JP2004334711A - Teaching device of component assembling robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide the teaching device of a component assembling robot for preventing an erroneous input of teaching data. <P>SOLUTION: The device comprises a liquid crystal display 31 for individually displaying a setting screen of teaching data to shift a tool to a position, in which a component to be assembled such as a screw is taken out and a setting screen of teaching data to shift the tool to a position in which the component is assembled; and a touch panel 32 for inputting the teaching data, according to the setting screen displayed on the display 31. The teaching data for sifting the tool to the position in which the component is taken out are composed of coordinates of three points on a component tray with the components arranged in a rectangular state thereon; and the number of components among the three points. Positions of all of the components on the tray are automatically obtained by setting the coordinates and the number. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a teaching device for a robot that inputs teaching data necessary for controlling various robots.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a robot teaching device disclosed in a patent document is known. This teaching device is connected to a controller that controls the robot body, and is generally called a teaching pendant or the like in many cases. This teaching device is used for inputting various kinds of teaching data such as an operation method, a moving point, a palletizing method, and a speed necessary for performing automatic operation of a robot. In addition, a function of manually operating the robot body by input from a key operation unit is also provided.
[0003]
[Patent Document] JP-A-2001-88068
[Problems to be solved by the invention]
The above-mentioned conventional robot teaching device and the like can input and set teaching data (generally coordinates) of a movement point for moving the robot between a palletizing position and a working position. Increases in proportion to the number of destinations of the robot, such as a position for performing palletizing and a position for performing work. Therefore, the setting screen of the teaching data becomes complicated, and problems such as an increase in data input errors occur. When palletizing a component tray for arranging a large number of components, at least the same number of teaching data as the number of components arranged in the component tray is required. For this reason, the amount of teaching data related to palletizing becomes very large, and there are problems such as difficulty in input setting.
[0005]
[Means for Solving the Problems]
The present invention has been made in view of the above problems, and has as its object to provide a teaching device for a component assembling robot that can prevent input errors in teaching data.
[0006]
In order to achieve the above object, the present invention provides a method for removing a part to be mounted supplied to a predetermined position by using a tool, holding the tool, moving the tool to a predetermined work point of a workpiece, and holding the part to be mounted on the tool. A teaching device for setting teaching data to a component assembling robot for assembling a component to a work, wherein a teaching data setting screen for moving a tool to a take-out position of the component to be assembled; Display means for separately displaying a setting screen of the teaching data for moving the tool to the assembling position, and input means for inputting the teaching data in accordance with the setting screen displayed on the display means. It is characterized by the following.
[0007]
Further, according to the present invention, a part assembling part is sequentially taken out from a parts tray in which the parts to be assembled are rectangularly arranged at a predetermined pitch, and teaching data is sent to a part assembling robot for assembling the part to be assembled at a predetermined position on a work. A setting screen for setting at least three reference positions of the parts to be mounted located at the corners of the rectangular array of the parts tray and the number of parts to be mounted between the reference positions. A display unit capable of inputting the reference position and the number according to a setting screen displayed on the display unit.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 9, reference numeral R denotes a screw tightening robot which is an example of a component assembling robot, and includes a robot main body 1 and a control unit 2 for controlling the robot main body. Also connected to the control unit 2 is a teaching pendant 3 which is a teaching device of a component mounting robot.
[0009]
The robot body 1 combines movable parts Y, A, and Z that can reciprocate in the directions indicated by arrows in FIG. It is configured by connecting tools T. Thereby, the screw tightening tool T can be moved within the operation range of the movable parts Y, A, and Z. The screw tightening tool T has a bit 12 that can be engaged with a drive hole formed in the head of the screw, and the bit 12 is connected to an electric driver 13 which is an example of a rotary drive source so as to be rotatable. Have been. A suction sleeve 14 is provided on the outer periphery of the bit 12 so as to be able to move in the axial direction by suctioning and holding the screw by performing air suction.
[0010]
The control unit 2 includes a control circuit, a motor drive circuit, a data storage medium and the like (none of which are shown), and stores an operation program stored in advance, predetermined teaching data input from the teaching pendant 3, and various commands. According to the signal, the screw tightening robot 1 is controlled.
[0011]
Under the control of the control unit 2, the screw tightening robot 1 first drives the movable parts Y, A, and Z in accordance with the screw tightened to the work, and supplies the screw tightening tool T with the screw fixed to the side of the screw tightening robot 1. The screw is supplied to a screw take-out position of an apparatus (not shown) or a lower part of the front part of the screw tightening robot 1 and is moved to a predetermined position of the fixed component tray 4. The screw supply device is configured to sequentially supply a large number of stored screws to a predetermined screw take-out position. The suction sleeve 14 of the screw tightening tool T moved to the screw take-out position by driving the movable parts Y, A, and Z includes: One screw is held by suction. A large number of screws S are arranged in a rectangular shape at a predetermined pitch on the component tray 4 in advance, and the screw tightening tool T is moved onto the component tray 4 by driving the movable parts Y, A, and Z. Thereby, one screw S is suction-held by the suction sleeve 14.
[0012]
When the screw is held from either the screw supply device or the component tray 4 as described above, the screw tightening robot 1 subsequently drives the movable parts Y, A, and Z, and the screw tightening tool T is provided on the work. It is moved to a predetermined assembly position (a position where a female screw for screwing the screw is formed; hereinafter, referred to as a work point). In this position, the screw tightening tool T is moved toward the workpiece by driving the movable portion Z, and the bit 12 is rotationally driven in response to the driving of the electric driver 13 of the screw tightening tool T. As a result, the screw sucked by the suction sleeve 14 is pushed out to the working point and engages with the bit 12 to receive the rotation transmission, whereby the screw is screwed into the work and tightened to a predetermined torque. This process is repeated, and screws are tightened at all of the plurality of work points set on the work.
[0013]
In order to realize the screw tightening operation by the screw tightening robot described above, each of the movable parts Y, A, and Z when the screw tightening tool T is moved to the component tray 4, the work point, the screw take-out position of the screw supply device, and the like. Coordinate data indicating the destination, data for controlling the movable part Z and the screw tightening tool T when screwing a screw into a work and tightening it, and the like are required. The data necessary for controlling the screw tightening robot 1 is input from the teaching pendant 3 and written in the data storage medium of the control unit 2.
[0014]
The teaching pendant 3 transmits the above-described various data to the screw tightening robot 1 at any position around the screw tightening robot 1 while checking the operation of the screw tightening robot 1 and the work points on the work (hereinafter, collectively referred to as “teach data”). ), So that the operator can carry it by hand. The teaching pendant 3 is connected to the control unit 2 by a cable via a predetermined interface 5 such as RS232C, USB, I / O connection, etc., and is configured to be able to communicate with the control unit 2.
[0015]
As shown in FIGS. 1A and 1B, the teaching pendant 3 is a liquid crystal display 31 (hereinafter, referred to as a liquid crystal screen 31), which is an example of a display unit capable of color display, and an example of an input unit. An input display unit 33 is formed by laminating a certain touch panel 32, and an emergency stop switch 34, a deadman switch 35, a selector key switch 36, various display lamps and the like are arranged around the input display unit 33. Is done. As is well known, the touch panel 32 divides an area corresponding to an image projected on the liquid crystal screen 31 and outputs a signal corresponding to a contact area when an input device such as a finger or a touch pen touches a predetermined area. It is. Generally, it is widely used as a means for inputting information in an automatic teller machine of a financial institution and the like. In the embodiment of the present invention, input means is realized by the image displayed on the liquid crystal screen 31 and the touch panel 32.
[0016]
The teaching pendant 3 has a structure shown in FIG. As shown in FIG. 4, the liquid crystal screen 31 is connected to a display control circuit 39 connected to an arithmetic processing circuit 38 as an arithmetic processing unit, and the touch panel 32 is connected to the arithmetic processing circuit 38. The arithmetic processing circuit 38 is connected to the control unit 2 via the interface 5, and exchanges information with the control unit 2. In addition, the arithmetic processing circuit 38 performs arithmetic processing on various information (signals) sent from the control unit 2 and the touch panel 32, and gives instructions to each unit. On the other hand, the emergency stop switch 34, the deadman switch 35, and the selector key switch 36 are connected to the control unit 2 via the interface 5, and are configured to be able to directly supply signals to the control circuit of the control unit 2.
[0017]
The teaching pendant 3 is activated by receiving power supply from the control unit 2. By the activation of the teaching pendant 3, a display command signal of the initial menu screen 50 shown in FIG. 5A is sent from the arithmetic processing circuit to the display control circuit 39. In response, the display control circuit 39 displays the initial menu screen 50 on the liquid crystal screen 31. When teaching data is set in the control unit 2, the teaching menu 51 on the initial menu screen 50 is selected (this means touching a predetermined area of the touch panel on the teaching menu 51 with a finger; the same applies hereinafter).
[0018]
When the teaching menu 51 is selected, a signal corresponding to the selection is sent from the touch panel 32 to the arithmetic processing circuit 38, and the arithmetic processing circuit 38 that has received the signal gives a display instruction of the teaching menu screen 52 to the display control circuit 39. Thereby, the teaching menu screen 52 shown in FIG. 5B is displayed on the liquid crystal screen 31. On the teaching menu screen 52, three menus of a work point teaching 52a, a palletizing point teaching 52b, and a fixed point teaching 52c are set.
[0019]
When the work point teaching 52a is selected, a work point setting screen 53 shown in FIG. Here, a work point table 53a is provided. The work point table 53a has 40 records including input items 54, 55, and 56 of coordinate data of the movable parts Y, A, and Z and an input item 57 of a work designation code. That is, coordinate data and a work designation code can be set for 40 work points W0 to W39 on the work (W0 to W4 are shown in the drawing). The input of the teaching data to each of the items 54 to 57 of the table 53a is performed by selecting a desired item and operating the lower numeric keypad 53b, the enter key 53c, the delete key 53d, and the like.
[0020]
The work designation code is an access code to a screw tightening operation parameter used to drive and control the movable part Z and the screw tightening tool T at the time of the screw tightening operation at the work point. By inputting this work designation code into the input item 57 and setting it in the control unit 2, the control unit 2 uses the key as a key for a predetermined screw tightening taught separately from a setting screen (not shown). Work parameters can be accessed.
[0021]
When the palletizing point teaching 52b is selected, the palletizing point setting screen 58 shown in FIG. Here, coordinate data indicating the points P1, P2, and P3 (see FIG. 9) of three screws S located at the outermost corners of the screws S arranged in a rectangular shape on the component tray 4, that is, the 3 A table 58a having input items 59, 60, and 61 of coordinate data of the movable parts Y, A, and Z necessary for moving the screw tightening tool T to one screw S is provided. Below the table 58a, there is provided a table 58b having input items 62 and 63 of the number of screws arranged between the points P1 and P2 and between the points P2 and P3 of the component tray 4, respectively. The input of the teaching data to these tables 58a and 58b is performed by selecting a desired item and operating the lower numeric keypad 58c, enter key 58d, and delete key 58e as in the case of the work point table 53a.
[0022]
The coordinate data and the numbers input to the tables 58a and 58b are set in the control unit 2, and the control unit 2 can determine the arrangement pitch of the screws S arranged in a rectangle on the component tray 4 from the teaching data. . Then, the coordinate data of all the screws on the component tray 4 is obtained, and this can be automatically set. The coordinate data is registered in a palletizing point table (not shown) of the control unit 2.
[0023]
When the fixed point teaching 52c is selected, a fixed point setting screen 64 shown in FIG. Here, a fixed point table 64a having input items 65, 66, 67 of coordinate data of the movable parts Y, A, Z for moving the screw tightening tool T to a predetermined position is provided. In the first record F0 of the table 64a, coordinate data of the movable parts Y, A, Z for moving the screw tightening tool T to the standby position are registered in advance, and the other records F1, F2,. , Arbitrary coordinate data can be registered. The table 64a is used for setting coordinate data of a position that is not normally changed, such as the above-described standby position, for example, a screw take-out position of a screw supply device fixed beside the screw tightening robot 1. Is done. The input of the teaching data to the table 64a is also performed by selecting an item of a desired record and operating the lower numeric key 64b, the enter key 64c, and the delete key 64d.
[0024]
The control unit 2 obtains necessary data from either the palletizing point table or the fixed point table 64a when the screw is held by the screw tightening tool T under the control of the screw tightening robot 1. In other words, when removing the screw from the screw supply device, coordinate data is acquired from a predetermined record of the fixed point table 64a to drive and control the movable parts Y, A, and Z. Obtains predetermined coordinate data from the palletizing point table and controls the movable parts Y, A, and Z. It should be noted that whether to use the palletizing point table or the fixed point table 64a is determined from the work designation code set in the work point table 53a.
[0025]
When the screw S sucked and held by the suction sleeve 14 is screwed into the work and tightened, necessary data is obtained from the work point table 53a. That is, the necessary coordinate data is obtained from the work point table 53a, the screw tightening tool T is positioned at the work point, and the screw tightening work parameters are obtained from the work designation code of the work point table 53a. The screw tightening tool T is driven and controlled to execute a screw tightening operation.
[0026]
In the above description, the robot body 1 in which the movable parts Y and Z that reciprocate linearly and the movable part A that reciprocates reciprocally is introduced, but only a plurality of movable parts that reciprocate linearly are combined. The effects obtained from the technical idea of the present invention are the same even if the robot body having the above configuration is used.
[0027]
【The invention's effect】
A teaching device for a component assembling robot according to the present invention includes a setting screen for teaching data for moving a tool to a take-out position of a part to be assembled, and a teaching for moving the tool to a position for assembling the part to be assembled. There are provided display means capable of separately displaying a data setting screen, and input means capable of inputting teaching data in accordance with the setting screen displayed on the display means. For this reason, it is possible to separately set the teaching data relating to the take-out position of the component to be mounted and the teaching data relating to the mounting position. Therefore, there is an advantage that the setting screen of the teaching data can be easily understood, the setting operation of the teaching data can be performed efficiently, and erroneous input of the teaching data can be prevented.
[0028]
Further, the present invention provides a display means capable of displaying a setting screen for setting at least three reference positions of the parts to be mounted located at the corners of the rectangular array of the parts tray and the number of parts to be mounted between the reference positions. Input means for inputting the reference position and the number according to a setting screen displayed on the display means. For this reason, in addition to the above-described effects, there is obtained an advantage that the coordinate data of a large number of parts to be assembled arranged in the parts tray can be automatically determined by the control unit. Can be performed extremely easily.
[Brief description of the drawings]
FIG. 1A is an enlarged front view of a main part of a teaching pendant in a robot controller of the present invention, and FIG. 1B is a side view thereof.
FIG. 2 is an overall perspective explanatory view of a screw tightening robot system including the robot controller of the present invention.
FIG. 3 is an explanatory perspective view of a screw tightening robot.
FIG. 4 is a block diagram of a teaching pendant in the robot controller of the present invention.
5A is an explanatory diagram of an initial menu screen displayed on the teaching pendant, and FIG. 5B is an explanatory diagram of a teaching menu screen.
FIG. 6 is an explanatory diagram of a work point setting screen displayed on the teaching pendant.
FIG. 7 is an explanatory diagram of a palletizing point setting screen displayed on the teaching pendant.
FIG. 8 is an explanatory diagram of a fixed point setting screen displayed on the teaching pendant.
FIG. 9 is an enlarged plan view of a component tray in which a number of screws are rectangularly arranged.
[Explanation of symbols]
R Screw tightening robot 1 Robot body 12 Bit 13 Electric screwdriver 14 Suction sleeve Y, A, Z Movable part T Screw tightening tool 2 Control unit 3 Teaching pendant 31 Liquid crystal display 32 Touch panel 4 Parts tray 50 Initial menu screen 52 Teaching menu screen 53 Work Point setting screen 58 Palletizing point setting screen 64 Fixed point setting screen

Claims (2)

A part assembling part supplied to a predetermined position is taken out and held by a tool, the tool is moved to a predetermined work point of the work, and a part assembling robot for assembling the part to be mounted held by the tool on the work is performed. Teaching device for setting teaching data by
A setting screen for teaching data for moving a tool to a take-out position of the part to be mounted and a setting screen for teaching data for moving a tool to a position for mounting the part to be mounted can be separately displayed. Display means;
Input means for inputting teaching data in accordance with a setting screen displayed on the display means. A teaching device for sequentially taking out the parts to be assembled from a component tray in which the parts to be assembled are arranged in a rectangle at a predetermined pitch and setting the teaching data to a part assembling robot for assembling the parts to be assembled at a predetermined position on the work. And
Display means capable of displaying a setting screen for setting at least three reference positions of the parts to be mounted located at the corners of the rectangular array of the parts tray and the number of parts to be mounted between the reference positions;
Input means capable of inputting the reference position and the number according to a setting screen displayed on the display means.

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