JP2011125990A - Teaching device for robot and control device for robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To teach a robot an operation for assembling parts to a workpiece in a short time by holding the parts by a hand tool of the robot having substantial zero of force and moment acting on the hand tool. <P>SOLUTION: A teaching device teaches the robot provided with the hand tool the operation. The teaching device includes parallel moving operation means 60a to 62b for adjusting the position of the hand tool by moving the hand tool in parallel in a direction orthogonal to a parts assembling direction, rotating operation means 64a to 66b for adjusting the attitude of the hand tool by rotating the hand tool with a rotation center line extending in a direction orthogonal to an assembling direction as a center, a force sensor for detecting the force and moment acting on the hand tool, and a display means 50 for displaying information on operations to be performed for the parallel moving operation means and the rotating operation means when a worker specifies position and attitude of the hand tool having substantial zero of the force and moment acting on the hand tool based on the detection result of the force sensor and the position and attitude of the hand tool. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a robot teaching device and a robot control device for teaching a robot to operate.

  Conventionally, an operator teaches an operation to a robot using a teaching pendant. When the operator operates the robot in a desired motion using the teaching pendant, the desired motion is stored in the robot controller. Thereby, thereafter, the robot can automatically perform a desired operation repeatedly.

  In such teaching, the higher the accuracy required for the operation to be automatically executed by the robot, the more time is required, and the operator is required to have high ability (skill is required).

  For example, when the robot teaches an operation of gripping a part and assembling it on a work (or an action of removing a part already attached to the work), particularly a fitting operation whose fitting tolerance is severe, When teaching a robot to grip a round shaft component and inserting the round shaft into a round hole of a workpiece, the teaching is difficult. The reason is that if the diameter of the round hole is the lower limit of the tolerance and the diameter of the round shaft is the upper limit of the tolerance, the robot must be instructed to move the round shaft smoothly into the round hole without resistance. Because it must.

  When teaching such an assembling operation, an operator may perform the following operation as part of the teaching. First, an operator causes a hand part (hand tool) of a robot to grip a part that has been assembled to a workpiece via a teaching pendant. Next, while maintaining this state, the operator changes the position and posture of the hand tool through the teaching pendant in various ways, and the position and position of the hand tool acting on the hand tool are almost zero. And posture. If the hand tool that grips the component moves in parallel so as to pass through the position specified by the posture specified in this work, the component is smoothly inserted into the workpiece without resistance.

  The force and moment acting on the hand tool can be known by a force sensor. For example, in the robot described in Patent Document 1, a force sensor is attached to a hand tool that grips a component, and the force and moment detected by the force sensor are displayed on a monitor. By presenting the force and moment through the monitor, the operator can specify the position and posture of the hand tool with almost zero force and moment acting on the hand tool with high accuracy.

JP-A-6-262563

  As described above, since the force and moment acting on the hand tool are presented via the monitor, the operator can accurately determine the position and posture of the hand tool with almost zero force and moment acting on the hand tool. It becomes possible to specify. However, this involves the trial and error of the operator operating the robot in various ways via the teaching pendant while looking at the monitor to determine the position and posture of the hand tool with almost zero force and moment acting on the hand tool. You have to search for it. This trial and error can take a long time.

  Therefore, the present invention provides a hand tool for teaching an operation of an operator to grip a part with a hand tool and assemble it to a work, or to grip and remove a part already attached to a work with a hand tool. It is an object of the present invention to be able to specify the position and posture of the hand tool, which has substantially zero force and moment, on a force sensor with high accuracy, and to be able to specify it in a short time.

In order to solve the above problems, one embodiment of the present invention provides:
Acts on a hand tool when teaching a robot equipped with a hand tool to grip a part with the hand tool and attach it to the workpiece or to grip and remove a part already attached to the work with the hand tool A robot teaching device capable of specifying the position and posture of the hand tool with substantially zero force and moment,
The operator adjusts the position of the hand tool by translating the hand tool in the first direction orthogonal to the assembly or removal direction of the parts, or in the second direction orthogonal to the assembly / removal direction and the first direction. A translation operation means operated by
Rotation operation means operated by an operator when adjusting the posture of the hand tool by rotating the hand tool around the first rotation center line extending in the first direction or the second rotation center line extending in the second direction;
A force sensor for detecting a first force in a first direction acting on the hand tool, a second force in a second direction, a first moment about the first rotation center line, and a second moment about the second rotation center line; ,
When the operator specifies the detection result of the force sensor and the position and posture of the hand tool at which the force and moment acting on the hand tool are substantially zero, the operation of the translation operation means and the rotation operation means should be performed. Display means for displaying information based on the detection result of the force sensor and the position and orientation of the hand tool.

  Another aspect of the present invention is a robot control device, which includes the robot teaching device described above.

  According to the present invention, the force acting on the hand tool when teaching the robot the operation of gripping the part with the hand tool and attaching it to the work, or the action of gripping and removing the part already attached to the work with the hand tool. And the moment are presented to the operator via the display means. In addition, the operation information for the translation operation means and the rotation operation means to be used when the operator specifies the position and posture of the hand tool with substantially zero force and moment acting on the hand tool is displayed on the display means. To the operator. Thereby, the operator can specify the position and posture of the hand tool having almost zero force and moment acting on the hand tool with high accuracy without trial and error for a long time.

It is a figure showing roughly the composition of the robot provided with the teaching device of the robot concerning an embodiment of the invention. It is a figure which shows the control system of the robot shown in FIG. It is a figure for demonstrating the teaching which concerns on this invention. It is another figure for demonstrating the teaching which concerns on this invention. It is a figure which shows the screen of a touchscreen. It is a figure for demonstrating the operation button on a touchscreen. It is a figure for demonstrating the bar which shows the variation | change_quantity of force and moment. It is a figure of the window which shows the state transition diagram of a hand tool. It is a figure for demonstrating the window shown in FIG. It is another figure for demonstrating the window shown in FIG. It is another figure for demonstrating the window shown in FIG. The change of the force Fx and the moment My of the Example which concerns on this invention, and a comparative example is shown. The change of the force Fy and the moment Mx of the Example which concerns on this invention, and a comparative example is shown. It is a figure which shows the state transition diagram window of the hand tool based on another embodiment of this invention.

  FIG. 1 schematically shows a configuration of a robot provided with a teaching device according to an embodiment of the present invention. FIG. 2 shows a control system of the robot.

  A robot 10 shown in FIG. 1 is a robot having six joints 10a to 10f, and a hand tool 12 for gripping a part P1 is attached to a tool attachment flange (hereinafter referred to as “flange”) 10g at the tip thereof. It has been. As shown in FIG. 2, the robot 10 includes motors M1 to M6 that drive the joints 10a to 10f, and a control device 14 that controls the motors M1 to M6.

  The control device 14 includes a motor control unit 14 a that controls the plurality of motors M <b> 1 to M <b> 6 and a hand tool control unit 14 b that controls the hand tool 12. The motor control unit 14a controls the plurality of motors M1 to M6 to adjust the posture of the robot 10 and adjust the position and posture of the flange 10g, that is, the position and posture of the hand tool 12 attached to the flange 10g. And adjust. Further, the hand tool control unit 14b controls the hand tool 12 to cause the hand tool 12 to grip the part P1 or to release the gripped part P1.

  In addition, the robot 10 includes a teaching pendant 16 for teaching the robot 10 of an operation desired by the operator. The teaching pendant 16 is a controller for manually operating the robot 10 and includes a touch panel 18, and an operator operates the robot 10 via the touch panel 18. For this purpose, the control device 14 receives an operation signal corresponding to the operation performed by the operator on the touch panel 18 from the teaching pendant 16, converts the received operation signal into control signals for the motors M1 to M6, and performs motor control. A teaching pendant control unit 14c for outputting to the unit 14a.

  The teaching pendant control unit 14c also, when the operator teaches the robot 10 a desired operation, based on an operation corresponding to the desired operation performed by the operator on the teaching pendant 16 (touch panel 18). An automatic operation program for causing the robot 10 to automatically execute a desired operation is created. The created automatic operation program is configured to be stored in the storage unit 14d. For example, when the “teach start button” displayed on the touch panel 18 is pressed by the operator, an automatic operation program is created based on the subsequent operation of the operator on the touch panel 18. Based on the automatic operation program created in this way, the control device 14 controls the plurality of motors M1 to M6 via the motor control unit 14a to cause the robot 10 to execute an operation corresponding to the program.

  Further, the teaching pendant control unit 14 c is configured to display information for assisting teaching on the touch panel 18 of the teaching pendant 16.

  For example, a camera 20 that captures the tip of the hand tool 12 is attached to the flange 10 g of the robot 10, and a captured image of the camera 20 is displayed on the touch panel 18.

  Further, a force sensor 22 is provided between the flange 10g of the robot 10 and the hand tool 12, and the detection result of the force sensor 22 is displayed on the touch panel 18 in a state where it overlaps with the photographed image of the camera 20. The The force sensor 22 detects a force and a moment acting on the hand tool 12.

  Strictly speaking, the force sensor 22 does not directly detect the force and moment acting on the hand tool 12, but based on the sensor coordinate system ΣS defined in itself as shown in FIG. Detecting force. The force sensor 22 includes a force Fx in the X-axis direction, a force Fy in the Y-axis direction, a force Fz in the Z-axis direction, a moment Mx around the X axis, a moment My around the Y axis, and a moment around the Z axis in the sensor coordinate system ΣS. The moment Mz is detected. However, since the force sensor 22 and the hand tool 12 are fixed, the force and moment acting on the hand tool 12 correspond to the force and moment detected by the force sensor 22. The force sensor 22 is attached to the flange 10g so that the Z-axis of the sensor coordinate system ΣS is orthogonal to the flange surface 10ga of the flange 10g.

  Other information displayed on the touch panel 18 by the teaching pendant control unit 14c will be described together with the details of the teaching targeted by the present embodiment.

  Details of the teaching targeted by the present embodiment and assistance for the teaching will be described.

  As shown in FIG. 1, the operation taught to the robot 10 targeted by the present embodiment is an operation of smoothly assembling the component P1 to the workpiece P2 without resistance, or the component P1 already assembled to the workpiece P2 without resistance. It is an operation to remove smoothly. Specifically, the hand tool is used to connect the shaft-shaped fitting portion P1a (particularly, the shaft diameter is the upper limit of tolerance) of the component P1 to the hole P2a (particularly, the hole diameter is the lower limit of tolerance) of the workpiece P2. 12 is moved in the Z-axis direction of the sensor coordinate system ΣS (corresponding to “Assembly direction” and “Removal direction” described in the claims) and smoothly fitted without resistance, or conversely without resistance This is a smooth pull-out operation.

  In order to teach such an operation to the robot 10, as shown in FIG. 3, the operator acts on the hand tool 12 when the hand tool 12 grips the part P <b> 1 assembled to the work P <b> 2. An operation for specifying the position and posture of the hand tool 12 so that the force and moment to be applied are substantially zero (for example, a predetermined value close to zero) needs to be executed as part of the teaching.

  Specifically, the operator moves the hand tool 12 slightly in the X and Y axis directions of the sensor coordinate system ΣS by the teaching pendant 16 and / or rotates the X axis and the Y axis slightly. Then, the position and orientation of the hand tool 12 are changed minutely and variously, and the position and orientation of the hand tool 12 whose force and moment detected by the force sensor 22 are substantially zero are specified.

  As a premise of these, the hand tool 12 corresponds to the shape of the part P1, and is configured to always hold the part P1 in a fixed posture. That is, it is assumed that the position and posture of the part P1 held by the hand tool 12 with respect to the hand tool 12 are constant. For example, the gripping part P1b of the part P1 gripped by the hand tool 12 has a round shaft shape, and the hand tool 12 includes three claws, and the three claws use the outer peripheral surface of the round shaft shape gripping part P1b. Grab.

  From here, when the operator specifies the position and posture of the hand tool 12 with almost zero force and moment acting on the hand tool 12 via the teaching pendant 16, The reason for assisting the specific work will be described.

  First, the operator cannot naturally grasp the force and moment acting on the hand tool 12 when the hand tool 12 grips the part P1 that has been assembled to the work, since these are extremely small. For this purpose, the worker relies on the force sensor 22 that detects the force and moment of the hand tool 12.

  However, unless the person skilled in the art simply looks at the detection value (numerical value) of the force sensor 22, it is determined which direction the hand tool 12 should be translated or which axis should be rotated in which direction. Cannot judge intuitively. As a result, it takes time to specify the position and posture of the hand tool 12 whose force and moment detected by the force sensor 22 are substantially zero. Therefore, it is necessary to assist the operator so as to intuitively determine the parallel movement direction and rotation direction of the hand tool 12.

  Further, the part P1 assembled to the workpiece P2 and the hand tool 12 that holds the part P1 will be described as one cantilever B. As shown in FIG. 4A, the sensor coordinate system ΣS If the force Fx in the X-axis direction and the moment My around the Y-axis are generated, when either the force Fx or the moment My changes, the other also changes. Specifically, when the force Fx increases, the moment My also increases, and when the force Fx decreases, the moment My also decreases. Further, when the moment My increases, the force Fx also increases, and when the moment My decreases, the force Fx also decreases.

  Similarly, as shown in FIG. 4B, when the force Fy in the Y-axis direction and the moment Mx around the X-axis are generated, if either the force Fy or the moment Mx changes, the other changes. To do. Specifically, when the force Fy increases, the moment Mx decreases, and when the force Fy decreases, the moment Mx increases. Further, when the moment Mx increases, the force Fy decreases, and when the moment Mx decreases, the force Fy increases.

  Therefore, the operator specifically eliminates the difference between the force Fx and the moment My so that the force Fx and the moment My detected by the force sensor 22 become substantially zero with respect to the teaching pendant 16 at the same time. Operation to translate the hand tool 12 in the X-axis plus direction, operation to translate in the X-axis minus direction, operation to rotate in the plus direction about the Y-axis center, and minus direction to the Y-axis center so that both become substantially zero At least one of the rotating operations needs to be performed.

  Strictly speaking, the force Fx and the moment My are represented by a virtual length L (for example, as shown in FIG. 3, from the tip of the gripping portion P1b (corresponding to the fixed end of the beam B shown in FIG. 4)) to the sensor coordinate system ΣS. Divided by the origin (corresponding to the free end of the beam B)) so that the difference from the shear force My / L at the origin of the sensor coordinate system ΣS generated by the moment becomes substantially zero, and It is necessary to make the force Fx and the moment My substantially zero.

  Of course, in this case, the operator performs an operation to be performed on the teaching pendant 16 based on the force Fx and the moment My detected by the force sensor 22, that is, the hand tool 12 is translated in the X axis plus direction. One of the following operations must be selected from: an operation to move in the negative direction of the X axis, an operation to rotate in the positive direction about the Y axis, and an operation to rotate in the negative direction about the Y axis. From these multiple operations, an operation that allows the force Fx and the moment My to be substantially zero in a short time must be selected. If this operation selection is wrong, the difference between the force Fx and the moment My becomes large, and even if one immediately becomes zero, the other may not become zero immediately. Therefore, it is necessary to assist the operator to select the correct operation. The same applies to the force Fy and the moment Mx.

  Furthermore, the operation of specifying the position and posture of the hand tool 12 with substantially zero force and moment detected by the force sensor 22 is performed so that the position and posture of the hand tool 12 change little by little. It is performed by operating the robot 10 via

  For example, the operator performs an operation of translating the hand tool 12 by a predetermined amount (for example, 0.01 mm) in the negative direction of the X axis so that the force Fx and the moment My detected by the force sensor 22 are substantially zero. Run repeatedly. At this time, the difference between the force Fx and the moment My may increase with repetition, or the difference may not decrease even after repetition.

  In this case, the operator notices that the operation of translating the hand tool 12 in the minus direction of the X axis is not appropriate (incorrect), and starts an operation different from this. Then, after various operations are performed for a while, an operation that has been recognized as inappropriate (an operation for translating the hand tool 12 in the negative direction of the X axis) may be performed again. This is because the operation performed by the operator in the past is not stored. Therefore, it is necessary to assist the operator not to repeat the erroneous operation again.

  Furthermore, the operator performs various operations on the teaching pendant 16 to execute the operation of specifying the position and posture of the hand tool 12 whose force and moment detected by the force sensor 22 are substantially zero. In the middle of this, there are times when it is desired to know the progress status of the work and the correctness of the operation (the operation being executed is not wrong). In addition, the operator may want to know how the position and posture of the hand tool 12 have changed due to the operation of his teaching pendant 16. Therefore, it is necessary to assist the worker so that they can know them.

  From here, the components that can perform the above-described assistance, specifically, the contents displayed on the touch panel 18 of the teaching pendant 16 by the teaching pendant control unit 14c will be described.

  FIG. 5 shows a GUI (Graphical User Interface) of the touch panel 18 of the teaching pendant 16 that can assist in specifying the position and posture of the hand tool 12 whose force and moment detected by the force sensor 22 are substantially zero. A screen 50 is shown.

  On the touch panel 18, a force cross line 52 (solid line) indicating a force detected by the force sensor 22 and a cross line 54 (dashed line) indicating a moment are displayed by the teaching pendant control unit 14c. These cross lines 52 and 54 are displayed in different colors to distinguish them.

  The force cross line 52 indicates both the force Fx in the X-axis direction and the force Fy in the Y-axis direction, and the position on the screen corresponds to the forces Fx and Fy. Specifically, the position in the horizontal direction W of the screen 50 at the intersection point 52p of the power cross line 52 indicates the force Fx in the X-axis direction, and the position in the vertical direction H of the screen 50 indicates the force Fy in the Y-axis direction. . Further, when both the force Fx in the X-axis direction and the force Fy in the Y-axis direction are zero, the crosshair 52 is aligned with the cross-shaped center mark 56 indicating the center of the screen 50. Is displayed. Therefore, the force sensor 22 detects a greater force as the intersection 52p of the force cross line 52 is further away from the center mark 56.

  Further, the crosshair 52 is displayed so that the intersection 52p is positioned on the right side of the screen 50 (the right side of the drawing) from the center mark 56 when the force Fx in the X-axis direction is a positive value (positive direction force). On the other hand, when the force Fx is a negative value (a force in the negative direction), the center mark 56 is displayed so as to be positioned on the left side (left side of the drawing) of the screen 50.

  Furthermore, the intersection 52p of the force cross line 52 is positioned above the screen 50 (upper side in the drawing) from the center mark 56 when the force Fy in the Y-axis direction is a positive value (positive direction force). On the other hand, when the force Fy is a negative value (force in the negative direction), it is displayed so as to be positioned on the lower side of the screen 50 (lower side of the drawing) from the center mark 56.

  The moment cross line 54 indicates both the moment Mx around the X axis and the moment My around the Y axis, and the positions on the screen correspond to the moments Mx and My. Specifically, the position in the horizontal direction W of the screen 50 at the intersection 54p of the moment cross line 54 indicates the shearing force My / L obtained by dividing the moment My around the Y axis by the virtual length L (see FIG. 3). The position of 50 in the vertical direction H indicates the shear force Mx / L obtained by dividing the moment Mx about the X axis by the virtual length L. Further, when the moment Mx around the X-axis and the moment My around the Y-axis are both zero (that is, when Mx / L and My / L are zero), the moment cross line 54 indicates that the intersection 54p is a center mark. 56 is displayed in a state that matches 56. Therefore, the force sensor 22 detects a greater moment as the intersection 54p of the moment crosshair line 54 moves away from the center mark 56.

  Further, the moment cross line 54 is displayed on the right side of the screen 50 from the center mark 56 when the intersection point 54p of the moment My around the Y-axis is a positive value (the direction of the moment is the positive direction). If it is a negative value (moment direction is reverse), it is displayed on the left side of the screen 50 from the center mark 56.

  Furthermore, the moment cross line 54p is displayed at the upper side of the screen 50 from the center mark 56 when the moment Mx around the X axis is a negative value (the direction of the moment is the reverse direction). When Mx is a positive value (moment direction is a positive direction), it is displayed below the screen 50 from the center mark 56.

  In addition, operation buttons 60a to 66b for adjusting the position and posture of the hand tool 12 are displayed on the touch panel 18 by the teaching pendant control unit 14c.

  The “X +” operation button 60a is a button for translating the hand tool 12 by a predetermined amount (for example, 0.01 mm) in the plus direction of the X axis. When the “X +” operation button 60a is pressed, the robot 10 operates and the hand tool 12 translates by a predetermined amount in the plus direction of the X axis.

  The “X−” operation button 60 b is a button for translating the hand tool 12 by a predetermined amount (for example, 0.01 mm) in the X axis minus direction. When the “X−” operation button 60b is pressed, the robot 10 operates and the hand tool 12 translates by a predetermined amount in the negative direction of the X axis.

  The “X +” operation button 60a and the “X−” operation button 60b are arranged along the lower edge of the screen 50 such that the “X +” operation button 60a is arranged on the right side and the “X−” operation button 60b is arranged on the left side. It is displayed in the state. Thereby, the operator can intuitively execute an operation for bringing the force Fx detected by the force sensor 22 to substantially zero.

  For example, as shown in FIG. 6, when the operator wants to bring the crosshair 52 located at the right side of the screen 50 from the center mark 56 closer to the center mark 56, the operator sets “X−” located on the left side. It is possible to intuitively press the operation button 60b, that is, the “X−” operation button 60b that is an operation button to be pressed to move the intersection 52p of the cross line 52 to the left.

  The “Y +” operation button 62a is a button for translating the hand tool 12 by a predetermined amount (for example, 0.01 mm) in the Y axis plus direction. When the “Y +” operation button 62a is pressed, the robot 10 operates and the hand tool 12 translates by a predetermined amount in the positive direction of the Y axis.

  The “Y−” operation button 62b is a button for translating the hand tool 12 by a predetermined amount (for example, 0.01 mm) in the Y axis minus direction. When the “Y−” operation button 62b is pressed, the robot 10 operates and the hand tool 12 translates by a predetermined amount in the Y-axis minus direction.

  The “Y +” operation button 62a and the “Y−” operation button 62b are arranged vertically along the left edge of the screen 50, with the “Y +” operation button 62a on the upper side and the “Y−” operation button 60b on the lower side. Is displayed. Thereby, the operator can intuitively perform an operation for bringing the force Fy detected by the force sensor 22 close to zero.

  The “A +” operation button 64a is a button for rotating the hand tool 12 by a predetermined amount (for example, 0.001 deg) in the positive direction around the X axis. When the “A +” operation button 64a is pressed, the robot 10 operates and the hand tool 12 rotates a predetermined amount about the X axis in the positive direction.

  The “A−” operation button 64b is a button for rotating the hand tool 12 by a predetermined amount (for example, 0.001 deg) in the reverse direction around the X axis. When the "A-" operation button 64b is pressed, the robot 10 operates and the hand tool 12 rotates in the reverse direction about the X axis.

  The “A +” operation button 64a and the “A−” operation button 64b are arranged vertically along the right edge of the screen 50, with the “A +” operation button 64a on the lower side and the “A−” operation button 64b on the upper side. Is displayed. Thus, the operator can intuitively execute an operation for bringing the moment Mx detected by the force sensor 22 close to zero.

  The “B +” operation button 66a is a button for rotating the hand tool 12 by a predetermined amount (for example, 0.001 deg) in the positive direction about the Y axis. When the “B +” operation button 66a is pressed, the robot 10 operates and the hand tool 12 rotates in the positive direction about the X axis.

  The “B−” operation button 66b is a button for rotating the hand tool 12 by a predetermined amount (for example, 0.001 deg) in the reverse direction about the Y axis. When the “B−” operation button 66b is pressed, the robot 10 operates and the hand tool 12 rotates a predetermined amount in the reverse direction about the Y axis.

  The “B +” operation button 66a and the “B−” operation button 66b are arranged in the horizontal direction along the upper edge of the screen 50, with the “B +” operation button 66a on the left side and the “B−” operation button 66b on the right side. It is displayed in the state. Thus, the operator can intuitively execute an operation for bringing the moment My detected by the force sensor 22 close to zero.

  Furthermore, when any one of the operation buttons 60a to 66b is continuously operated (pressed) by the teaching pendant controller 14c, the force Fx in the X-axis direction changed by the continuous operation is applied to the touch panel 18. , Y-axis direction force Fy, X-axis moment Mx, or Y-axis moment My change amount is displayed in the form of a bar.

  For example, the bar 70a shown in FIG. 5 indicates the amount of change in the force Fx that has been changed by repeatedly pressing the “B +” operation button 66a, and the continuous operation of the “B +” operation button 66a is started. The amount of change in the force Fx in the X-axis direction from the start to the present time is expressed by its length. From another point of view, the bar 70a indicates the amount of movement of the crosshairs 52 moved to the left side of the screen 50 by the continuous operation of the “B +” operation button 66a.

  Further, for example, the bar 70b shown in FIG. 5 indicates the amount of change in the moment My that is changed by repeatedly pressing the “B +” operation button 66a, and the continuous operation of the “B +” operation button 66a. The amount of change in the moment My around the Y axis from the start to the present time is expressed by its length. From another point of view, the bar 70b indicates the amount of movement of the moment crosshair 54 that has moved to the left side of the screen 50 by the continuous operation of the “B +” operation button 66a. The bar 70b is displayed in a different color so that it can be distinguished from the bar 70a.

  Since the bar 70a and the bar 70b are displayed by the continuous operation of the “B +” operation button 66a, they are displayed in the vicinity of the “B +” operation button 66a. Thus, the operator can reliably and continuously press the “B +” operation button 66a while keeping the “B +” operation button 66a and the bars 70a and 70b in view.

  Further, in relation to this, the touch panel 18 has a force Fx in the X direction changed by the continuous operation of the “X +” operation button 60a executed immediately before the continuous operation of the “B +” operation button 66a is started. Are displayed, and a bar 72b indicating the amount of change in the moment My around the Y-axis is displayed. The bars 72a and 72b indicating the past are displayed in a different color from the bars 70a and 70b so as to be distinguished from the bars 70a and 70b indicating the present.

  The reason why the bars 70a and 70b indicating the current change amount and the bars 72a and 72b indicating the immediately previous (previous) change amount with respect to the same force or moment will be described with reference to FIG. .

  In FIG. 7, the intersection point 52p of the force cross line 52 and the intersection point 54p of the moment cross line 54 located on the right side of the screen 50 from the center mark 56 are continued with the "X-" operation button 60b and the "B +" operation button 66a. The state of the screen 50 when it is operated manually and brought close to the center mark 56 is shown. Specifically, a state in which the “B +” operation button 66a is pressed a plurality of times after the “X−” operation button 60b is pressed a plurality of times is shown.

  As shown in FIG. 7, the amount of change in the force Fx in the X-axis direction when the “X−” operation button 60b is continuously operated and the change in the force Fx when the “B +” operation button 66a is continuously operated. The amount (the length of the bar 70a and the bar 72a) is substantially the same, but the amount of change in the moment My around the Y axis (the length of the bar 70b and the bar 72b) is greatly different. The difference between the force Fx and the moment My is greater when the “B +” operation button 66a is continuously operated than when the “X−” operation button 60b is continuously operated.

  Therefore, the operator can set the force Fx in the X-axis direction and the moment My around the Y-axis in order to make the intersection point 52p of the force cross line 52 and the intersection point 54p of the moment cross line 54 coincide with the center mark 56 substantially simultaneously. In order to achieve zero at substantially the same time, it can be determined that it is better to execute the continuation operation of the “X−” operation button 60b in which the expansion range of the difference between the force Fx and the moment My is small.

  Although not shown, similarly, any one of the “Y +” operation button 62a, the “Y−” operation button 62b, the “A +” operation button 64a, and the “A−” operation button 64b is continuously operated. The amount of change in the force Fy in the Y-axis direction and the moment Mx around the X-axis that changes as a result is displayed in the form of a bar.

  In addition, the bars 70a and 72a indicating the amount of change in the force Fx in the X-axis direction and the bars 70b and 72b indicating the amount of change in the moment My around the Y-axis include a “Y +” operation button 62a and a “Y−” operation button 62b. When any one of the “A +” operation button 64a and the “A−” operation button 64b is operated, the display disappears. Similarly, a bar indicating the amount of change in the force Fy in the Y-axis direction and a bar indicating the amount of change in the moment Mx around the X-axis include an “X +” operation button 60a, an “X−” operation button 60b, and a “B +”. When any one of the "" operation button 66a and the "B-" operation button 66b is operated, the display is turned off.

  Furthermore, on the touch panel 18, a state transition (position and posture transition) of the hand tool 12 is displayed by the teaching pendant controller 14c.

  Specifically, as illustrated in FIG. 8, the state transition of the hand tool 12 is displayed as a state transition diagram window that illustrates the transition of the position and posture of the hand tool 12. The state transition diagram window 80a shows the transition of the position of the hand tool 12 in the X-axis direction and the transition of the posture based on the Y-axis by the movement amount ΔX of the hand tool 12 in the X-axis direction and the rotation amount ΔB around the Y-axis. Show. On the other hand, the state transition diagram window 80b shows the transition of the position of the hand tool 12 in the Y-axis direction and the transition of the posture with respect to the X-axis as the movement amount ΔY of the hand tool 12 in the Y-axis direction and the rotation amount ΔA around the X-axis. And show by.

  How to view these state transition diagram windows 80a and 80b will be described.

  The state transition diagram window 80a will be described as an example. This window 80a translates the movement amount (+ ΔX1) in the X-axis direction by pressing the “X +” operation button 60a a plurality of times in succession. Next, the “B +” operation button 66a is continuously operated a plurality of times to rotate the rotation amount (+ ΔB1) about the Y axis, and then the “X−” operation button 60b is continuously operated a plurality of times to perform the X-axis direction. Is moved in parallel with the movement amount (−ΔX2), and finally the “B−” operation button 66b is continuously operated a plurality of times to rotate the rotation amount (−ΔB2) about the Y axis. It shows the transition of the axial position and the transition of the posture with reference to the Y axis.

  The state transition diagram windows 80a and 80b show the state transition of the hand tool 12 so that the state (position and posture) of the latest hand tool 12 is centered. The state transition is indicated by a state transition locus 82.

  Further, the state transition diagram window 80a will be described as an example. The timing at which the crosshairs 52 and the center mark 56 coincide with each other in the vertical direction H of the screen 50 on the locus 82 indicating the state transition of the hand tool 12 is described. A mark 84 (a black circle) is drawn. That is, the mark 84 indicates the timing when the force Fx becomes zero.

  Furthermore, a state transition diagram window 80a will be described as an example. A mark 86 (x mark) indicating the timing at which the horizontal line of the force cross line 52 coincides with the horizontal line of the moment cross line 54 is drawn. That is, the mark 86 indicates the timing when the force Fx and the shearing force My / L obtained by dividing the moment My by the virtual length L become equal.

  By looking at such state transition diagram windows 80a and 80b, the operator can know his or her own operation history and operations to be performed.

  For example, from the state transition diagram window 80a shown in FIG. 8, it can be seen that the operator first translated the hand tool 12 by the amount of movement (+ ΔX1) in the X-axis direction. Next, it can be seen that the operator has rotated the hand tool 12 by the rotation amount (+ ΔB1) about the Y axis. Subsequently, it can be seen that the operator translated the hand tool 12 in the X-axis direction by the amount of movement (−ΔX2) so that the horizontal line of the force cross line 52 and the horizontal line of the moment cross line 54 coincided. Further, it can be seen that the intersection point 52p of the crosshairs 52 is made to coincide with the center mark 56 in the height direction H of the screen 50 by performing the same operation. Then, the operator rotates the hand tool 12 by the amount of rotation (−ΔB2) about the Y axis, and the center mark 56 has the force cross line 52 and the moment cross line 54 in the height direction H direction of the screen 50. You can see that they match.

  If no operation is performed, nothing is drawn as in the state transition diagram window 80b of FIG.

  The reason for displaying such state transition diagram windows 80a and 80b will be described.

  First, by looking at the start point and end point of the trajectory 82 drawn in the state transition diagram windows 80a and 80b, the operator operates his / her own operation as a result (when the hand tool 12 grips the part P1). ) It is possible to intuitively know how the position and posture of the hand tool 12 have changed.

  Further, for example, as shown in the state transition diagram window 80a shown in FIG. 9, the operation of moving the hand tool 12 in the X axis minus direction and the operation of rotating the hand tool 12 in the positive direction about the Y axis are repeatedly executed. When the intersection point 52p of the force cross line 52 and the intersection point 54p of the moment cross line 54 are separated in the vertical direction H of the screen 50, the operator notices that these operations are not appropriate (incorrect). At this time, a state transition locus 82a corresponding to the erroneous operation remains drawn in the state transition diagram window 80a.

  As a result, the operator can execute an operation different from the erroneous operation by viewing the locus 82a corresponding to the erroneous operation drawn in the state transition diagram window 80a. Further, by checking the state transition diagram windows 80a and 80b in FIG. 8 before the worker starts a new operation, the worker can prevent the erroneous operation from being performed again.

  Further, the state transition diagram window 80a will be described as an example. When the operator sees the marks 84 and 86, the intersection point 52p of the force cross line 52 and the intersection point 54p of the moment cross line 54 coincide with the center mark 56. You can know what to do.

  This will be specifically described. Here, as in FIG. 4, the part P1 that has been assembled to the workpiece P2 and the hand tool 12 that grips the part P1 will be described as one cantilever B.

As shown in FIG. 10, when the force is F and the moment is M, the deflection amount σ and the deflection angle θ at the free end of the beam B can be expressed in the form of Equation 1 and Equation 2.

“L” is the above-described virtual length, “E” is the Young's modulus of the beam B, and “I” is the cross-sectional second moment of the beam B. Here, when Formula 1 and Formula 2 are transformed, the force F and moment M can be expressed in the form of Formula 3 and Formula 4.

  Equation 3 can be considered as a plane equation (a plane in the σ-θ-F orthogonal coordinate system having the σ axis, the θ axis, and the F axis) with the deflection amount σ, the deflection angle θ, and the force F as variables. . Similarly, Formula 4 is an equation of a plane having a deflection amount σ, a deflection angle θ, and a moment M as variables (a plane in a σ−θ−M orthogonal coordinate system having a σ axis, a θ axis, and an M axis). Can be considered.

Further, in this embodiment, the deflection amount σ corresponds to the movement amount ΔX in the X-axis direction and the movement amount ΔY in the Y-axis direction of the hand tool 12. Further, the deflection angle θ corresponds to the rotation amount ΔA around the X axis of the hand tool 12 and the rotation amount ΔB around the Y axis. Therefore, Equations 3 and 4 can be rewritten as Equations 5-8.

  Based on these facts, the relationship among the movement amount ΔX of the hand tool 12 in the X-axis direction, the rotation amount ΔB about the Y-axis center, the force Fx, and the moment My is illustrated in FIG. The horizontal axis indicates the movement amount ΔX of the hand tool 12 in the X-axis direction, and the vertical axis indicates the rotation amount ΔB about the Y-axis center. The intersection of the vertical axis and the horizontal axis indicates the movement amount ΔX and the rotation amount ΔB when the force Fx and the moment My are both zero. The straight line Fx = 0, the straight line My = 0, and the straight line Fx = My / L are calculated based on Equation 5 and Equation 6.

  As shown in FIG. 11, a trajectory 82 indicating the transition of the state (position and posture) of the hand tool 12 until both the force Fx and the moment My become zero is represented by a straight line Fx = 0 and a straight line Fx = My / L. The trajectory 82 intersects these straight lines at a plurality of locations. This intersection corresponds to the marks 84 and 86 shown in FIG.

  Therefore, in view of this, when the hand tool 12 is operated variously and at least two marks 84 appear on the state transition diagram window 80a, a straight line Fx = 0 passing through the appearing marks 84 can be estimated. it can. Similarly, when at least two marks 86 appear, a straight line Fx = My / L passing through the appearing marks 86 can be estimated. As shown in FIG. 11, the intersection of the straight line Fx = 0 and the straight line Fx = My / L indicates a position where both the force Fx and the moment My are zero. Based on the estimated straight line Fx = 0 and straight line Fx = My / L, the position where both the force Fx and the moment My are zero on the state transition diagram window 80a, that is, the target position can be estimated. Similarly, a position where both the force Fy and the moment Mx are zero can be estimated on the state transition diagram window 80b.

  Thus, the operator can know an operation to be performed in order to make the intersection point 52p of the force crosshair line 52 and the intersection point 54p of the moment crosshair line 54 coincide with the center mark 56.

  In addition, as shown in FIG. 5, a pointer is placed on the touch panel 18 of the teaching pendant 16 at a position in the horizontal direction W of the screen 50 where the force crosshair 52 and the moment crosshair 54 overlap each other by the teaching pendant controller 14c. 90a (90b) is displayed. In addition, a pointer 92a (92b) is displayed at a position in the vertical direction H of the screen 50 where the force cross line 52 and the moment cross line 54 overlap.

  A pair of pointers 90a are displayed on the upper and lower edges of the screen 50 (note that one pointer 90a may be displayed on either one of the edges). The position in the horizontal direction W of the screen 50 on which the pointer 90a is displayed corresponds to the position where the vertical line of the force cross line 52 and the vertical line of the moment cross line 54 coincide. The pointer 90b is the same as the pointer 90a.

  The difference between the pointers 90a and 90b is the timing difference at which the vertical line of the force cross line 52 and the vertical line of the moment cross line 54 coincide with each other, and the pointer 90a has the latest timing. The pointer 90b has a timing earlier than the pointer 90a (timing closest to the timing of the pointer 90a). The pointers 90a and 90b are displayed in different colors, for example, in order to distinguish them.

  A pair of pointers 92a are displayed on the left and right edges of the screen 50 (note that one pointer 92a may be displayed on either one). The position in the vertical direction H of the screen 50 on which the pointer 92a is displayed corresponds to the position where the horizontal line of the force cross line 52 and the horizontal line of the moment cross line 54 coincide. The pointer 92b is the same as the pointer 92a.

  The difference between the pointers 92a and 92b is the timing difference between the vertical line of the force cross line 52 and the vertical line of the moment cross line 54, and the pointer 92a has the latest timing. The pointer 92b has a timing earlier than the pointer 92a (timing closest to the timing of the pointer 92a). The pointers 92a and 92b are displayed in different colors, for example, in order to distinguish them.

  The reason for displaying the pointers 90a, 90b, 92a, 92b will be described.

  As described above, the pointers 90a, 90b, 92a, and 92b are displayed corresponding to the position in the horizontal direction W and the position in the vertical direction H of the screen 50 where the force cross line 52 and the moment cross line 54 overlap each other. Is done. Since the displayed timing is the timing of Fx = My / L and Fy = Mx / L, it is the same as the timing at which the mark 86 appears in the state transition diagram windows 80a and 80b.

  However, the mark 86 appearing in the state transition diagram windows 80a and 80b indicates the timing (Fx = My / L timing, Fy = Mx / L timing) when the force cross line 52 and the moment cross line 54 overlap. However, it does not indicate at which position on the screen 50 the two crosshairs 52 and 54 overlap. Therefore, from the mark 86, it is difficult for the operator to predict the time required until both the force Fx and the moment My become zero.

  On the other hand, the pointers 90a, 90b, 92a, and 92b indicate positions on the screen 50 where the force cross line 52 and the moment cross line 54 overlap each other. Therefore, from the distance between the center mark 56 and the pointers 90a, 90b, 92a, and 92b, the operator can predict the approximate time required until both the force Fx and the moment My become zero. That is, the worker can know the progress of the work that specifies the position and posture of the hand tool 12 at which the force and the moment become substantially zero.

  Further, if the pointers 90a and 92a displayed at the latest timing are displayed closer to the center mark 56 than the pointers 90b and 92b displayed at the previous timing, the operator can determine the force and moment. It is possible to know that the work for identifying the position and posture of the hand tool 12 at which is substantially zero is proceeding in the correct direction.

  According to the present embodiment, the robot 10 performs an operation of grasping the part P1 by the hand tool 12 and attaching it to the work P2, or an action of grasping and removing the part P1 already attached to the work P2 by the hand tool 12. When teaching, the force and moment acting on the hand tool 12 are presented to the operator via the touch panel 18. Further, operation information on the operation buttons 60 a to 66 b to be used when the operator specifies the position and posture of the hand tool whose force and moment acting on the hand tool 12 are substantially zero is transmitted via the touch panel 18. Presented to the worker. Thereby, the operator can specify the position and posture of the hand tool 12 having substantially zero force and moment acting on the hand tool 12 with high accuracy without trial and error for a long time.

  An example is shown as an effect of the present embodiment. FIG. 12A shows, as an example, changes in the force Fx and the moment My detected by the force sensor 22 and changes in the difference between the force Fx and the moment My, which are changed by the operator's operation. On the other hand, FIG. 12B shows, as a comparative example, the case where the bars 70a, 70b, 72a, 72b, the state transition diagram windows 80a, 80b, and the pointers 90a, 90b, 92a, 92b are not displayed on the touch panel 18. It shows changes in force Fx and moment My detected by the force sensor 22 and changes in the difference between the force Fx and moment My that are changed by the operation. In the figure, during the period D1, the operator operates the “X +” operation button 60a, the “X−” operation button 60b, the “B +” operation button 66a, or the “B−” operation button 66b to perform a power cross. This is a period during which the line 52 and the moment crosshairs 54 are moved in the vertical direction H of the screen 50. On the other hand, during the period D2, the operator operates the “Y +” operation button 62a, the “Y−” operation button 62b, the “A +” operation button 64a, or the “A−” operation button 64b, and the force crosshair 52 and the moment. This is a period during which the cross line 54 is moved in the horizontal direction H of the screen 50.

  FIG. 13A corresponding to FIG. 12A shows, as an example, changes in the force Fy and the moment Mx detected by the force sensor 22 and forces Fy and the moment Mx, which are changed by the operator's operation. The change of the difference is shown. On the other hand, FIG. 13B corresponding to FIG. 12B shows, as a comparative example, bars 70a, 70b, 72a, 72b, state transition diagram windows 80a, 80b, pointers 90a, 90b, 92a, 92b on the touch panel 18. The graph shows changes in the force Fy and the moment Mx detected by the force sensor 22 and changes in the difference between the force Fy and the moment Mx, which are changed by the operation of the inventor when not displayed.

  When the bars 70a, 70b, 72a, 72b, the state transition diagram windows 80a, 80b, the pointers 90a, 90b, 92a, 92b are displayed on the touch panel 18, as shown in FIGS. 12 (a) and 13 (b), Since the increase / decrease widths of the forces Fx, Fy and moments Mx, My are small, the operator can select a plurality of touch panels 18 so that the forces Fx, Fy, moments Mx, My detected by the force sensor 22 are substantially zero. It can be seen that the operation buttons 60a to 66b are appropriately operated.

  On the other hand, as shown in FIGS. 12B and 13B, bars 70a, 70b, 72a, 72b, state transition diagram windows 80a, 80b, pointers 90a, 90b, 92a, 92b are provided on the touch panel 18. When not displayed, since the increase / decrease range of the forces Fx, Fy and moments Mx, My is large, the touch panel is set so that the force Fx, Fy, moments Mx, My detected by the force sensor 22 is almost zero by the operator. It can be seen that the 18 operation buttons 60a to 66b are operated over time while trial and error.

  The present invention has been described with reference to the above embodiment, but the present invention is not limited to this embodiment.

  For example, in the case of the above-described embodiment, as shown in FIG. 8, Fx = 0 is displayed on the state transition diagram windows 80 a and 80 b of the hand tool 12 based on the detection result of the force sensor 22. , Fy = 0, Fx = My / L, and Fy = Mx / L are marks 84 and 86. In addition, marks indicating Mx = 0 and My = 0 may be displayed.

  In relation to this, on the state transition diagram windows 80a and 80b, marks indicating Fx = 0 and Fy = 0, marks indicating Mx = 0 and My = 0, Fx = My / L, and Fy = Mx It is only necessary to display at least one of the marks indicating / L.

  As shown in FIG. 11, any one of a mark indicating Fx = 0 and Fy = 0, a mark indicating Mx = 0 and My = 0, and a mark indicating Fx = My / L and Fy = Mx / L is in a state. If displayed on transition diagram windows 80a and 80b, one of straight line Fx = 0 and straight line Fy = 0, straight line Mx = 0 and straight line My = 0, straight line Fx = My / L and Fy = Mx / L Can be estimated, and the position where Fx = 0 and My = 0 on the state transition diagram window 80a and the position where Fy = 0 and Mx = 0 on the state transition diagram window 80b are estimated from the estimated straight line. can do. However, it is preferable that Fx = 0, Fy = 0 mark, Mx = 0, My = 0 mark, Fx = My / L, Fy = Mx / L on the state transition diagram windows 80a and 80b. It is preferable to display at least two kinds of marks. Thereby, at least two straight lines can be estimated from at least two kinds of marks, and positions on the state transition diagram windows 80a and 80b where the force and the moment become zero can be estimated based on the intersection of the estimated at least two straight lines. Because.

  In the above-described embodiment, the force sensor 22 is attached to the robot 10 (between the flange 10g and the hand tool 12). Alternatively, the force sensor 22 may be attached to the work P2 side. The force and moment acting on the hand tool 12 in a state where the component P1 attached to the workpiece P2 is gripped can be indirectly detected by the force sensor 22 attached to the workpiece P2 or a jig for fixing the workpiece P2.

  Further, in the case of the above-described embodiment, the operation buttons 60a to 66b for translating or rotating the hand tool 12 in the state of gripping the part P1 already attached to the work P2 are provided on the touch panel 18 as shown in FIG. The button may be provided on the teaching pendant 16 on the periphery of the touch panel 18. In this case, the touch panel 18 can be changed to a panel that simply displays an image.

  Further, for example, when the hand tool 12 grips the above-described component P1 assembled to the workpiece P2, the position and posture of the hand tool 12 at which the force and the moment acting on the hand tool 12 become substantially zero. The work for identifying the item can be automatically executed without the operator's hand. That is, by automatically adjusting the position and posture of the hand tool 12 that holds the component P1 that is incorporated in the workpiece P2, the forces Fx, Fy and moments Mx, My detected by the force sensor 22 are adjusted. A control unit 14 of the robot 10 may be provided with a position / posture specifying unit that automatically specifies the position and posture of the hand tool 12 that is substantially zero.

  The position / posture specifying unit acquires, for example, the detection value of the force sensor 22 at a constant period, and the parallel of the hand tool 12 such that the detection value approaches zero based on the acquired detection value of the force sensor 22. The movement amounts ΔX, ΔY and the rotation amounts ΔA, ΔB are calculated, and the hand tool 12 is translated and rotated based on the calculated parallel movement amounts ΔX, ΔY and the rotation amounts ΔA, ΔB. Further, the position / posture specifying unit ends the specification of the position and posture when the forces Fx, Fy and moments Mx, My detected by the force sensor 22 become substantially zero (a predetermined value close to 0).

  However, in this case, as shown in FIG. 5, a state transition diagram of the force crosshair 52, the moment crosshair 54, the bars 70 a, 70 b, 72 a, 72 b, and the hand tool 12 is provided on the touch panel 18 (or panel) of the teaching pendant 16. It is preferable to display windows 80a and 80b and pointers 90a, 90b, 92a and 92b. As a result, the operator can know the specific progress status of the position and posture of the hand tool that is executed by the position / posture specifying unit and that has substantially zero force and moment acting on the hand tool 12.

  In relation to this, the teaching pendant 16 is provided with a stop button for stopping the specification of the position and posture of the hand tool 12 that is executed by the position / posture specifying unit and has substantially zero force and moment acting on the hand tool 12. May be. As a result, when the position / posture specifying unit translates or rotates the hand tool in the wrong direction, the position / posture specifying unit can be stopped.

  For example, while the position / posture specifying unit specifies the position and posture of the hand tool 12 with substantially zero force and moment acting on the hand tool 12, force is applied to the state transition diagram windows 80a and 80b of the hand tool 12 of the touch panel 18. When the mark 84 indicating Fx = 0 and Fy = 0 and the mark 86 indicating Fx = My / L and Fy = Mx / L do not appear, the worker can change the position and posture of the hand tool 12 by the position / posture specifying unit. It is possible to determine that the adjustment direction is not appropriate (incorrect) and stop the specification.

  In this regard, means for changing the adjustment direction of the position and posture of the hand tool 12 of the position / posture specifying unit may be provided on the teaching pendant 16 (touch panel 18).

  For example, as shown in FIG. 14, the position and posture of the hand tool 12 of the position / posture specifying unit can be changed by the operator pressing the four corners of the state transition diagram windows 80a and 80b of the touch panel 18 by the teaching pendant control unit 14c. Adjustment direction instruction buttons 88a1 to 88b4 capable of instructing the adjustment direction are displayed.

  When the adjustment direction instruction button 88a1 is pressed by the operator, the position / posture specifying unit limits the adjustment direction of the position and posture of the hand tool 12 to a direction in which the movement amount ΔX is decreased and a direction in which the rotation amount ΔB is increased. To do.

  When the adjustment direction instruction button 88a2 is pressed by the operator, the position / posture specifying unit limits the adjustment direction of the position and posture of the hand tool 12 to a direction in which the movement amount ΔX is increased and a direction in which the rotation amount ΔB is increased. To do.

  When the adjustment direction instruction button 88a3 is pressed by the operator, the position / posture specifying unit limits the adjustment direction of the position and posture of the hand tool 12 to a direction in which the movement amount ΔX is decreased and a direction in which the rotation amount ΔB is decreased. To do.

  When the adjustment direction instruction button 88a4 is pressed by the operator, the position / posture specifying unit limits the adjustment direction of the position and posture of the hand tool 12 to a direction in which the movement amount ΔX is increased and a direction in which the rotation amount ΔB is decreased. To do.

  When the adjustment direction instruction button 88b1 is pressed by the operator, the position / posture specifying unit limits the adjustment direction of the position and posture of the hand tool 12 to a direction in which the movement amount ΔY is decreased and a direction in which the rotation amount ΔA is increased. To do.

  When the adjustment direction instruction button 88b2 is pressed by the operator, the position / posture specifying unit limits the adjustment direction of the position and posture of the hand tool 12 to a direction in which the movement amount ΔY is increased and a direction in which the rotation amount ΔA is increased. To do.

  When the adjustment direction instruction button 88b3 is pressed by the operator, the position / posture specifying unit limits the adjustment direction of the position and posture of the hand tool 12 to a direction in which the movement amount ΔY is decreased and a direction in which the rotation amount ΔA is decreased. To do.

  When the adjustment direction instruction button 88b4 is pressed by the operator, the position / posture specifying unit limits the adjustment direction of the position and posture of the hand tool 12 to a direction in which the movement amount ΔY is increased and a direction in which the rotation amount ΔA is decreased. To do.

  With these adjustment direction instruction buttons 88a1 to 88b4, the time required for specifying the position and posture of the hand tool 12 with substantially zero force and moment acting on the hand tool 12 executed by the position / posture specifying unit can be shortened. become.

  Furthermore, in the case of the above-described embodiment, the force and moment displayed on the screen 50 of the touch panel 18 are the force Fx in the X-axis direction and the force Fy, X in the Y-axis direction of the sensor coordinate system ΣS of the force sensor 22. The moment Mx around the axis and the moment My around the Y axis are shown, but in addition to this, the force in the Z axis direction and the moment around the Z axis may be displayed. In this case, for example, a circle whose diameter changes corresponding to the magnitude of the force in the Z-axis direction detected by the force sensor 22 is displayed near the center mark 56. The circle is regarded as an analog clock, and the magnitude of the moment is indicated by the position of the hands. For example, the position is zero at 12 o'clock, the clockwise direction indicates the positive moment, and the counterclockwise direction indicates the reverse moment.

  In addition, in the case of the above-described embodiment, the operation buttons displayed on the touch panel 18 are “X +” operation buttons 60 a and “X” that translate the hand tool 12 in the X-axis direction of the sensor coordinate system ΣS of the force sensor 22. “−” Operation button 60 b, “Y +” operation button 62 a and “Y−” operation button 62 b that translate in the Y axis direction, “A +” operation button 64 a and “A−” operation that rotates the hand tool 12 about the X axis Although the button 64b and the “B +” operation button 66a and the “B−” operation button 66b for rotating the hand tool 12 about the Y-axis center, the present invention is not limited to this. In addition to these operation buttons 60a to 66b, a "Z +" operation button (Z-axis positive direction) and a "Z-" operation button (Z-axis negative direction) for moving the hand tool 12 in the Z-axis direction, around the Z-axis A “C +” operation button (reverse direction) and a “C−” operation button (forward direction) for rotating the hand tool 12 may be displayed on the touch panel 18.

  Finally, it will be apparent to those skilled in the art that the structure and features of the present invention can be variously modified and modified. In particular, it is obvious that the design of various types of information such as forces and moments acting on the hand tool displayed on the screen in graphic form can be easily changed. For example, the design of the power crosshairs 52 and the moment crosshairs 54 shown in FIG. 5 can be changed to dots (dots). However, it should be understood that such changes and modifications are included in the present invention without departing from the scope of the appended claims.

  60a Parallel movement operation means (“X +” operation button), 60b Parallel movement operation means (“X−” operation button), 62a Parallel movement operation means (“Y +” operation button), 62b Parallel movement operation means (“Y−”) Operation button), 64a rotation operation means ("A +" operation button), 64b rotation operation means ("A-" operation button), 66a rotation operation means ("B +" operation button), 66b rotation operation means ("B-") Manual operation button)

Claims (11)

Acts on a hand tool when teaching a robot equipped with a hand tool to grip a part with the hand tool and attach it to the workpiece or to grip and remove a part already attached to the work with the hand tool A robot teaching device capable of specifying the position and posture of the hand tool with substantially zero force and moment,
The operator adjusts the position of the hand tool by translating the hand tool in the first direction orthogonal to the assembly or removal direction of the parts, or in the second direction orthogonal to the assembly / removal direction and the first direction. A translation operation means operated by
Rotation operation means operated by an operator when adjusting the posture of the hand tool by rotating the hand tool around the first rotation center line extending in the first direction or the second rotation center line extending in the second direction;
A force sensor for detecting a first force in a first direction acting on the hand tool, a second force in a second direction, a first moment about the first rotation center line, and a second moment about the second rotation center line; ,
When the operator specifies the detection result of the force sensor and the position and posture of the hand tool at which the force and moment acting on the hand tool are substantially zero, the operation of the translation operation means and the rotation operation means should be performed. A robot teaching device having display means for displaying information based on a detection result of a force sensor and a position and posture of a hand tool. Display means
The transition diagram of the position and orientation of the hand tool is displayed based on the amount of change in the position of the hand tool and the amount of change in the orientation that have been changed by the operator's operations on the translation operation means and the rotation operation means. Robot teaching device. Display means
As a transition diagram of hand tool position and posture,
A first transition diagram showing a transition of the position and posture of the hand tool as a trajectory with either the first force or the second moment as the horizontal axis and the other as the vertical axis;
3. The robot according to claim 2, wherein either one of the second force and the first moment is set on the horizontal axis, and the other is set on the vertical axis, and a second transition diagram showing the transition of the position and posture of the hand tool as a locus is displayed. Teaching device. Display means
On the first transition diagram, the position corresponding to the position and posture of the hand tool when the force sensor detects zero first force, and the position of the hand tool when the force sensor detects zero second moment. A mark is displayed at at least one of a position corresponding to the position and posture, or a position corresponding to the position and posture of the hand tool when the first force and the second moment detected by the force sensor have a predetermined relationship; and,
On the second transition diagram, the position corresponding to the position and posture of the hand tool when the force sensor detects zero second force, and the position of the hand tool when the force sensor detects zero first moment. A mark is displayed at at least one of a position corresponding to the position and posture, or a position corresponding to the position and posture of the hand tool when the second force detected by the force sensor and the first moment have a predetermined relationship. Item 4. The robot teaching apparatus according to Item 3.   When the display unit is continuously operated by the operator with respect to either the translation operation unit or the rotation operation unit, the amount of change in force and the amount of change in the moment acting on the hand tool changed by the continuous operation 5. The robot teaching apparatus according to claim 1, wherein the robot teaching apparatus displays the following. Display means
Displaying a first crosshair at a position on the screen corresponding to the first and second forces detected by the force sensor;
Displaying a second crosshair at a position on the screen corresponding to the first and second moments detected by the force sensor;
The horizontal position of the screen at the intersection of the first crosshair corresponds to the first force,
The vertical position of the screen at the intersection of the first crosshairs corresponds to the second force, the horizontal position of the screen at the intersection of the second crosshairs corresponds to the first moment, and
The robot teaching apparatus according to any one of claims 1 to 5, wherein a screen vertical position of an intersection of the second cross lines corresponds to the second moment. Display means
A mark is displayed at a vertical position on the screen where the horizontal line of the first cross line and the horizontal line of the second cross line overlap, and
The robot teaching apparatus according to claim 6, wherein a mark is displayed at a horizontal position on the screen where a vertical line of the first cross line and a vertical line of the second cross line overlap. The translation operation means is
A first translation operation means for translating the hand tool in the first direction; and a second translation operation means for translating the hand tool in the second direction.
The rotation operation means
A first rotation operation means for rotating the hand tool about the first rotation center line; and a second rotation operation means for rotating the hand tool about the second rotation center line.
The display means is composed of a touch panel,
The first translation operation means, the second translation operation means, the first rotation operation means, and the second rotation operation means are configured by operation buttons displayed on the touch panel. The robot teaching apparatus according to 1. The first and second forces detected by the force sensor and the first and second forces are automatically adjusted by automatically adjusting the position and posture of the hand tool that holds the first component assembled in the second component. A position / posture specifying means for automatically specifying the position and posture of a hand tool whose moment is substantially zero;
9. The robot teaching apparatus according to claim 1, further comprising: an automatic specific stop unit that is operated by an operator when the position / posture specifying unit interrupts the specification of the position and posture of the hand tool. 10.   The robot teaching apparatus according to claim 9, further comprising adjustment direction changing means for changing an adjustment direction of the position and posture of the hand tool of the position / posture specifying means.   A robot control apparatus comprising the robot teaching apparatus according to claim 1.

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