JPS59100909A - Teaching system of robot - Google Patents

Abstract

PURPOSE:To reduce teaching labor and to shorten a teaching time by teaching positions of three points, two split number data, and a number and a name of its group, when teaching positions of parts. CONSTITUTION:Parts are placed so that the line and the row become regular at a fixed interval, a hand 2 of a robot 1 is operated suitably by a teaching box having a keyboard, it is moved to a position of the parts, and its position is taught. This teaching is executed by storing a position of three angles of the line and row, and a mutual split number data of the parts of the line and row in a storage device 42 through an interface 42, together with the number of the name as a data group. Positions of other parts are taught automatically by executing an arithmetic 43, etc. from said data group. The driving control part drives the hand 2 by designating a number (name) of a teaching data group by an operating part 47 of a control device 3, and executing the arithmetic 43, etc.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a teaching system for robots, and more specifically, it relates to a robot teaching method, and more specifically, it relates to a robot teaching method, and more specifically, it relates to a teaching system for robots, and more specifically, parts that are regularly arranged in rows and columns at regular intervals, and parts that are regularly arranged with rows and columns at regular intervals. This invention relates to a robot teaching method suitable for teaching and reproducing the position of parts to be processed.

[Prior art]

Conventional robot teaching methods require teaching the position of one point for each part, and in the case of teaching the position of parts whose rows and columns are arranged regularly, or parts whose rows and columns should be arranged regularly with constant intervals. also required as many teachings as there were total parts. Therefore, there is a drawback that teaching the robot requires a lot of effort and time.

[Purpose of the invention]

An object of the present invention is to provide a robot teaching method that can teach the position of parts that are regularly arranged in rows and columns at regular intervals, or parts that should be arranged regularly with rows and columns at regular intervals, with less effort and in a short time. It's about doing.

[Summary of the invention]

The teaching method of the robot of the present invention is to teach the position of a part whose rows and columns are arranged regularly, or parts which should be arranged regularly with rows and columns arranged at regular intervals, by teaching the positions of the three corners of the matrix, and then To teach the number of equal divisions of each row and column (number of rows minus 1 and number of columns minus 1), and automatically calculate and teach the positions of all parts. It is characterized by

[Embodiments of the invention]

The present invention will be described in more detail below with reference to embodiments shown in the accompanying drawings.

FIG. 1 is a diagram showing a robot system using the robot teaching method of the present invention, and is an example of teaching the positions of parts 6 to 11 in a magazine 5 to a robot.

The robot is composed of a robot body 1, a hand 2 attached to the end of the arm of the robot body 1, a control device 3, and a teaching box 4. Here, the robot needs to put all the parts 6 to 11 in the magazine 5 within its operating range, so
More than two degrees of freedom are required. In this example, 5
This will be explained using a robot with degrees of freedom as an example.

FIG. 2 is a diagram showing the keyboard of the teaching box 4 shown in FIG. 1. The teaching box 4 includes a manual operation key 21 for manually operating 5 axes corresponding to 5 degrees of freedom and manually performing hand on/off.
, a numeric keypad 22 that allows you to enter numbers from 0 to 9, and a
key 26, B key 24, C key 25, M key 26
, an N key 27, a P key 28, and a numeric display 29 capable of displaying a three-digit number.

The position teaching of the parts 6 to 11 in the magazine 5 is performed as follows. First, by appropriately operating the manual operation controller 21 of the teaching box 4, the hand 2 is moved to a position where it can grasp the component 6 located at the corner of the magazine 5.
Press the A key 26 to teach the position of the component 6. next,
The hand 2 is moved to a position where it can grasp a component 8 located at another corner of the magazine 5, and the B key 24 is pressed. This teaches the position of the part 8.
Then, the line connecting parts 6 and 8 is taught to the robot as a row. Next, move the knife 2 to a position where it can grab a component 9 located at another corner in the magazine 5, and press the C key 25.

This teaches part 9 and also parts 6 and 9.
The lines connecting these are taught to the robot as columns.

Next, the number of divisions between one row, ie, parts 6 and 8, and the number of divisions between one column, ie, parts 6 and 9, are taught. Since the number of parts in one line is 5, the number of divisions in one line is 2, which is 1 less than that, so enter this 2 from the numeric keypad 22, confirm it with the number teacher 29, press the M key 26, and divide the number of parts in one line. Teach the number of divisions. Similarly, since the number of parts in one column is 2, the number of parts is 1, which is 1 less than that, so enter this 1 from the numeric keypad 22, confirm it on the numeric display 29, and then press the N key 27.
Press . Note that if the number of parts in one row is 1, that is, in 1 column, the number of divisions in one row will be 0 (!: However, in this case, enter a number other than 0 as the number of divisions in one row, A key 23
All you have to do is press the B key 24 at the same position. Similarly, if the number of parts in 1 column is 1, that is, 1 row, the number of divisions in 1 column will be 0, but in this case, enter a number other than 0 as the number of divisions in 1 column, and press A. 26 and the C key 25 at the same position.

Finally, the number for the teaching data group is input from the numeric keypad 22, and the P key 28 is pressed. This completes the teaching for one teaching data group.・Thereafter, other teaching data groups can be sequentially taught using the same method.

Next, a process in which the data taught in the teaching box 4 is processed by the control device 3 will be explained. As shown in FIG. 6, the control device 6 includes a control section 41, a storage section 42, a calculation section 43, a force counter 44, a motor/hand output section 45, a teaching box interface section 46, and an operation section. It consists of 47.

The data taught in the teaching box 4 is stored in the storage section 42 via the teaching box interface section 46.
] FIG. 4 is a diagram showing the structure of one teaching data group immediately after teaching in the teaching box 4.

In the teaching data group immediately after this teaching, the A key 23.
B key 24. The teaching data input when the C key 25 is pressed are hereinafter referred to as A data, B data, and C data, respectively.

As an example of these A data, B data, and C data, in this embodiment, as shown in FIG.
.

Consider C, -C. Among these five-axis counter values, the counter values for the three axes that determine the robot's position in the three-dimensional space are A, ~A, , B, ~B, , C, -C
If I, these counter values are converted into teaching data in units of appropriate values (for example, 0.01 inch) in the rectangular coordinate system by performing appropriate calculations in the calculation section 43. Said A data and B data.

The details of the C data after conversion to the orthogonal coordinate system are hereinafter referred to as A' data, B' data, and C' data, respectively. Here, the Karantai direct A, , A, , B, , which was included in the A data, B data, and C data before conversion.
B, , C,.

It is assumed that the CI is also left as is in the converted A' data)3/data C7 data.

FIG. 5 is a diagram showing the structure of a teaching data group after converting one teaching data group shown in FIG. 4 into a rectangular coordinate system. In this Fig. 5, A' data, B/data, and C data are expressed as A(・B1蟲νB', , B'Y,
There is no counter value with B, c', , c', , and c.

Although A, , B, , B, , cL, and c are mixed, this can be determined by the control unit 41 and calculation unit 46 in FIG. 6, and there is no problem.

Next, using the Cartesian coordinate system teaching data group and mathematical formula shown in FIG.
10 and 11 will be explained. If the untaught part in the magazine 5 is misaligned by m columns in the operative direction and n columns in the column direction with respect to A' data indicating the current position of part B, this part The position data H' can be expressed by the following equation (1).

H' = A' + 1 column pitch x m + 1 row pitch x n...
・(1) Here, the pitch for one column is calculated by dividing the positional difference between A' tet, which is the position data of component 6, and 1B' tet, which is the position data of component 8, by the number of divisions in one row, M. , can be expressed by the following equation (2).

B'-A' 1 external pitch = M ・・・・・・・・・・・・・・(2) Similarly, 1 line pitch is calculated by A' data, which is the position data of component 6, and the position data of component 9. It is obtained by dividing the positional difference with certain C' data by the number of divisions in one column N, and the following formula (6)
It can be expressed as

c'-A' 1 pitch 2 N ・・・・・・・・・・・・(3
) The following equation (4) is obtained from equations (1), (2), and (5).

, B'-A'C'-A'H'= A -4--, -m -1-y~-n ・
-------(4) When formula (4) is decomposed into the Y-axis, Y-axis, and Z-axis directions.

The following equation (5) is obtained.

Here, H
(, Island, and Lice are the Y-axis and Y-axis, two components of teaching data A', and BQ, B'y, and B'z are Y-axes of teaching data B'.

Y axis, Z component, c6. cY, to teaching data C
are the Y-axis, Y-axis, and Z components of '.

In equation (5), the data A, , B, , B,
, C,,C, are not particularly described, but they can also be expressed as in the following equation (6) using equation (4).

Next, a method of driving the robot to each position of the parts 6 to 11 in the magazine 5 will be explained. This is for example MOVE
Like P, m, n, the operating section 47 of the control device 6
This can be done by inputting from . here;
MOVB is a command word that instructs the robot to drive.
P is a number or name assigned to a teaching data group, and is used to specify which teaching data group is selected from among a large number of teaching data groups. Further, m and n are used to specify a teaching point from the teaching data group, and correspond to m and n in equations (5) and (6). In the example shown in Figure 1, the values of m and n are 0,0 at the position of part B, 1,0 at the position of part 7, and 2 at the position of part 8.
, 0, 0°1 at the position of part 9, 1 at the position of part 10
, 1, and 2, 1 at the position of component 11.

As mentioned above, P from the operation section 47 of the control device 3.

When m and n are specified, first the storage unit 42 of the control device B is
Among the many teaching data groups stored in .

The teaching data group with the specified number or name P is selected and read out, and then the A' data, B/data, Ql data, the values of M and H, and the specified m, n of this teaching data group are selected and read out.
The value of is substituted into equation (5) and calculated by the arithmetic unit 43, and the orthogonal coordinate system data composition, H'Y9 group, is obtained. Similarly, the counter values r, )(j are obtained from (6).

Also, the obtained orthogonal coordinate system data HX HHy Hz
, if the calculation unit 43 performs the conversion from the orthogonal coordinate system to the counter value, which is the opposite of the conversion from the counter value to the orthogonal coordinate system data described above, the counter value of each axis H,, H, ,
H, can be obtained.

By inputting the counter values of each axis of H, , H, , Hj, H, , H, obtained in this way to the motor/hand output unit 45 as the target value, the specified value in the specified teaching data group can be input. The hand 2 can be moved to that position.

Also, for continuous operation, MOVE P, , m, , n,
,MOVER,rn2,n2,...
MOVE P. 2m1°, nl. By inputting drive commands in series from the operating unit 47 and storing them in the storage unit 42, the control unit 41 decodes the next command every time one drive is completed, and the target value for the command is sequentially determined. This becomes possible by inputting this into the motor/hand output section 45.

〔Effect of the invention〕

According to the present invention, in order to teach the positions of parts that are regularly arranged at 1f1 regular intervals or parts that should be regularly arranged at regular intervals, three point position teaching, two pieces of division number data, and the number or name of the teaching data group are used. Since it is only necessary to teach the positions of all parts, the labor required for teaching is greatly reduced compared to the conventional method of teaching all the parts positions, and it is possible to shorten the teaching time.

[Brief explanation of drawings]

FIG. 1 is a diagram showing an example of a robot system using the robot teaching method of the present invention, FIG. 2 is a diagram showing the keyboard of the teaching box shown in FIG. 1, and FIG. 3 is a diagram showing the control device shown in FIG. 1. FIG. 4 is a block diagram of the teaching data group immediately after teaching, and FIG. 5 is a structural diagram of the teaching data group after rectangular coordinate transformation. 1...Robot body, 2...Hand, 3...
・Control device, 4...Teaching box, 5...Magazine, 6-11...Parts, 21...Manual operation key, 22...Numeric keypad, 26...A key,
24.B key, 25.C key,
26...M key, 27...N key,
28: P key, 29: Numerical display, 41: Control section, 42: Storage section, 43: Arithmetic section, 4
5...Motor/hand output section, 46.Teaching box intern ace section, 47...Operation section. Fig. 2 Chiga 3 Fig. □□□□□□-1 Fig. 4 Chiga! ；fertilization

Claims (1)

[Claims] In teaching the position of parts whose rows and columns are arranged regularly, or parts whose rows and columns should be arranged regularly with constant intervals,
Teaching a robot characterized by teaching the positions of three corners of the matrix, then teaching the number of equal divisions of each row and column, and automatically determining and teaching the positions of all parts by calculation. method.