended direction.
A method of rotating and positioning the hand effector at the position to be taught has been proposed.

FIG. 2 is a diagram showing an example of a robot according to this method. A force sensor 2 connected to a hand effector (tool) 3 for performing work is attached to a wrist portion which is a tip portion of the robot arm 1. The hand effector 3 includes a handle 4 that is gripped when the operator operates the robot.
Is attached. The control device 8 controls the robot arm 1 so that the tip of the hand effector 3 moves in the direction in which the force is applied. Here, the robot moves the tip of the hand effector 3 on the line connecting the points 10, 11, 12, 13, and 14 on the work target 5 or on the plane determined by these points to perform some work. Shall be done on item 5. For example, when the hand effector 3 performs work on the work object 5 on the straight line 22 connecting the points 12 and 13, the operator handles the handle 4 so that the tip of the hand effector 3 can follow the straight line 22 without touching. The hand effector 3 is guided from the point 12 to the point 13 while adjusting the force in each direction given to the. However, it is not possible to bring the tip of the hand effector 3 into contact with the work object 5 or to teach the force required by the hand effector 3 to be applied to the work object 5.

[0007]

The conventional direct teaching type robot described above inputs the positioning information of the operator when the magnitude or direction of the force applied to the work object is input as the information necessary for the work. If you try to do this with the force sensor of, the positioning information cannot be input as the force information for the positioning of the operator, and the positioning of the robot will be confused, so it can be distinguished from the force information necessary for work. However, there is a drawback in that the tip of the hand effector cannot be brought into contact with the work target.

An object of the present invention is to provide a direct teaching type robot which can teach force operation information of a hand effector during operation.

[0009]

In order to achieve the above object, in the direct teaching type robot of the present invention, a force sensor for inputting force information required for work inputs positioning information of an operator. Is attached directly to the wrist without using a force sensor, and a hand effector is attached to the force sensor for inputting force information necessary for work. In addition, a storage device that stores the force detected by the force sensor in association with a teaching point on the work target, and a storage device that stores the force when the robot performs work based on the teaching data. Retrieving force information corresponding to each work position of the work object,
It has a control device that reproduces the positioning and force application method taught by the operator.

[0010]

According to the present invention, a force sensor for inputting force information necessary for work is provided separately from a force sensor for inputting positioning information of an operator, so that the robot can move by hand. In addition, the force operation information of the hand effector being operated is also taught at the same time.

[0011]

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

FIG. 1 is a block diagram of a direct teaching type robot according to an embodiment of the present invention.

A force sensor 30 for detecting the force applied by the operator when the work object 5 is worked by the hand effector 3.
Is connected to the tip of the robot arm 1 by a mounting bracket 31. The storage device 32 accumulates the force detected by the force sensor 30 in association with the teaching point on the work target 5 by the operator applying a force to the hand effector 3 during the work teaching. The force sensor 2 is for inputting a movement instruction of the teacher by force, and is attached with a handle 6 that the operator holds to operate the robot.

Next, the operation of this embodiment will be described.

The hand effector 3 is moved to the teaching point of the work object 5 by using the handle 6 and the force sensor 2, and the tip of the hand effector 3 is pressed against the work object 5 with a necessary force to perform the work. To do. This force is not transmitted to the force sensor 2 because the force sensor 30 is coupled to the robot arm 1 by the mounting bracket 31, and does not affect the positioning of the hand effector 3. Further, the force sensor 30 directly measures the force applied by the hand effector 3 to the work target 5 during the actual work performed by the operator. This force information is stored in the storage device 32 in association with each work position of the work target 5. When the robot performs work on the basis of the teaching data, the force information is associated with each work position of the work target 5 by the control device 8 and stored in the storage device 3.
The positioning and force application method of the hand effector 3 called from 2 and taught by the operator are accurately reproduced.

[0016]

As described above, according to the present invention, a force sensor for inputting force information necessary for work is provided separately from a force sensor for inputting operator positioning information. In addition to enabling movement of the robot by operation, it also teaches force operation information of the hand effector during operation, so only position information is required when teaching complex hand movements required for work. Moreover, there is an effect that force information can be accurately and efficiently acquired, accumulated, and used for actual work.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a direct teaching type robot according to an embodiment of the present invention.

FIG. 2 is a configuration diagram of a conventional example of a direct teaching type robot.

[Explanation of symbols]

 1 Robot Arm 2 Force Sensor 3 Hand Effector 4, 6 Handle 5 Work Object 8 Control Device 10, 11, 12, 13, 14 Points 20, 22 Straight Line 30 Force Sensor 31 Mounting Bracket 32 Storage Device

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification code Internal reference number FI technical display location G05D 15/01 8914-3H

Claims (1)

[Claims] 1. A force sensor for detecting a force applied to a wrist portion is provided in the wrist portion, and is operated by compliance control using the detection signal as an input, whereby an operator applies a force to the force sensor. In the direct teaching method robot that moves the robot and manually positions the hand effector at the position intended by the operator to input position information, the force sensor for inputting force information necessary for work is Directly attached to the wrist portion without the force sensor for inputting the positioning information of the robot, and the hand effector attached to the force sensor for inputting the force information necessary for work. An accumulating device for accumulating the force detected by the force sensor in association with a teaching point on a work object by an operator, in addition to the hand effector, and teaching data When the robot performs a work based on the control, the force information stored in the storage device is called corresponding to each work position of the work target, and the positioning and the force application method taught by the operator are reproduced. A direct teaching type robot having a device.