JPH0655475A - Operation instruction device of robot - Google Patents

Abstract

PURPOSE:To carry out the instruction to a robot easily by moving the front end of the robot in the direction the operating switch of an instruction device is fallen, whatever position the instruction switch is to the robot, when a worker operates the instruction to the robot. CONSTITUTION:This operation instruction device of robot consists of a memory device to store the set bearing of a robot to a specific bearing beforehand, and an instruction device 5 provided with an operating switch 6 to instruct the operation of the robot, and a magnetic bearing sensor 9 to detect the direction to a set bearing of the robot is installed to the instruction device 5. On the other hand, an operation device to calculate the position of the magnetic bearing sensor 9 to the set bearing of the robot, and to move the front end of the robot in the direction the operating switch 6 of the instruction device 5 is fallen is provided to the instruction device of the robot.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot motion teaching device for teaching a robot a motion by a handy type teaching device provided with operation switches for teaching movement of the robot in a horizontal plane.

[0002]

2. Description of the Related Art A conventional technique is shown in FIG. 3 and will be described below.
1 is a base of the robot A, and the base 1 has a first arm
2 is rotatably attached. A second arm 3 is rotatably attached to the tip of the first arm 2 in the same manner as the first arm 2 and the second arm 3 is attached.
A work shaft 4 to which a work tool is attached is attached to the tip of the so as to be vertically movable and rotatable. Needless to say, a rotary drive source is arranged on each arm and work shaft.

On the other hand, 5 is a handy type teaching device for teaching the movement of the robot A in a horizontal plane, and sets a jog operation switch 6 for positioning the arm and the moving speed of each arm. It is composed of a push-type switch group 7 and the like, and the data taught by the switch group 7 is displayed on the display section 8 as needed.

Next, a teaching method for the robot A using the teaching device 5 will be described. Generally, as shown in FIG. 3, the worker B holds the teaching device 5 and is located at the rear of the robot A. Next, the jog operation switch 6 of the teaching device 5
Is rotated in the X and Y directions, and the arm tip (working shaft 4)
Set the position of. When the jog operation switch 6 is normally rotated in the X direction, each arm is also moved in the X direction, and when the jog operation switch 6 is rotated in the Y direction, each arm is also in the Y direction.
It is designed to move in the direction. Further, the moving speed of each arm, the elevating position of the work shaft 4, the teaching position number, etc. are set by the pressing switch group 7.

[0005]

However, in the above-mentioned conventional technique, the teaching from the rear portion of the robot A can be easily taught as described above. However, in order to effectively utilize the installation location, the robot is usually installed with the rear part of the robot facing the wall. In such an installation manner, the worker B cannot teach after the robot A, and as shown in FIG.
I had to teach from the front.

Therefore, the turning direction of the jog operation switch 6 of the teaching device 5 and the moving direction of each arm of the robot A are opposite to each other, which makes it difficult to teach. That is, when the jog operation switch 6 is rotated in the X direction,
Mu moves in the Y direction.

If the worker is completely in front of the robot A as described above, and if the worker B is positioned at 30 degrees or 45 degrees with respect to the robot A, the robot A from the teaching device 5 is used. However, there is a problem that it is more difficult to teach to.

[0008]

SUMMARY OF THE INVENTION An object of the present invention is to solve the above problems and to provide a storage device for storing a preset orientation of a robot with respect to a specific orientation and an operation switch for teaching the operation of the robot. The teaching device is provided with an azimuth line sensor for detecting the direction of the robot with respect to the set azimuth, and the position of the azimuth sensor with respect to the set azimuth of the robot is calculated to operate the teaching device. The gist of the present invention is to have an arithmetic unit for moving the tip of the robot in the direction in which the switch is tilted.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention is shown in FIGS. 1 and 2 and will be described below. 1 is a base of the robot A, which is installed on the floor of a factory or the like at an angle α with respect to the north direction. or,
The angle α of the installation position is stored in the storage device in the robot controller equipped with the arithmetic unit. A first arm 2 is rotatably attached to the base 1 as in the prior art. Further, a second arm 3 is rotatably attached to the tip of the first arm 2 similarly to the first arm 2, and a work is attached to the tip of the second arm 3. The work shaft 4 to which the tool is attached can move up and down, and
It is rotatably attached. In addition, each
It goes without saying that a rotary drive source is arranged on the shaft and the work shaft.

On the other hand, 5 is a handy type teaching device for teaching the movement of the robot A in a horizontal plane, which is a jog operation switch 6 capable of setting 360 degrees for positioning the arm and the movement of each arm. It is composed of a push-type switch group 7 for setting speed and the like, and the taught data is displayed on the display section 8 as needed.

Further, the teaching device 5 has a magnetic direction sensor-9.
Is attached to the middle part. The value (position of the teaching device 5 with respect to the north direction: angle β) read by the magnetic azimuth sensor 9 is transmitted to the arithmetic device in the robot controller.

Next, the operation method will be described with reference to FIG. First, the set position of the robot A with respect to the north direction (angle between the north direction and the X-axis coordinate of the robot): angle α
And an inching amount (moving amount of the arm to be moved) d are stored in a storage device in the robot controller (step 1). If the angle α and the inching amount d are not determined in advance, the above operation is performed (steps 2 and 3).

Next, as will be described later, it is temporarily checked here whether or not the jog operation switch 6 is pressed (step 4).

Next, the orientation of the teaching device 5 (the orientation of the operator)
To measure. That is, the magnetic azimuth sensor-9 measures the position: angle β of the teaching device 5 with respect to the north direction (step 5).

Next, the rotation amount (tilt amount): angle γ of the jog operation switch 6 is measured (step 6).

Next, the following calculation is performed by the arithmetic unit in the robot controller to calculate the movement amount (ΔX, ΔY) of the arm of the robot (step 7). ΔX = d × cos (γ + α-β) ΔY = d × sin (γ + α-β)

Next, the robot arm is moved to the predetermined position (X + Δ
X, Y + ΔY) (step 8). The above operation is repeated and the robot is taught an operation (work procedure).

[0018]

The present invention comprises a storage device for pre-storing a set orientation of a robot with respect to a specific orientation, and a teaching device provided with an operation switch for teaching the operation of the robot. Attach the azimuth line sensor that detects the direction with respect to the set azimuth of
On the other hand, the position of the azimuth sensor with respect to the set azimuth of the robot is calculated, and the arithmetic unit is provided so that the robot tip moves in the direction in which the operation switch of the teaching device is tilted. Even at the position, the robot tip can be moved in the direction in which the operation switch of the teaching device is tilted, and the robot can be easily taught.

[Brief description of drawings]

FIG. 1 is a plan view showing a robot installation direction and a teaching device with respect to a north direction.

FIG. 2 is a flowchart showing the operation sequence of the teaching device of the present invention.
FIG.

FIG. 3 is a plan view of a case where an operator B holds a teaching device and is located at the rear of the robot A in the conventional device.

FIG. 4 is a plan view showing a case where an operator B holds a teaching device and is positioned in front of a robot A in a conventional device.

[Explanation of symbols]

 A Robot 1 Base α Installation angle of the robot to the north direction β Installation angle of the teaching device to the north direction 2 1st arm 3 2nd arm 4 Working axis 5 Teaching device 6 Jog operation switch 9 Magnetic direction sensor

Claims (1)

[Claims] 1. A storage device for storing a preset orientation of a robot with respect to a specific orientation in advance, and a teaching device provided with an operation switch for teaching the operation of the robot. The teaching device is provided with respect to the preset orientation of the robot. An azimuth line sensor for detecting the orientation is attached, while the position of the azimuth sensor with respect to the set azimuth of the robot is calculated, and the robot tip is moved in the direction in which the operation switch of the teaching device is tilted. A robot teaching device characterized by the above.