JP2547999B2 - Teaching device for program data - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a program data teaching device for teaching a robot a predetermined work including a movement command thereof.

(Prior Art) The work of a robot is to perform a taught movement command and a work command. The movement command is usually formed by teaching point data of a hand, and the work command is formed by off-line programming. At that time, a control signal is output from the robot to peripheral devices, hands, and the like.

In a robot control device that monitors and feeds back the execution of a work command using a visual sensor such as a camera, the visual sensor has its own orthogonal coordinate system that is set by the user. By performing the calibration between the robots, it is possible to correct the robot motion based on the position information from the visual sensor.

(Problems to be Solved by the Invention) By the way, the conventional program data teaching apparatus adopts the orthogonal coordinate system position command method in which the movement command data is converted into the orthogonal coordinate system preset by the user and stored. For example, when performing a welding operation or the like, when the angle of the work placement changes, the user recreates teaching data accordingly. That is, unless the movement command data is stored again as the position command of the Cartesian coordinate system fixed to the workpiece, the visual sensor cannot be effectively used for accurate trajectory control.

Also, when the visual sensor is fixed to the moving robot hand, the position information from the visual sensor is input in the tool coordinate system, so it takes time and effort to convert it into the spatially fixed coordinate system. However, the accuracy of the calibration with the Cartesian coordinate system of the robot could not be easily improved.

The present invention aims to solve the problems of the prior art as described above, and expresses tool position command data in a tool coordinate system,
(EN) Provided is a teaching device for robot program data, which can improve the accuracy of position control and can easily change a taught movement command.

(Means for Solving Problems) A teaching device for robot program data according to the present invention includes a visual sensor fixed to a robot hand for inputting positional information thereof, and a movement command for the robot hand based on the positional information from the visual sensor. In a teaching device of program data for teaching a predetermined operation including a movement command to a robot having control means for correcting data, a data memory for storing a movement locus of a taught robot hand as tool coordinate system data, A teaching device for program data, comprising: arithmetic means for reconstructing the movement locus within the same plane from one teaching point that has been re-taught.

(Operation) According to the present invention, the movement path of the robot hand taught in the tool coordinate system can be reconstructed from one teaching point about the movement path on the same plane with respect to the variation of the work arrangement. Moreover, the position sensor data expressed in the tool coordinate system can be accurately calibrated by the visual sensor that always moves integrally with the tool.

(Embodiment) Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram for explaining a welding operation by a 6-axis robot, and FIG. 2 shows a teaching method of movement command data.

In arc welding, a robot system including a robot mechanism unit 1 and a robot controller 2 is connected to an arc welding system including a welding torch 3 and a welding power source 4, and the welding torch 3 is attached to a workpiece (not shown) in a predetermined manner. It is executed by controlling the movement along the movement locus.

A television camera 6 is fixedly arranged on the robot hand 5 together with the welding torch 3, and a position of the robot hand 5 is stored in a memory in the control device 2 via a sensor processing device 7 which processes image information in a coordinate system of the camera 6. Command data is taught and stored.

The position command data is first taught by manual feeding along the welding line of the workpiece to be welded. The teaching data determines the driving amount of each axis of the robot mechanism unit 1 and at the same time teaches the start and end of welding. One welding program is completed, and based on the welding program, the welding work is repeatedly performed on a plurality of works during automatic operation.

If the tool position command data is expressed in the tool coordinate system in this way, the position information from the television camera 6 is also input in the tool coordinate system, so that the correction can be accurately performed when the position of the work is deviated.

Further, after teaching the movement locus of the hand by the teaching points such as P _{1 to} P _{9 in} FIG. 2, the first plane formed by P _{1 to} P ₄ , and
When you try to teach the hand movement trajectory again by changing the angle α with the plane made by P _{4 to} P ₉ , teach the teaching point P ₅ again to simplify subsequent teaching points P _{6 to} P ₉ . In comparison with the case where the movement command data is stored as the position command of the Cartesian coordinate system fixed to the work, the visual sensor can be effectively used to enable accurate trajectory control. Become.

Incidentally, the description of the above embodiment is a preferred example of the device of the present invention, and according to the present invention, various modifications and applications can be carried out within a range not departing from the spirit and the gist thereof,
Those of ordinary skill in the art will understand.

(Effects of the Invention) As described above, according to the teaching device of the program data of the present invention, the tool position command data is expressed in the tool coordinate system to improve the accuracy of position control, and the taught movement command The change can be easily performed, and the position control of the welding robot and the assembly robot can be accurately and easily executed.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a diagram showing an example of a trajectory of a robot hand. 1 ... Robot mechanism part, 2 ... Robot control device, 3 ...
… Welding torch, 4 …… Welding power supply, 6 …… TV camera.

Claims (1)

(57) [Claims] 1. A movement command to a robot having a visual sensor fixed to the robot hand for inputting position information of the robot hand, and control means for correcting movement command data of the robot hand according to the position information from the visual sensor. In a teaching device of program data for teaching a predetermined work including: a data memory for storing a movement locus of a taught robot hand as tool coordinate system data, and one teaching in which the movement locus on the same plane is re-taught. A program data teaching apparatus, comprising: a computing unit for reconstructing from points.