JP2004351601A - Teaching device for robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a teaching device for a robot easily switcheable between use/unuse. <P>SOLUTION: This teaching device for the robot for teaching teaching data required for the motion of the robot is provided with a liquid crystal display 31 for displaying the teaching data taught and a use selector switch 72 for designating use/unuse of the teaching data, and a touch panel 32 for generating a predetermined signal by touching a range corresponding to the use selector switch 72. When the use selector switch 72 is selected by a touch panel 32, use/unuse of the teaching data corresponding to the selected use selector switch 72 can be switched. <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 conventional robot teaching device includes various types of devices such as a destination of a robot in a so-called palletizing operation for picking up components arranged on a component tray, and a destination of a robot when assembling a component to be mounted on a workpiece. Various teaching data such as coordinate data indicating a destination can be input and set. Once this teaching data is set, it always restrains the robot. Therefore, when some of the teaching data is no longer needed temporarily, it has to be deleted and re-entered when needed. For this reason, for example, when parts in a predetermined area of the parts tray are not used temporarily, there arises a problem that the operation involved in deleting and resetting the teaching data becomes complicated.
[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 robot teaching device that can easily switch between use and non-use of teaching data.
[0006]
In order to achieve the above object, the present invention is a robot teaching device for teaching teaching data necessary for the operation of a robot, and inputs a use / unused signal of the teaching data corresponding to the taught data. A possible input means is provided.
[0007]
Further, the present invention is a teaching device of a robot for teaching teaching data necessary for operation of the robot, a display means capable of displaying the teaching data taught and a switch for specifying use / non-use of each teaching data, A touch panel that emits a predetermined signal by touching an area corresponding to the switch.
[0008]
Further, the present invention is a robot teaching device that teaches teaching data necessary for an operation of a robot that takes out a component from a component tray in which components are arranged in a rectangular array, wherein coordinate data of components located at corners of the rectangular array; A reference information teaching screen capable of inputting the number of components arranged from one corner to another corner, and a rectangular array determined from the coordinate data and the number of components input from the reference information teaching screen. Input means capable of inputting a signal indicating whether or not the coordinate data of each component is used or unused.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In FIG. 2, reference numeral R denotes a screw tightening robot which is an example of a robot, which includes a robot main body 1, a control unit 2 for controlling the robot main body, and a teaching device as a teaching device of the robot connected to the control unit 2. And a pendant 3.
[0010]
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.
[0011]
The control unit 2 includes a control circuit, a motor drive circuit, a storage unit, and the like (all not shown). The storage unit of the control unit 2 stores an operation program and various parameters in advance, and also teaches various coordinate data, operation designation codes, screw tightening operation parameters, and the number of screws, which will be described later, input from the teaching pendant 3. A database in which data is registered (hereinafter, referred to as a teaching database) is stored. The control unit 2 controls the robot body 1 in accordance with the information stored in the storage unit and various command signals input from the teaching pendant 3 and the like each time.
[0012]
Under the control of the control unit 2, the robot main body 1 first drives the movable parts Y, A, and Z in accordance with the screws to be fastened to the work, and supplies and fixes the screw tightening tool T below the front part of the robot main body 1. The component tray 4 is moved to a predetermined position. As shown in FIG. 9, a large number of screws S are previously arranged in a rectangular shape at a predetermined pitch on the component tray 4, and the screw tightening tool T is moved on the component tray 4 by driving the movable parts Y, A, and Z. The suction sleeve 14 holds one screw S by suction.
[0013]
After holding the screw S from the component tray 4 as described above, the screw tightening robot 1 subsequently drives the movable parts Y, A, and Z to move the screw tightening tool T to a predetermined screw tightening point provided on the work. Move. At this screw tightening point, 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 screw tightening point, engages with the bit 12, receives rotation transmission, is screwed into the work, and is tightened to a predetermined torque. This process is repeated to tighten the screws to all of the plurality of screw tightening points of the work.
[0014]
In order to realize the screw tightening operation by the screw tightening robot described above, the movable parts Y and A when moving the screw tightening tool T to the screw tightening point and the like, coordinate data indicating the screw positions arranged on the component tray 4, and the like. , Z, and the control parameters of the movable part Z and the screw tightening tool T when screwing the screw into the work and tightening the screw (hereinafter, these control parameters are referred to as screw tightening work parameters), etc. Must be registered in the teaching database of the control unit 2 in advance. The teaching pendant 3 is used for teaching these teaching data.
[0015]
The teaching pendant 3 can be carried by a worker by hand so that various teaching data can be input to the robot main body 1 at an arbitrary position around the robot main body 1 while checking the operation of the robot main body 1 and the screw tightening point of the work. It is configured in size and shape. The teaching pendant 3 is connected to the control unit 2 by a cable via a predetermined interface 5 such as RS232C, USB, and I / O connection.
[0016]
As shown in FIGS. 4A and 4B, the teaching pendant 3 has 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 a touch panel 32. An input / output unit 33 is configured, 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. As is well known, when an input device such as a finger or a touch pen touches an area corresponding to an image projected on the liquid crystal screen 31, the touch panel 32 outputs a signal corresponding to the area. Generally, it is widely used as a means for inputting information in an automatic teller machine of a financial institution and the like.
[0017]
The teaching pendant 3 has a structure shown in FIG. As shown in FIG. 5, 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 transmits and receives teaching data and other information to and from 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.
[0018]
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. 6A 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 ("selection" means touching a predetermined area of the touch panel with a finger; the same applies hereinafter).
[0019]
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. As a result, a teaching menu screen 52 shown in FIG. 6B is displayed on the liquid crystal screen 31. On the teaching menu screen 52, menus such as a screw tightening point teaching 52a and a palletizing point teaching 52b are set.
[0020]
When the screw tightening point teaching 52a is selected, a screw tightening point setting screen 53 shown in FIG. Here, a screw tightening point table 53a is provided. The screw tightening 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 screw tightening points W0 to W39 on the work (W0 to W4 are shown in the drawing). In the table 53a, if the teaching data already exists in the teaching database of the control unit 2, it is read and displayed by the arithmetic processing circuit 38. Data input to each of the items 54 to 57 of the table 53a is performed by selecting a desired item and operating the lower numeric key 53b, the enter key 53c, the delete key 53d, and the like. The data input to each of the items 54 to 57 is written and held in the teaching database of the control unit 2.
[0021]
The work designation code is an access key to a screw tightening operation parameter used for controlling the driving of the movable portion Z and the screw tightening tool T during the screw tightening operation at the screw tightening 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.
[0022]
On the other hand, when the palletizing point teaching 52b is selected on the teaching menu screen 52, the palletizing point setting screen 58 shown in FIG. Here, a palletizing point table 59 is provided. The palletizing point table 59 has a record including items 60, 61, and 62 indicating respective coordinate data of the movable parts Y, A, and Z according to each screw position of the component tray 4. Regarding the coordinate data in the palletizing point table 59, those already registered in the teaching database of the control unit 2 are read and displayed by the arithmetic processing circuit 38.
[0023]
The coordinate data shown in the palletizing point table 59 can be directly input from the palletizing point setting screen 58, but is automatically input by setting the coordinate data of three screw positions serving as the reference of the component tray 4. You can also. This is called three-point teaching. To execute the three-point teaching, a reference position switch 63 provided on the screen 58 is selected. As a result, a three-point teaching screen 64 shown in FIG. 8, which is an example of the reference information teaching screen, is displayed on the liquid crystal screen 31. 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 64a having input items 65, 66, 67 of coordinate data of the movable parts Y, A, Z necessary for moving the screw tightening tool T to the three screws S is provided. Below the table 64a, there is provided a table 64b having input items 68 and 69 of the number of screws arranged between the points P1 and P2 and between the points P2 and P3, respectively.
[0024]
When inputting data into the input items 65 to 69 of the tables 64a and 64b, the tenkey switch 70 at the upper left of the screen 64 is selected. As a result, a numeric keypad, an enter key, and a delete key are displayed in the lower part of the screen 64, as in the screw tightening point setting screen 53. Thus, as in the case of the screw tightening point table 53a, a desired item can be selected, and data can be input by operating the ten keys, the enter key, and the delete key.
[0025]
After inputting the coordinate data and the number of screws in the tables 64a and 64b and pressing the three-point teaching execution switch 71 at the bottom of the screen 64, the coordinate data and the number of screws input to the tables 64a and 64b are stored in the control unit 2. Sent to The control unit 2 calculates coordinate data of all the screws on the component tray 4 from the teaching data and writes the coordinate data into the teaching database.
[0026]
The palletizing point setting screen 58 is provided with use changeover switches 72, 72,... Corresponding to each record of the palletizing point table 59. Each time the use switch 72 is selected, the display switches between “used” and “unused”. When this is set to “unused”, a command signal is sent from the arithmetic processing circuit 38 to the control unit 2 in response to a signal from the touch panel 32, and the control unit 2 receiving the signal sends the corresponding signal in the teaching database. An unused flag is set in the coordinate data to make the coordinate data unusable. As a result, the coordinate data of the record for which “unused” is specified in the palletizing point table 59 is not used when the movement of the robot body 1 is controlled. When the use switch 72 is set to “use”, the control unit 2 sets a use flag for the corresponding coordinate data, and the coordinate data becomes usable. As a result, the coordinate data of the record for which “use” is specified in the palletizing point table 59 can be used when the movement of the robot body 1 is controlled.
[0027]
As described above, it is possible to leave the coordinate data of unnecessary records in the palletizing point table 59 without deleting them. Therefore, when the coordinate data of a certain record is temporarily unnecessary for control of the robot body 1 such as when the screw S in the predetermined area of the component tray 4 is not used temporarily, switching between the record to be used and the record not to be used is performed. Can be performed extremely easily and quickly. Further, since the coordinate data of the record is not deleted, the trouble of frequently re-entering the coordinate data can be omitted.
[0028]
When using a component tray having a shape in which a partial area of a rectangular array does not exist, such as a component tray 4 'shown in FIG. 10, an area which does not exist on the component tray 4' is first obtained by the three-point teaching. Automatically teaches screw positions including Subsequently, the palletizing point table 59 is called, and the use changeover switch 72 corresponding to the record of the screw position in the nonexistent area is set to “unused”. As described above, with respect to the component tray having a shape in which a partial area of the rectangular array does not exist, the teaching operation can be performed extremely rationally by using the three-point teaching and the use changeover switch 72 together. In addition, the coordinate data set for such a component tray is obtained by setting a part of the coordinate data of the rectangular array as unused. Therefore, if the unused record is changed by the use switch 72, a component tray of another shape based on the same rectangular arrangement can be handled.
[0029]
When deleting a record in the palletizing point table 59, a desired record is selected, and then a row delete switch 73 at the bottom of the screen is selected. To add a new record, the user selects the row insertion switch 74 at the bottom of the screen. When inputting coordinate data into this new record, the tenkey switch 75 at the top is pressed to display a numeric keypad or the like at the bottom of the screen, and this is operated to input coordinate data to the selected input item.
[0030]
When sucking and holding the screw in the screw tightening tool T, the control unit 2 acquires coordinate data corresponding to a predetermined record of the palletizing point table 59 from the teaching database, and controls the movable parts Y, A, and Z based on the coordinate data. I do. When the screw S sucked and held by the suction sleeve 14 is screwed into the work and tightened, data corresponding to a predetermined record of the screw tightening point table 53a is obtained from the teaching database. That is, coordinate data corresponding to a predetermined record of the screw tightening point table 53a is obtained, the screw tightening tool T is positioned at the screw tightening point of the work, and the screw is determined from the work designation code corresponding to the predetermined record of the screw tightening point table 53a. The tightening operation parameters are acquired, and the movable part Z and the screw tightening tool T are drive-controlled in accordance with the parameters to execute the screw tightening operation.
[0031]
In the above description, the input means for inputting the used / unused signal of the teaching data is realized by the combination of the use changeover switch 72 displayed on the liquid crystal screen 31 and the touch panel 32. Alternatively, for example, a well-known input device such as a keyboard and a mouse may be used to supply unused / unused signals to a palletizing point table displayed on a liquid crystal screen. In addition, although an example in which use / non-use can be set for the coordinate data of the screw position of the component tray 4 has been introduced, a use changeover switch is also set in the screw tightening point table to use or not use the screw tightening point coordinate data of the work. Use may be settable. Furthermore, the robot body 1 in which the movable parts Y and Z that reciprocate linearly and the movable part A that revolves and reciprocate has been introduced, but the robot body having a configuration in which only a plurality of movable parts that reciprocate linearly are combined. Even if a scalar-type multi-indirect robot is used, the obtained effect is the same.
[0032]
【The invention's effect】
According to the robot teaching device of the present invention, use / non-use of the taught teaching data can be set. Therefore, in the case where some teaching data is temporarily unnecessary, for example, when a part in a predetermined area of the parts tray is not used temporarily, it is not necessary to delete and re-input the teaching data, and the work of switching the teaching data can be performed. It can be done very quickly and easily. Also, for a component tray having a shape in which a part of the rectangular array does not exist, efficient teaching work can be performed by using the three-point teaching screen, which is a reference information teaching screen, in combination with the use switch. And the versatility of the teaching data can be improved.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram of a palletizing point setting screen displayed on a teaching pendant.
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. 4A is an enlarged front view of a main part of a teaching pendant in the robot controller of the present invention, and FIG. 4B is a side view thereof.
FIG. 5 is an explanatory block diagram of a teaching pendant in the robot controller of the present invention.
6A is an explanatory diagram of an initial menu screen displayed on the teaching pendant, and FIG. 6B is an explanatory diagram of a teaching menu screen.
FIG. 7 is an explanatory diagram of a screw tightening point setting screen displayed on the teaching pendant.
FIG. 8 is an explanatory diagram of a three-point teaching 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.
FIG. 10 is an enlarged plan view showing another example of the component tray.
[Explanation of symbols]
R Screw tightening robot 1 Robot body 12 Bit 13 Electric screwdriver 14 Suction sleeve Y, A, Z Moving 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 Screw Tightening point setting screen 58 Palletizing point setting screen 64 Three-point teaching screen 72 Use switch

Claims (3)

A robot teaching device that teaches teaching data necessary for robot operation,
A teaching device for a robot, comprising input means capable of inputting a signal indicating whether the teaching data is used or not used in accordance with the taught teaching data. A robot teaching device that teaches teaching data necessary for robot operation,
Display means capable of displaying a taught data taught and a use switch for designating use / non-use of each taught data; and a touch panel for emitting a predetermined signal by touching an area corresponding to the switch. A robot teaching device characterized by the following. A robot teaching device that teaches teaching data necessary for operation of a robot that takes out a component from a component tray in which components are arranged in a rectangular array,
A reference information teaching screen capable of inputting coordinate data of components located at the corners of the rectangular array and the number of components arranged from one corner to another corner,
Input means capable of inputting a signal indicating whether to use or not use the coordinate data input from the reference information teaching screen and the coordinate data of each component in a rectangular array determined from the number of components. Robot teaching device.

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