JP6907853B2 - Robot teaching system - Google Patents

Description

The present invention relates to a teaching system that teaches a robot.

Conventionally, when teaching an articulated robot, a method using a teaching device such as a teaching pendant has been adopted. However, there is a problem that it is not possible to intuitively give instructions to the robot by the teaching by the teaching device, and it takes a very long time to teach the desired movement when an inexperienced operator teaches. .. Therefore, in recent years, a method called so-called direct teaching in which an operator directly contacts and teaches a robot to be taught is being adopted (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2017-74669

However, in the case of direct teaching, although it is necessary for the operator to directly touch the robot, it is difficult to teach when the robot is installed in a place where it is difficult to work, such as high temperature, high dust, or high places. There is a problem of becoming. Further, even in a place where work is easy, when the target is, for example, a large robot, it is necessary to directly move the large robot arm, which causes a problem that workability is poor.

Further, in the case of direct teaching, there is a big problem that high-precision positioning is difficult. This is because when the operator teaches by directly touching the robot arm, it is necessary to provide a certain amount of dead zone so that the slight vibration of the operator's hand is not reflected, and fine adjustment is not possible. Is. Further, although it depends on the specifications of the robot, it is difficult for the operator to manually perform positioning with an accuracy of, for example, several tens of μm.

Further, in the case of direct teaching, even if the operator tries to move the robot arm in the lateral direction, it is assumed that the hand shakes and the direction shifts, and the robot arm cannot be moved in the direction intended by the operator. There is a risk. That is, in the case of direct teaching, there is an important factor that makes it difficult to perform highly accurate positioning not only in the distance when moving the arm but also in the direction when moving the arm. It is also necessary that the robot to be taught supports the direct teaching function.

Therefore, even if the operator manually performs the rough positioning, it is necessary to use a separate teaching pendant or the like for fine adjustment as in Patent Document 1, for example, when performing the final high-precision positioning. , There is a problem that workability is lowered because it is necessary to switch from a robot to a teaching pendant or to switch operations.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a robot teaching system capable of performing positioning with high accuracy even when an operator manually operates and teaches a robot. To do.

In the invention according to claim 1, the teaching system includes a target robot to be taught and an operating robot provided so that the posture can be changed by a manual operation by an operator. That is, an operation robot that can be operated by the operator is provided separately from the target robot that is the actual teaching target. Here, the fact that the posture can be changed by manual operation by the operator means that the operation robot is installed not only in the shape and size of the operation robot but also in an environment where the operator can safely and easily touch it. It also includes being there.

Then, the teaching system has a direct control mode in which the posture of the target robot is controlled so as to match the posture of the operating robot operated by the operator, and the operating robot that detects a change in the posture of the operating robot detected by the detection unit. Switch to the detailed control mode that controls the posture of the target robot by converting it to a preset motion unit that is smaller than the change in the posture of the robot, and executes the process of teaching the target robot based on the operator's operation on the operating robot. do.

In the detailed control mode, the operator's operation on the operating robot is treated as a preset operation unit. Therefore, the operating robot operates like a joystick, and the operator manually operates the operating robot. However, it is possible to control the posture of the target robot in a fixed motion unit, more specifically, in a motion unit set smaller than the detected change in the posture of the operating robot.

Then, if the motion unit is set in association with the minimum resolution of the target robot, for example, the posture of the target robot can be controlled with the minimum resolution without taking the hand off from the operating robot. Therefore, even when the operator manually teaches, positioning can be performed with high accuracy. At this time, highly accurate positioning can be performed not only in the distance when moving the arm but also in the direction when moving the arm.

Further, since the operation robot is provided separately from the target robot, the teaching work can be performed in a state where the safety of the worker is ensured and in an environment where the worker can easily work. Further, even if the target robot is a large robot, the workability can be improved by making the operation robot small.

Further, since the teaching work is performed by operating the operation robot, the merit of direct teaching that even an operator who is unfamiliar with the teaching work can operate intuitively is not impaired. Therefore, ensuring the safety of workers during teaching work and improving workability.

In the invention according to claim 2, the posture of the operating robot at the time when the detailed control mode is started is stored as a reference posture, and the difference between the reference posture and the current posture of the operating robot is detected as a change amount. As a result, the direction is defined with reference to the posture of the operating robot at the time when the fine adjustment is started, so that the operator can easily control the target robot in a desired direction.

In the invention according to claim 3, when the posture of the operating robot and the posture of the target robot deviate from each other in the detailed control mode, the posture of the operating robot and the posture of the target robot are changed after the control of the operation unit is executed. Match. As a result, the operating robot whose posture has changed due to the operation has the same posture as the target robot, and it is possible to suppress a sense of discomfort when operating the robot next time.

In the invention according to claim 4, when the posture of the operating robot and the posture of the target robot deviate from each other in the detailed control mode, the posture of the operating robot and the posture of the target robot are matched during the control of the operation unit. .. As a result, the operating robot whose posture is changed by the operation by the operator is controlled so as to match the posture of the target robot during the operation, so that an operation feeling such as a so-called click feeling can be obtained. In addition, since it is considered that the posture of the operating robot does not change so much because the fine adjustment is in progress, matching the postures does not give the operator a great sense of discomfort.

In the invention according to claim 5, an input unit for an operator to input a movement direction is provided, and the posture of the target robot is controlled only in the movement direction input to the input unit. As a result, movement in an unintended direction is restricted, and even if the operator operates the operation robot with a sense, the operation is surely controlled in the direction intended by the operator, which greatly improves operability. be able to.

The figure which shows typically the structure of the teaching system in embodiment Diagram showing the overall flow of teaching work Diagram showing the processing flow on the target robot side Diagram showing the processing flow on the operating robot side in the detailed control mode The figure which shows the flow of the process which returns to a direct control mode from a detailed control mode A diagram schematically showing an example of attitude control and attitude control directions.

Hereinafter, embodiments will be described with reference to FIGS. 1 to 6.
As shown in FIG. 1, the robot teaching system 100 of the present embodiment has a target robot 1 to be taught, a target side controller 9 to be a main body for controlling the target robot 1, and a posture by manual operation by an operator. The operation robot 11 is capable of changing the above speed, and the operation side controller 19 which is the main body for controlling the operation robot 11 is provided. Hereinafter, the target robot 1 is also referred to as a slave side for convenience, and the operation robot 11 is also referred to as a master side for convenience.

The target robot 1 is installed in a place where it actually operates, and has a well-known configuration as a so-called vertical articulated robot. Specifically, in the target robot 1, the shoulder 3 is rotatably connected to the base 2 via a first axis (J1) which is a rotation axis perpendicular to the installation surface. The lower end of the lower arm 4 extending upward via the second axis (J2), which is a rotation axis parallel to the installation surface, is rotatably connected to the shoulder 3. The first upper arm 5 is rotatably connected to the tip of the lower arm 4 via a third axis (J3) which is a rotation axis parallel to the installation surface.

A second upper arm 6 is rotatably connected to the tip of the first upper arm 5 via a fourth axis (J4) which is a rotation axis orthogonal to the third axis. A wrist 7 is rotatably connected to the tip of the second upper arm 6 via a fifth axis (J5), which is a rotation axis parallel to the installation surface. A flange 8 is rotatably connected to the wrist 7 via a sixth axis (J6), which is a rotation axis orthogonal to the fifth axis.

Although not shown, a jig called a hand or an end effector for gripping or processing the work is attached to the flange 8 which is the most advanced arm of the target robot 1. Further, although not shown, each indirect portion of the target robot 1 includes a motor for driving the arm, a transmission mechanism such as a speed reducer for transmitting the driving force of the motor, an encoder for detecting the rotation angle of the motor, and the like. It is provided.

The target side controller 9 includes a control unit 9a composed of a microcomputer or the like, and by executing a pre-installed program in the control unit 9a, the operation of the target robot 1, that is, the posture of the target robot 1 To control. Further, although the details will be described later, the target side controller 9 controls the posture of the target robot 1 based on the teaching information transmitted from the operation side controller 19 in relation to the present embodiment.

In the present embodiment, the operation robot 11 employs a vertical articulated robot having the same configuration as the target robot 1, and has a base 12, a shoulder 13, a lower arm 14, a first upper arm 15, a second upper arm 16, and a wrist. 17 and a flange 18 are provided. Further, although not shown, each indirect portion of the operating robot 11 includes a motor for driving the arm, a transmission mechanism such as a speed reducer for transmitting the driving force of the motor, an encoder for detecting the rotation angle of the motor, and the like. It is provided.

In the present embodiment, the operation robot 11 is provided so that the operator can directly touch and operate it at a position different from that of the target robot 1. Here, the fact that the operator can directly touch and operate means that the operation robot 11 has a shape and size that can be operated by the operator, and the safety of the operator who touches the operation robot 11 is ensured. It also includes the state of being.

In this case, in the operation robot 11, for example, the robot arm does not hit the operator even if the operator who operates the operation robot 11 is in a position where the target robot 1 can be visually recognized and the target robot 1 is in a posture not intended by the operator. It is conceivable to provide the robot at a position separated by a distance, a position where a guard fence or the like exists between the robot 1 and the target robot 1, or a position where a plurality of these conditions are satisfied.

The operation-side controller 19 includes a control unit 19a composed of a microcomputer or the like, and a detection unit 19b that detects the amount of change in the posture of the operation robot 11. The operation side controller 19 controls the operation of the operation robot 11, that is, the change of the posture, by executing the program incorporated in advance in the control unit 19a.

Although the details will be described later, the control unit 19a has a direct control mode for controlling the posture of the target robot 1 so as to match the posture of the operation robot 11 changed by the operator, and a posture of the operation robot 11 detected by the detection unit 19b. Switch to the detailed control mode that controls the posture of the target robot 1 by converting the change in the above into preset motion units, and execute the process of teaching the target robot 1 based on the operator's operation on the operation robot 11. ..

The detection unit 19b acquires the amount of change in the posture of the operating robot 11 from the difference between the encoders provided in the motor. The amount of change in posture may be acquired by another method such as providing a position detection sensor at the hand.

Next, the operation of the above configuration will be described.
Teaching of a robot is basically performed by setting a passing position (hereinafter referred to as a teaching point). However, in the case of a robot having a plurality of joints such as the target robot 1, as described above, it is difficult for an inexperienced worker to teach using a teaching pendant, and a large robot has poor workability. There is a problem of becoming.

Further, even if the direct teaching method is adopted, as described above, there is a big problem that high-precision positioning is difficult in the first place.
Therefore, in the teaching system 100, positioning can be performed at the operation unit level of the robot even when the operator manually teaches as follows.

First, the flow of teaching work in the entire teaching system 100 will be described with reference to FIGS. 2 and 3. At the time when the process of FIG. 2 is started, it is assumed that the posture of the initial position, which is the starting point of the operation cycle, has already been set in the operating robot 11.

When teaching the target robot 1, the operator sets the teaching system 100 to the direct control mode. Here, the operation of setting the direct control mode, the operation of switching to the detailed control mode described later, the operation of returning from the detailed control mode, the operation of setting as a teaching point, the operation of limiting the moving direction, and the like are not shown. , Is input from an input unit such as a switch provided on the operation robot 11 or the operation side controller 19. That is, the operation robot 11 and the operation side controller 19 function as input units. In this case, the change in posture of the operation robot 11 itself can be treated as an operation input.

In this case, the operation robot 11 is given extra vibration or the like by adopting an input unit for inputting the operator's operation, which does not have an operation mechanism like a touch panel and does not easily generate an extra force during operation. You can enter operations without having to. In addition, it is possible to prevent the teaching points from being unintentionally changed when the finger is released from the operation robot 11 or when the input unit is operated.

This is particularly significant when the input unit is arranged near the hand position, which is most frequently touched and is likely to unintentionally shake the robot arm in order to improve operability. In addition, when an input unit including an operation mechanism such as a push button is provided so that the operator can grasp the feeling of operation, the input unit should be provided on the base 2 or the like so as not to affect the position of the hand. Can be done.

In the teaching system 100, after the operation side controller 19 on the master side is set to the direct control mode (S1), the operation robot 11 is moved to the target posture by the operator's hand (S2). That is, when the operator touches the operating robot 11, each robot arm moves to the target posture while the posture is changed. Here, the target posture means the posture of the operating robot 11 in a state where the center position of the flange 18 has reached the teaching point to be set, or a state where the center position has reached the vicinity of the teaching point to be set. Hereinafter, the center position of the flange 18 is also referred to as a hand position for convenience.

At this time, when the posture of the operation robot 11 is changed by the operator's hand, the operation side controller 19 uses information such as the rotation angle of each motor capable of specifying the posture of the operation robot 11 as teaching information, and the target side controller 9 Send as appropriate to. The teaching information transmitted at this time also includes information indicating that teaching is being performed in the direct control mode.

On the other hand, when the teaching is started on the master side, the target side controller 9 on the slave side determines whether or not the teaching information is received from the master side as shown in FIG. 3 (S11). If the target side controller 9 has not received the teaching information (S11: NO), it determines whether or not the teaching has been completed (S13), and the master side has not notified the completion command, that is, the teaching is given. If it is not completed (S13: NO), the process proceeds to step S11 and waits.

On the other hand, when the target side controller 9 receives the teaching information from the master side (S11: YES), the target side controller 9 controls the posture of the target robot 1 based on the teaching information (S12). At this time, when the master side is operating in the direct control mode, the target side controller 9 receives the teaching information every time the posture of the operating robot 11 is changed by the operator, so that the target side controller 9 is in the posture of the operating robot 11. The posture of the target robot 1 is changed so as to follow the change of.

When the operating robot 11 is moved to the target posture or its vicinity, the operator determines whether the current posture of the operating robot 11 is sufficient or fine adjustment, that is, detailed positioning is required. Then, when the operator determines that fine adjustment is not necessary, the operator sets the current posture of the operating robot 11 as a teaching point. Hereinafter, the current posture of the operating robot 11 will be referred to as the current posture for convenience.

Therefore, when it is determined in FIG. 2 that fine adjustment is not necessary, such as when an operation to set the current posture as the teaching point is input by the operator, the teaching system 100 determines that fine adjustment is not necessary (S3: NO). The current posture is taught (S4). That is, the hand position in the current posture of the operating robot 11 is set as a teaching point. At this time, the operation side controller 19 transmits the current posture of the operation robot 11 and information to the effect that the current posture is the teaching point to the target side controller 9 as teaching information.

The work in which the operator manually operates the robot to set the teaching point in this way is the main flow of direct teaching. This direct teaching can simplify the teaching work because the operator can directly adjust the posture of the robot, and if the teaching points can be roughly set, for example, when teaching a trajectory that avoids obstacles. Especially significant in good cases.

On the other hand, in direct teaching, since the operator touches and moves the robot arm, it is difficult to perform high-precision positioning and fine adjustment at the minimum resolution level of the robot. Therefore, as shown in FIG. 2, the teaching system 100 makes fine adjustments such as when the operator manually moves to the target position (S2) and then the operator inputs a switching operation to the detailed control mode. When it becomes necessary (S3: YES), the operation side controller 19 executes the processing of the detailed control mode (S4).

In the detailed control mode, the teaching system 100 controls the posture of the target robot 1 by converting the amount of change in the posture of the operating robot 11 detected by the detection unit 19b into preset operation units. That is, in the direct control mode, the operation on the operation robot 11 is regarded as the operation on the target robot 1 and the posture of the target robot 1 is directly controlled, whereas in the detailed control mode, the operation on the operation robot 11 is an operation unit. The posture of the target robot 1 is indirectly controlled by converting to. To put it more simply, the detailed control mode is a mode in which the posture of the target robot 1 can be controlled in minute units by treating the operating robot 11 like a joystick.

Hereinafter, the processing flow in the detailed control mode will be described with reference to FIGS. 4 to 6. The processes shown in FIGS. 4 and 5 are executed by the operation side controller 19, and at this time, the target side controller 9 is executing the processes shown in FIG. Therefore, in the following, the operation side controller 19 will be mainly described.

When the operator inputs the operation to switch to the detailed control mode, the operation side controller 19 stores the current posture of the operation robot 11 as a reference posture (S21). Subsequently, when the operation robot 11 is operated by the operator, the operation side controller 19 moves the hand position (P0) in the reference posture and the hand position (Pc) in the current posture, for example, as shown in FIG. In the case of, the difference between the hand position (P0) in the reference posture and the hand position (Pc) in the current posture, that is, the difference between the reference posture and the current posture is stored as the operation amount of the posture. (S22).

This operation amount corresponds to the amount of change in the posture of the operation robot 11 when operated by the operator, and indicates the amount of movement and the movement direction of the hand position from the reference posture. Then, the operation side controller 19 transmits the stored operation amount as teaching information to the slave side, that is, the target side controller 9 (S23). At this time, the target side controller 9 that has received the teaching information controls the posture of the target robot 1 based on the amount of operation.

By the way, when the operator manually changes the posture of the operating robot 11, it is practically difficult to change the posture at the minimum resolution level, and the unintended posture due to the slight shaking of the hand. Changes may be detected.

Therefore, the target side controller 9 controls the posture of the target robot 1 in preset operation units based on the received operation amount. As the operation unit when controlling the target robot 1, for example, the minimum resolution at which the target robot 1 can control the posture can be associated with the operation amount of the operating robot 11 of 1 cm. In this case, every time the posture of the operating robot 11 changes by 1 cm, the posture of the target robot 1 changes by the number of operation units.

As a result, the amount of change in the posture of the operating robot 11 and the amount of change in the posture of the target robot 1 are intentionally made different, so that even when the operator operates the operating robot 11, the change in the posture of the operating robot 11 Can be controlled at the minimum resolution level by converting the target robot 1 into an operation unit.

The association with this operation unit is configured so that the operator can arbitrarily set and change it from, for example, the operation side controller 19. Therefore, it is possible to associate an integral multiple of the minimum resolution with respect to one operation unit, and it is also possible to change the association during the teaching work. However, from the viewpoint of safety, it is also possible to prepare the correspondence in advance in, for example, about three stages of large, medium and small, and let the person select from among them.

Further, the operation amount of the operation robot 11 and the operation unit do not necessarily have to be in a direct proportional relationship. For example, as the operation amount of the operation robot 11 increases, the magnification associated with the operation unit can be increased. As a result, the posture of the target robot 1 can be controlled to a certain extent without repeating the control at the minimum resolution level many times. In this case, safety can be ensured by setting the upper limit of the magnification that can be associated.

Subsequently, the operation side controller 19 determines whether or not the input operation, that is, the operation on the operation robot 11 is completed (S24). This determination can be made, for example, by inputting a switch or the like by the operator, but when the posture changes from the reference posture to a different posture and then returns to the reference posture, the posture of the operating robot 11 does not change for a certain period of time, or , It can be configured to determine that the operation is completed when a sudden change in posture occurs.

When it is determined that the operation is completed, the operation side controller 19 determines whether there is a difference in posture between the operation robot 11 and the target robot 1 (S25), and if there is a difference in posture (S25: YES), the operation robot After matching the posture of 11 with the posture of the slave, that is, the target robot 1 (S26), the process proceeds to step S21 and waits for the detection of the change in posture. On the other hand, if there is no difference in posture (S25: NO), the operation side controller 19 proceeds to step S21 as it is and waits for the detection of the change in posture.

In this way, by matching the posture of the operating robot 11 with the posture of the target robot 1 when one operation is completed, it is possible to suppress a sense of discomfort caused by the different postures.

When the operation to return to the direct control mode is input, the operation side controller 19 executes the return interrupt shown in FIG. 5, and if there is a difference in posture between the operation robot 11 and the target robot 1 (S31). : YES), after matching the posture of the operating robot 11 with the posture of the target robot 1 (S32), the direct return to the control mode is performed. On the other hand, if there is no deviation in posture (S31: NO), the operation side controller 19 directly returns to the control mode and teaches the current posture as shown in FIG. 2 (S5).

Then, the teaching system 100 executes the direct control mode or the detailed control mode and repeats the teaching until all the teachings are completed (S6: NO), and when all the teachings are completed (S6: YES), the processing is performed. To finish. At this time, the operation side controller 19 transmits information indicating that all the teachings have been completed to the target side controller 9, and the target side controller 9 ends the process because the teachings have been completed (S13: YES). do.

In this way, in the teaching system 100, by converting the amount of change in the posture of the operating robot 11 into the operation unit of the target robot 1, it is possible for the operator to manually operate the operating robot 11 while performing highly accurate positioning. It is supposed to be.

According to the teaching system 100 described above, the following effects can be obtained.
The teaching system 100 includes the target robot 1, the operating robot 11, the detection unit 19b that detects the amount of change in the posture of the operating robot 11, and the target robot 1 so as to match the posture of the operating robot 11 operated by the operator. The operation is switched between the direct control mode for controlling the posture and the detailed control mode for controlling the posture of the target robot 1 by converting the change in the posture of the operation robot 11 detected by the detection unit 19b into preset operation units. A control unit 19a that executes a process of teaching the target robot 1 based on an operator's operation on the robot 11 is provided.

In the detailed control mode, the operator's operation on the operating robot 11 is treated as a preset operation unit, and more specifically, an operation unit set smaller than the amount of change in the posture of the operating robot 11. That is, in the detailed control mode, the operating robot 11 operates as if it were a joystick, so that even when the operator manually operates the operating robot 11, the target robot 1 is controlled in a fixed motion unit. It becomes possible to do.

Then, if the operation unit is set in association with the minimum resolution, for example, the posture of the target robot 1 can be controlled with the minimum resolution. Therefore, even when the operator manually teaches, positioning can be performed with high accuracy. At this time, highly accurate positioning can be performed not only in the distance when moving the arm but also in the direction when moving the arm.

Further, since the operation robot 11 is provided separately from the target robot 1, it is possible to perform the teaching work in a state where the safety of the worker is ensured and in an environment where the worker can easily work. Further, even if the target robot 1 is a large robot, the workability can be improved by making the operation robot 11 a small one. That is, it is possible to both ensure the safety of the worker during the teaching work and improve the workability.

Further, the teaching system 100 stores the posture of the operating robot 11 at the time when the detailed control mode is started as a reference posture, and detects the difference between the reference posture and the current posture of the operating robot 11 as a change amount. As a result, the operation direction is defined based on the posture of the operation robot 11 at the time when the fine adjustment is started, so that the operator can easily control the target robot 1 in a desired direction.

Further, in the detailed control mode, when the posture of the operating robot 11 and the posture of the target robot 1 deviate from each other, the teaching system 100 matches the posture of the operating robot 11 with the posture of the target robot 1. As a result, the operating robot 11 has the same posture as the target robot 1, and it is possible to suppress a sense of discomfort when operating the robot 11.

In this case, in the detailed control mode, when the posture of the operating robot 11 and the posture of the target robot 1 deviate from each other, the posture of the operating robot 11 and the posture of the target robot 1 are matched during the control of the operation unit. You can also. As a result, the operation robot 11 whose posture is changed by the operation by the operator is controlled so as to match the posture of the target robot 1 during the operation, so that an operation feeling like a so-called click feeling can be obtained. can. Further, since it is considered that the posture of the operating robot 11 does not change so much because the fine adjustment is in progress, matching the postures does not give the operator a great sense of discomfort.

At this time, in the process shown in FIG. 4, by moving the process of matching the postures (steps S25 and S26) between steps S22 and S23, operability like a rebound type joystick can be realized. , The operator can operate it intuitively.

An input unit for the operator to input the movement direction can be provided, and the posture of the target robot 1 can be controlled only in the movement direction input to the input unit. That is, the direction permitted by the operator can be set as the control direction of the target robot 1. As a result, the movement of the target robot 1 is restricted only in the direction set by the operator, so that the movement in the unintended direction is restricted, and even when the operator operates the operation robot 11 with a sense. , The target robot 1 can be reliably controlled in the direction intended by the operator.

Therefore, the operability can be greatly improved. In this case, as the moving direction, any direction of the hand position, that is, the XYZ plane having the center of the flange 8 as the origin, or the rotation direction of the flange 8 can be set.

The present invention is not limited to those exemplified in each embodiment, and can be appropriately modified or extended without departing from the gist thereof.

In the embodiment, a 6-axis vertical articulated robot is illustrated, but the configuration shown in each embodiment can be applied to a 7-axis vertical articulated robot or a 4-axis horizontal articulated robot, and each robot can be used. The same effect as that of the embodiment can be obtained.

In the embodiment, an example in which the operation amount is transmitted to the target side controller 9 as teaching information is shown, but the operation side controller 19 determines the posture to be reached by the target robot 1 and targets the information capable of taking that posture. It may be configured to be transmitted as teaching information to the side controller 9.

In the embodiment, an example in which the operation amount of the operation robot 11 is associated with the operation unit in the target robot 1 is shown, but the operation robot 11 is bounced as described above by changing the configuration to indicate the completion of the operation by a switch or changing the posture. In the case of the configuration treated like the joystick of the formula, the number of controls in the operation unit can be increased according to the time when the current posture deviates from the reference posture.

As a result, if the operation robot 11 is operated in the desired direction to maintain the posture, the control in the operation unit is repeated for that time, for example, the posture and the target posture at the time of switching to the detailed control mode. The posture of the target robot 1 can be controlled without significantly changing the posture of the operating robot 11 even when the robots are out of alignment and fine adjustment is required a plurality of times. Further, since the number of times of control can be increased by continuing to maintain the posture of the operating robot 11, fine adjustment can be made while visually observing the target robot 1, and operability can be improved.

In the embodiment, the configuration in which the operation side controller 19 for controlling the operation robot 11 and the target side controller 9 for controlling the target robot 1 are provided, but the configuration in which the operation robot 11 and the target robot 1 are controlled by one controller is shown. Can be. Further, the operation robot 11 is not limited to the same robot as the target robot 1, and a robot dedicated to teaching work designed so that the operation unit can be converted can be adopted.

In the drawing, 1 is the target robot, 9 is the target side controller (control unit, detection unit, input unit), 9a is the control unit, 9b is the detection unit, 11 is the operation robot (input unit), and 19 is the operation side controller (control). Unit, detection unit, input unit), 19a indicates a control unit, 19b indicates a detection unit, and 100 indicates a teaching system.

Claims (5)

The target robot to be taught and
An operating robot that can change its posture by manual operation by an operator,
A detection unit that detects the amount of change in the posture of the operating robot due to the operation of the operator,
A direct control mode that controls the posture of the target robot so as to match the posture of the operating robot operated by the operator, and a posture of the operating robot that detects a change in the posture of the operating robot detected by the detection unit. The process of teaching the target robot based on the operator's operation on the operating robot by switching to the detailed control mode for controlling the posture of the target robot by converting it into a preset motion unit smaller than the change of The control unit to execute and
A robot teaching system characterized by being equipped with. The detection unit stores the posture of the operating robot as a reference posture at the time when the detailed control mode is started, and detects the difference between the reference posture and the current posture of the operating robot as the amount of change. The robot teaching system according to claim 1, wherein the robot is characterized. When the posture of the operating robot and the posture of the target robot deviate from each other in the detailed control mode, the control unit determines the posture of the operating robot and the posture of the target robot after executing the control of the operation unit. The robot teaching system according to claim 1 or 2, wherein the robots match. When the posture of the operating robot and the posture of the target robot deviate from each other in the detailed control mode, the control unit matches the posture of the operating robot with the posture of the target robot during the control of the operation unit. The robot teaching system according to any one of claims 1 to 3, wherein the robot is made to perform. Equipped with an input unit for the operator to input the moving direction
The robot teaching system according to any one of claims 1 to 4, wherein the control unit controls the posture of the target robot only in the movement direction input to the input unit.

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