JP2014065100A - Robot system and method for teaching robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide: a robot system capable of displaying an operation locus with precision necessary for an adjustment work on site; and a method for teaching a robot.SOLUTION: A robot system 10 includes: a robot 20 having an arm 21; a teaching pendant 40 having a camera 44 and a display 42; and a robot controller 30 for controlling operation of the arm 21 on the basis of a preset program and operation of the pendant 40. The controller 30 performs: causing the display 42 to display a pickup image of the camera 44 and to display a locus of the arm 21 with an operation start position of the displayed arm 21 as a start point; causing the arm 21 to operate with a predetermined position on the locus as a target, on the basis of the program and operation of the pendant 40; calculating a shift amount between an actual position of the arm 21 and the predetermined position thereof when the operation is finished; setting the actual position as an operation start position; and modifying the locus of the arm 21 by the shift amount.

Description

  The present invention relates to a robot system and a robot teaching method using the robot system.

  Conventionally, in robot teaching, a basic operation program of a robot is created by a simulation model using CAD or the like, and the difference from an actual robot and equipment is adjusted on site.

  However, even if the coordinates of the movement destination of the robot are known, it is difficult to predict the movement trajectory of the actual robot, so much adjustment work is required on site. Therefore, in the device described in Patent Document 1, the robot motion trajectory calculated by the computer is displayed on the robot image taken by the camera.

JP 2004-243516 A

  By the way, in the thing of patent document 1, although the motion trajectory of the robot calculated by the computer is displayed, the motion trajectory and the motion trajectory of an actual robot do not necessarily correspond. The reason is that real robots have deviations from design values such as “assembly tolerance” and “part intersection” that did not exist in the simulation model. The motion trajectory of cannot be displayed correctly. For this reason, the thing of patent document 1 is not suitable for the adjustment work in the field.

  Here, it is also conceivable to reflect a deviation from the design value in the calculated motion trajectory. For example, the deviation amount can be grasped to some extent as an average of the entire operation by calibration. However, the amount of deviation varies little by little depending on the trajectory of the robot, the posture of the robot, etc., so even if the average amount of deviation of the entire operation is grasped, the operation with the accuracy required for adjustment work at each operation position I can't get the orbit.

  The present invention has been made in view of such circumstances, and a main purpose thereof is a robot system capable of displaying an operation trajectory having accuracy necessary for on-site adjustment work, and a robot using the robot system. It is to provide a teaching method.

  The present invention employs the following means in order to solve the above problems.

  The first means includes a robot having a driven unit, a camera that acquires an image by photographing, and a display unit that displays an image, and an operation device that sets an operation of the driven unit by a user's operation. A control unit that controls the operation of the driven unit based on a preset program and the operation of the operation unit, wherein the control unit is acquired by photographing with the camera An image display unit that displays an image on the display unit, and an operation start position of the driven unit displayed on the display unit by the image display unit is used as a starting point to operate the driven unit based on the program A trajectory display means for displaying the trajectory on the display section, and after the trajectory is displayed on the display section by the trajectory display means, based on the operation of the program and the operating device. An operating means for operating the driven part with a predetermined position on the trajectory as a target, and an actual position of the driven part displayed on the display part by the image display means when the operation by the operating means is completed A deviation amount calculating means for calculating a deviation amount between the predetermined position and the predetermined position; and setting the actual position as the operation start position and setting the trajectory when the driven portion is operated based on the program as the deviation amount. And a trajectory correcting means for correcting the deviation amount calculated by the calculating means and displaying the trajectory on the display section by the trajectory display means.

  According to the above configuration, when the user photographs the robot with the camera of the operating device, the robot image acquired by the imaging is displayed on the display unit of the operating device. Then, the trajectory when the driven unit is operated based on a preset program is displayed on the display unit, starting from the operation start position of the driven unit of the robot displayed on the display unit. After the track is displayed on the display unit, the driven unit is operated with a predetermined position on the track as a target based on the program and the operation of the operating device. At this time, since there is a deviation from a design value such as “assembly tolerance” or “part intersection” in the actual robot, a deviation occurs between the trajectory displayed on the display unit and the actual trajectory.

  In this regard, when the above operation is completed, a deviation amount between the actual position of the driven unit displayed on the display unit and the predetermined position is calculated. Then, the actual position is set as the next operation start position, and the trajectory when the driven part is operated based on the program is corrected by the calculated deviation amount. Then, the corrected trajectory is displayed on the display unit starting from the actual position of the driven unit.

  Here, the calculated shift amount is a shift amount actually generated when the driven part is operated from the initial operation start position to a predetermined position as a target. For this reason, this deviation amount is affected by the trajectory in the most recent operation of the driven part, the posture of the robot, etc., and the deviation of the trajectory that occurs when the driven part moves to a target ahead of a predetermined position. It will be close to the gap. Therefore, the corrected trajectory has a high accuracy necessary for the on-site adjustment work as a trajectory for moving the driven part from the actual position.

  In the second means, the deviation amount calculating means calculates the deviation amount between the actual position and the predetermined position in the three-dimensional space including the robot, and the trajectory correcting means is the program in the three-dimensional space. The trajectory when operating the driven part is corrected by the deviation amount calculated by the deviation amount calculating means.

  According to the above configuration, when the operation targeting the predetermined position is completed, the actual position in the three-dimensional space including the robot is calculated as the amount of deviation between the actual position of the driven unit displayed on the display unit and the predetermined position. A deviation amount between the position and the predetermined position is calculated. In the three-dimensional space, the trajectory when the driven part is operated based on the program is corrected by the calculated deviation amount. Therefore, the corrected trajectory can be accurately displayed on the display unit, reflecting the deviation amount in the three-dimensional space including the robot.

  In the third means, the deviation amount calculating means calculates an amount of deviation between the actual position and the predetermined position in the image displayed on the display unit, and the trajectory correcting unit is displayed on the display unit. In the image, the trajectory when the driven part is operated based on the program is corrected by the deviation amount calculated by the deviation amount calculation means.

  According to the above configuration, when the operation targeting the predetermined position is completed, the amount of deviation between the actual position of the driven unit displayed on the display unit and the predetermined position is the above in the image displayed on the display unit. A deviation amount between the actual position and the predetermined position is calculated. Then, in the image displayed on the display unit, the trajectory when the driven unit is operated based on the program is corrected by the calculated deviation amount. Therefore, the corrected trajectory can be easily displayed on the display unit by reflecting the shift amount in the image displayed on the display unit.

  In the fourth means, the predetermined position is a plurality of teaching points set in order as targets of the driven unit when the driven unit is operated based on the program.

  According to the above configuration, the driven unit is operated with the most recent teaching point as the target among the plurality of teaching points set in order as the target of the driven unit. Then, when this operation is completed, the deviation amount between the actual position and the predetermined position is calculated, the actual position is set as the operation start position, and the trajectory when the driven part is operated based on the program Is corrected by the amount of deviation. Thereafter, the operation of the driven unit targeting the next teaching point and the correction of the trajectory by the amount of deviation caused by this operation are repeated. Therefore, when multiple teaching points are set as the target of the driven part, the trajectory always reflects the amount of deviation caused by the latest operation of the driven part in the operation with each teaching point as the operation start position. Can be corrected. As a result, it is possible to display a trajectory that always has high accuracy at each teaching point.

  In a fifth means, the trajectory display means displays the teaching point together with the trajectory on the display unit.

  According to the above configuration, since the teaching point is displayed on the display unit together with the trajectory, the next target can be easily grasped when the driven unit is operated.

  In a sixth means, the trajectory display means erases the trajectory previously displayed on the display unit when the trajectory is displayed on the display unit.

  When the operation of the driven part targeting the predetermined position is finished, when the corrected trajectory is displayed on the display part starting from the actual position of the driven part, it was displayed on the display part before that Orbits can get in the way. Further, when the user adjusts the trajectory of the driven part, the trajectory ahead of the current position is important, and the trajectory to the current position is not important.

  In this regard, according to the above configuration, when the trajectory is displayed on the display unit, the trajectory previously displayed on the display unit is deleted. For this reason, the trajectory that is not important in the adjustment can be deleted, and the visibility of the corrected trajectory that is important in the adjustment can be improved.

  In the seventh means, when the trajectory display means displays the trajectory and the teaching point on the display unit, the trajectory and the teaching point previously displayed on the display unit are erased.

  According to the above configuration, similarly to the sixth means, the trajectory and the teaching point that are not important in the adjustment can be deleted, and the visibility of the corrected trajectory and the teaching point that is important in the adjustment can be improved.

  The eighth means is a method of teaching the robot using any one of the first to seventh means, wherein the actual position is set to the operation start position by the trajectory correcting means. The program is changed by operating the operating device by the user after correcting the trajectory when operating the driven part based on the program by the deviation amount calculated by the deviation amount calculation means. Then, a trajectory for operating the driven part is adjusted.

  According to the above process, when the operation of the driven unit targeting the predetermined position is completed, the corrected trajectory is displayed on the display unit starting from the actual position of the driven unit. For this reason, the user can grasp the amount of deviation between the actual position of the driven part and the predetermined position and the trajectory reflecting the amount of deviation when the above operation is completed. Therefore, if the program is subsequently changed by the operation of the operating device by the user, the trajectory for operating the driven portion can be accurately adjusted.

The perspective view which shows the outline | summary of a robot system. A display screen that displays the robot and motion trajectory. A display screen for displaying a robot that operates with the second teaching point as a target. A display screen displaying the robot and the modified motion trajectory. The schematic diagram which shows the movement track | orbit corrected after the operation | movement aiming at the 2nd teaching point. The schematic diagram which shows the movement track | orbit corrected after the operation | movement aiming at the 3rd teaching point. The schematic diagram which shows the movement track | orbit corrected after the operation | movement aiming at the 4th teaching point. The schematic diagram which shows the movement track | orbit corrected at each teaching point.

  Hereinafter, an embodiment will be described with reference to the drawings. The present embodiment is embodied as a robot system that assembles machines and the like in a machine assembly factory or the like.

  FIG. 1 is a perspective view showing an outline of a robot system. As shown in the figure, the robot system 10 includes a robot 20, a robot controller 30, and a teaching pendant 40.

  The robot 20 is a vertical articulated robot, and includes an arm 21 having six (plural) joints and a base 22. The arm 21 (driven portion) has a hand portion 21a at the tip. Each joint of the arm 21 is provided with a motor, and the arm 21 is driven by the rotation of these motors. Each motor is provided with an electromagnetic brake that brakes its output shaft and an encoder that outputs a pulse signal corresponding to the rotation angle of the output shaft. The robot 20 operates the arm 21 to perform operations such as assembly of parts to the workpiece and conveyance of the workpiece.

  The controller 30 (control unit) includes a CPU, a ROM, a RAM, a data storage unit, a drive circuit, a position detection circuit, and the like. The ROM stores system programs and operation programs for the robot 20. The RAM stores parameter values and the like when executing these programs. The data storage unit stores image data input from a camera, which will be described later. Detection signals from the encoders are input to the position detection circuit. The position detection circuit detects the rotation angle of the motor provided at each joint based on the detection signal of each encoder. The CPU executes the operation program (program) set in advance, and based on the position information input from the position detection circuit, the rotation angle of each joint of the arm 21 (the posture of the arm 21) is set to the target rotation angle ( Feedback control to target posture).

  The teaching pendant 40 (operation device) includes a microcomputer including a CPU, a ROM, and a RAM, various manual operation keys, a display 42, and a camera 44. The pendant 40 is connected to the controller 30 and can communicate with the controller 30. An operator (user) can manually operate the pendant 40 to create, modify, register, and set various parameters of the operation program of the robot 20. In teaching for correcting the operation program, etc., teaching points (position coordinates) through which the hand portion 21a of the arm 21 passes in the work are taught. Then, the operator can operate the robot 20 through the controller 30 based on the teaching operation program. In other words, the controller 30 controls the operation of the arm 21 of the robot 20 based on the preset operation program and the operation of the pendant 40.

  The camera 44 is a CCD camera and includes a signal amplification unit, an A / D conversion unit, and the like. The camera 44 is arranged at the upper part on the back side of the pendant 40, and images the robot 20 and its peripheral area based on the operation of the operator. The signal amplifying unit amplifies the output signal of the CCD camera. The A / D conversion unit converts the amplified signal into a digital signal (photographed image data).

  The display 42 (display unit) displays information related to the robot 20 and a captured image acquired by the camera 44. As information about the robot 20, a model of the robot 20, an operation status of the robot 20, an operation command, and the like are displayed.

  The robot 20 has a unique robot coordinate system (a three-dimensional orthogonal coordinate system composed of X, Y, and Z axes), and is controlled by the controller 30 based on the robot coordinate system in the X-axis direction (left-right direction). And freely operate in the Y-axis direction (front-rear direction) and the Z-axis direction (up-down direction). In the robot coordinate system, for example, the center of the base 22 is the origin, the upper surface (horizontal plane) of the floor (work table) is the XY plane, the coordinate axis perpendicular to the floor is the Z axis, and the front of the base 22 faces. The direction is defined to be the front (+ direction of the Y axis). The teaching point taught by teaching is stored in position coordinates (position vector) based on the robot coordinate system.

  During teaching using the pendant 40 (manual operation of the robot 20), the operation direction of the robot 20 (hand unit 21a) instructed by the operation of the pendant 40 by the operator with respect to the operation in the X, Y, and Z directions; The actual movement direction of the robot 20 is associated (synchronized). Details of this method are described in Japanese Patent Application Laid-Open No. 2011-189431, but the outline is as follows.

  The camera 44 is located at the upper part of the back side (back side) of the pendant 40 and can photograph the front. The optical axis of the camera 44 extends in a direction orthogonal to the back surface of the pendant 40. In the pendant 40, the image of the entire robot 20 captured by the camera 44 is captured automatically (or based on a switch operation by the operator) at the start of teaching (and periodically during work). The captured captured image (image data) is input to the controller 30. Then, the captured image is displayed on the display 42 by the controller 30 (image display means).

  At the start and during execution of teaching, the controller 30 captures captured image data of the robot 20 by the camera 44 of the pendant 40 by the software (computer program) and presents the current position information of the arm 21 in the robot 20 ( From the posture information), a three-dimensional image model of the robot 20 (hereinafter referred to as “3D model”) is created.

  At this time, a 3D model based on the robot coordinate system owned by the controller 30 is created, and the viewpoint is changed freely until it becomes most similar to the captured image of the robot 20 by the camera 44. A high viewpoint is the pendant viewpoint. Then, a difference between the reference robot coordinate system and the vertical / left / right axis system of the display 42 of the pendant 40 at the pendant viewpoint is set as a deviation amount. After that, the motion direction and the motion amount instructed by the operation of the pendant 40 by the operator are converted into the motion direction and motion amount in the reference robot coordinate system according to the set deviation amount. Thereby, the operation direction of the robot 20 is synchronized with the operation direction instructed by the operator.

  Further, not only at the start of teaching but also in teaching work, for example, from the image of the robot 20 photographed periodically by the camera 44, a deviation amount based on detection of the pendant viewpoint is set by the same processing as described above. For this reason, the correspondence between the operation direction instructed by the operation of the pendant 40 and the actual operation direction of the robot 20 is constantly updated.

  In the present embodiment, the controller 30 (trajectory display means) causes the display 42 to display the trajectory when the arm 21 is operated based on the operation program, starting from the operation start position of the arm 21 displayed on the display 42. FIG. 2 is a screen of the display 42 that displays the robot 20 and the motion trajectory.

  First, the operator operates the pendant 40 to activate the operation program, and moves the hand portion 21a of the arm 21 to the first teaching point A1 (first teaching point). The operator operates the pendant 40 and photographs the robot 20 with the camera 44. The controller 30 displays the captured image acquired by the camera 44 on the display 42. The image captured by the camera 44 may be a moving image or a still image at each teaching point.

  Here, as described above, the controller 30 grasps the relationship between the pendant viewpoint and the robot coordinate system, and calculates the position of each teaching point on the screen of the display 42. The controller 30 causes the display 42 to display the teaching points B1 to G1 after the teaching point A1 with the tip position of the hand portion 21a in the arm 21 as the teaching point A1. Then, the controller 30 causes the display 42 to display the trajectory OB1 of the hand portion 21a of the arm 21 that passes through the teaching points A1 to G1, starting from the teaching point A1. The operator confirms whether there is no problem with the displayed track OB1 and the positional relationship with surrounding facilities.

  Subsequently, the operator operates the pendant 40 so as to move the hand unit 21a to the teaching point B1 (second teaching point) based on the operation program. Based on the operation program and the operation of the pendant 40 by the operator, the controller 30 (operation means) operates the arm 21 with the teaching point B1 (predetermined position) on the track OB1 as a target.

  At this time, as shown in FIG. 3, on the screen of the display 42, there is a deviation between the teaching point B1 on the trajectory OB1 displayed with the teaching point A1 as the starting point and the actual position B2 of the hand portion 21a of the arm 21. There is. The controller 30 (deviation amount calculation means) calculates the deviation amount between the actual position B2 of the hand portion 21a of the arm 21 displayed on the display 42 and the teaching point B1 when the operation targeting the teaching point B1 is completed. To do. Specifically, the controller 30 calculates the deviation amount ER1 of the three-dimensional coordinate between the actual position B2 and the teaching point B1 in the three-dimensional space including the robot 20 based on the relationship between the pendant viewpoint and the robot coordinate system.

  Subsequently, as shown in FIG. 4, the controller 30 (trajectory correcting means) sets the actual position B2 to the next operation start position. Then, subsequent teaching points C1 to G1 (only C1 and D1 are displayed) when the arm 21 is operated based on the operation program are corrected by the calculated deviation amount ER1, and only the teaching points C2 to G2 (only C2 and D2) are corrected. Display). Specifically, the three-dimensional coordinates of the teaching points C1 to G1 are translated by the shift amount ER1 of the three-dimensional coordinates. Then, the three-dimensional coordinates of the corrected teaching points C2 to G2 are reflected on the pendant viewpoint, and the teaching points C2 to G2 are displayed on the display 42. Accordingly, the controller 30 corrects the trajectory OB1 of the hand portion 21a of the arm 21 passing through the teaching points B1 to G1 to a trajectory OB2 passing through the teaching points B2 to G2.

  Thereafter, similarly, the operator operates the pendant 40 so as to move the hand unit 21a to the next teaching point C2 (predetermined position) based on the operation program. Then, when the operation targeting the teaching point C2 is completed, the controller 30 calculates a deviation amount between the actual position C3 of the hand portion 21a of the arm 21 and the teaching point C2, and teaches the teaching points D2 to G2 and the trajectory OB2. Is corrected by the calculated deviation amount.

  After the trajectory of the hand portion 21a of the arm 21 is corrected, the operator changes each teaching point (operation program) by operating the pendant 40 to adjust the trajectory when the arm 21 is operated. That is, the operator can determine whether there is no problem with the corrected trajectory, or can correct the corrected trajectory to a more appropriate trajectory.

  Next, the relationship between the operation aimed at each teaching point and the corrected teaching point and trajectory will be described. 5 to 7 are schematic diagrams showing motion trajectories corrected after the motions targeting the second to fourth teaching points, respectively.

  As shown in FIG. 5, the teaching point A1 is an operation start point, and after the operation of the arm 21 targeting the teaching point B1, the hand portion 21a of the arm 21 has moved to the actual position B2. Then, the corrected teaching points C2, D2 and the trajectory OB2 are displayed on the display 42, starting from the actual position B2.

  Here, if the corrected teaching points B2 to D2 and the trajectory OB2 are displayed on the display 42, the teaching points A1 to D1 and the trajectory OB1 previously displayed on the display 42 may become an obstacle. When the operator adjusts the trajectory of the hand portion 21a of the arm 21, the trajectory ahead of the current position is important, and the trajectory to the current position is not important. Therefore, when displaying the corrected teaching points B2 to D2 and the trajectory OB2 on the display 42, the controller 30 erases the teaching points A1 to D1 and the trajectory OB1 that were previously displayed on the display 42.

  As shown in FIGS. 6 and 7, when the arm 21 is operated with the teaching points C2 and D3 as targets in the same manner, the teaching points B2 to D2 and the trajectory OB2, which were displayed on the display 42 before that, In addition, the teaching points C3 to D3 and the trajectory OB3 are deleted. As shown in FIG. 8, when each teaching point is set as the operation start position, the trajectories OB1 to OB3 (and each teaching point) are displayed on the display 42. In each of the trajectories OB1 to OB3, the solid line portion is a predicted trajectory in the operation of the arm 21 targeting the next teaching point, and the broken line portion is a trajectory that is not displayed in the operation from the next operation start position.

  The embodiment described above has the following advantages.

  When the operation of the arm 21 targeting the teaching point B1 is completed, the deviation amount between the actual position B2 of the hand portion 21a of the arm 21 displayed on the display 42 and the teaching point B1 is calculated. Then, the actual position B2 is set as the next operation start position, and the trajectory when the arm 21 is operated based on the operation program is corrected by the calculated deviation amount ER1. As a result, the corrected trajectory OB2 is displayed on the display 42, starting from the actual position B2 of the arm 21.

  Here, the calculated shift amount ER1 is a shift amount actually generated when the arm 21 is operated from the teaching point A1 which is the initial operation start position to the teaching point B1. For this reason, this deviation amount ER1 is affected by the trajectory OB1 and the posture of the robot 20 in the most recent movement of the arm 21, and the arm 21 moves to the target teaching point C1 ahead of the teaching point B1. This is close to the deviation of the trajectory that occurs when the hand portion 21a operates. Therefore, the corrected track OB2 has a high accuracy necessary for the adjustment work at the site as a track for moving the hand portion 21a of the arm 21 from the actual position B2.

  In a three-dimensional space including the robot 20, the deviation ER <b> 1 between the actual position B <b> 2 of the hand portion 21 a of the arm 21 displayed on the display 42 and the teaching point B <b> 1 when the operation targeting the teaching point B <b> 1 is completed. A deviation amount between the actual position B2 and the teaching point B1 is calculated. In the three-dimensional space, the trajectory when the arm 21 is operated based on the operation program is corrected by the calculated deviation amount ER1. Therefore, the corrected trajectory OB2 can be accurately displayed on the display 42, reflecting the deviation ER1 in the three-dimensional space including the robot 20.

  The arm 21 is operated with the nearest teaching point B1 among the plurality of teaching points A1 to G1 set in order as the target of the hand portion 21a of the arm 21. When this operation is finished, the deviation ER1 between the actual position B2 and the teaching point B1 is calculated, the actual position B2 is set as the operation start position, and the arm 21 is operated based on the operation program. Is corrected by the deviation ER1. Thereafter, the operation of the arm 21 targeting the next teaching point and the correction of the trajectory by the amount of deviation caused by this operation are repeated. Therefore, when a plurality of teaching points A1 to G1 are set as targets of the hand portion 21a of the arm 21, the amount of deviation always caused by the most recent operation of the arm 21 in the operation with each teaching point as the operation start position. The trajectory can be corrected to reflect. As a result, it is possible to display a trajectory that always has high accuracy at each teaching point.

  Since the teaching points B2 to G2 corrected together with the trajectory OB2 are displayed on the display 42, the next target can be easily grasped when the arm 21 is operated.

  When displaying the track OB2 on the display 42, the track OB1 previously displayed on the display 42 is deleted. For this reason, the trajectory OB1 which is not important in the subsequent adjustment can be deleted, and the visibility of the modified trajectory OB2 which is important in the subsequent adjustment can be improved. Similarly, the teaching points A1 to G1 which are not important in the subsequent adjustment can be deleted, and the visibility of the corrected teaching points B2 to G2 which are important in the subsequent adjustment can be improved.

  When the operation of the arm 21 targeting the teaching point B1 is completed, the corrected trajectory OB2 is displayed on the display 42, starting from the actual position B2 of the hand portion 21a of the arm 21. For this reason, the operator can grasp the deviation ER1 between the actual position B2 of the hand portion 21a of the arm 21 and the teaching point B1 and the trajectory OB2 reflecting the deviation ER1 when the above operation is completed. . Therefore, if the operation program is subsequently changed by the operation of the pendant 40 by the operator, the trajectory when the arm 21 is operated can be accurately adjusted.

  The above-described embodiment can be modified as follows.

  In the above embodiment, when the teaching points B2 to G2 and the trajectory OB2 are displayed on the display 42, the teaching points A1 to G1 and the trajectory OB1 previously displayed on the display 42 are deleted. However, the teaching points A1 to G1 and the trajectory OB1 previously displayed on the display 42 may not be deleted. Alternatively, one of the teaching points A1 to G1 and the trajectory OB1 previously displayed on the display 42 may not be deleted.

  In the above embodiment, the teaching points B2 to G2 are displayed on the display 42 together with the trajectory OB2. However, only one of the trajectory OB2 and the teaching points B2 to G2 can be displayed.

  In the above embodiment, when the teaching points C1 to G1 after the arm 21 is operated based on the operation program are corrected by the calculated deviation amount ER1, the three-dimensional coordinates of the teaching points C1 to G1 are shifted. Translated by the amount ER1. However, when the teaching points C1 to G1 are corrected by the calculated deviation amount ER1, the coordinate axes of the robot coordinates may be translated corresponding to the deviation amount ER1 of the three-dimensional coordinates.

  In the above embodiment, the deviation between the actual position B2 of the hand portion 21a of the arm 21 displayed on the display 42 and the teaching point B1 is 3 between the actual position B2 and the teaching point B1 in the three-dimensional space including the robot 20. A shift amount ER1 of the dimensional coordinate was calculated. However, as the amount of deviation between the actual position B2 of the hand portion 21a of the arm 21 and the teaching point B1, the two-dimensional coordinates of the actual position B2 and the teaching point B1 on the screen of the display 42 (image displayed on the display 42). The shift amount ER2 can also be calculated. Then, the robot controller 30 (trajectory correcting means) corrects the trajectory when the arm 21 is operated based on the operation program in the image displayed on the display 42 by the calculated two-dimensional coordinate deviation ER2. You can also.

  According to the above configuration, when the operation targeting the teaching point B1 is completed, the amount of deviation between the actual position B2 of the hand portion 21a of the arm 21 displayed on the display 42 and the teaching point B1 is displayed on the display 42. A deviation amount ER2 between the actual position B2 and the teaching point B1 in the obtained image is calculated. Then, in the image displayed on the display 42, the trajectory when the arm 21 is operated based on the operation program is corrected by the calculated deviation amount ER2. Therefore, the corrected trajectory can be easily displayed on the display 42 by reflecting the two-dimensional coordinate shift amount ER2 in the image displayed on the display 42.

  -It can replace with the teaching pendant 40 and can also employ | adopt the smart phone (operating device) which has an equivalent camera function, an operation function, and a control function.

  A horizontal articulated robot may be employed instead of the vertical articulated robot 20.

  DESCRIPTION OF SYMBOLS 10 ... Robot system, 20 ... Robot, 21 ... Arm (driven part), 21a ... Hand part, 30 ... Robot controller (control part), 40 ... Teaching pendant (operator), 42 ... Display (display part), 44 …camera.

Claims (8)

A robot having a driven part;
A camera that acquires an image by photographing, and a display unit that displays the image, and an operation device that sets an operation of the driven unit by a user's operation;
A control unit for controlling the operation of the driven unit based on a preset program and the operation of the operation unit;
A robot system comprising:
The controller is
Image display means for displaying an image acquired by photographing with the camera on the display unit;
Trajectory display means for displaying on the display section a trajectory when operating the driven part based on the program, starting from the operation start position of the driven part displayed on the display part by the image display means; ,
After the trajectory is displayed on the display unit by the trajectory display means, based on the operation of the program and the operating device, an operating means for operating the driven part with a predetermined position on the trajectory as a target;
A deviation amount calculating means for calculating a deviation amount between the actual position of the driven part displayed on the display unit by the image display means and the predetermined position when the operation by the operating means is completed;
The actual position is set as the operation start position, the trajectory when the driven unit is operated based on the program is corrected by the deviation amount calculated by the deviation amount calculation means, and the trajectory display Trajectory correcting means for displaying the trajectory on the display unit by means;
A robot system comprising: The deviation amount calculating means calculates a deviation amount between the actual position and the predetermined position in a three-dimensional space including the robot,
The trajectory correcting means corrects the trajectory when operating the driven part based on the program in the three-dimensional space by the deviation amount calculated by the deviation amount calculating means. Robot system. The deviation amount calculating means calculates a deviation amount between the actual position and the predetermined position in the image displayed on the display unit,
The trajectory correcting means corrects, in the image displayed on the display unit, the trajectory when operating the driven part based on the program by the deviation amount calculated by the deviation amount calculating means. Item 2. The robot system according to Item 1.   The said predetermined position is a some teaching point set in order as a target of the said driven part, when operating the said driven part based on the said program. Robot system.   The robot system according to claim 4, wherein the trajectory display unit displays the teaching point together with the trajectory on the display unit.   The robot system according to claim 1, wherein the trajectory display unit erases the trajectory previously displayed on the display unit when the trajectory is displayed on the display unit.   The robot system according to claim 5, wherein the trajectory display unit erases the trajectory and the teaching point previously displayed on the display unit when the trajectory and the teaching point are displayed on the display unit. A method of teaching the robot using the robot system according to any one of claims 1 to 7,
The trajectory correcting means sets the actual position as the operation start position, and corrects the trajectory when operating the driven part based on the program by the deviation amount calculated by the deviation amount calculating means. After
A robot teaching method, wherein the program is changed by operating the operating device by the user to adjust a trajectory when the driven unit is operated.

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