JPH02276725A - Instruction for robot - Google Patents

Abstract

PURPOSE:To automatically prepare a program in a short time by attaching each instruction mark having the instruction information to the instructed articles which are previously arranged on a pallet and reading the mark by an image sensor and instructing a robot on the program for palletizing work from the instruction information. CONSTITUTION:The instruction marks 24 and 25 are displayed with each position and direction of instruction information onto the upper surface of each instructed article 18. Then, the whole figure of the instructed article 18 is taken by a whole observation TV camera 19, and a controller 21 detects the position of the mark of '1', and a robot 11 is operated, and an arm 2 is shifted so that a TV camera 15 is set over the mark '1', and each '1' of the marks 24 and 25 is set within the viewfield of the TV camera 15. The instruction information of the mark 24 and each height of the marks 24 and 25 which is obtained by an article height sensor 16 are inputted into a controller 21, and the holding position and the holding direction are calculated from the direction of the longer axis 27 of the mark 24, and a program for palletizing work can be prepared automatically.

Description

[Detailed Description of the Invention] [Objective of the Invention] (Industrial Application Field) The present invention relates to a teaching method for a robot that performs palletizing work of transported objects, and is particularly aimed at simplifying and labor-saving the troublesome teaching work. The present invention relates to a method of teaching a robot to perform suitable palletizing work.

(Prior art) Conventionally, the teaching work for palletizing the transported objects is
It was necessary to create a program according to each applicable work, and to teach the positions of the objects to be transported one by one. Among these, for items whose arrangement is relatively regular and whose stacking order is -
As shown in the figure, by teaching three teaching points a, b, and c representing block A of the transported object 1, the positions of all the transported objects 1 on the pallet 2 are calculated and specified in advance. A system is provided that has a palletizing function that has instructions to move the palletizer to the position according to the order in which the palletizer is moved.
The objects 1 to be transported can be stacked and unloaded in the order shown in the figure.

However, as shown in FIG. 12, when the arrangement of the transported objects 3, their stacking, and the order of discharging them become complicated,
As mentioned above, it is difficult to calculate the positions of all the objects 3 to be loaded and to specify the loading and unloading by only teaching the representative points. It is necessary to teach.

In addition, as shown in FIG. 13, some palletizing operations involve specifying the position, that is, directionality, of the label surface of the conveyed object 4 having a label 4a, and for such operations, It is also necessary to consider rotating the transported object 4 during transport.

In general, in palletizing work, Fig. 14(a), (
As shown in b), an operation called grading is required. This is to ensure that when stacking the transported objects 5, they pass through the gathering position e as a relay point before reaching the stacking position d in order to avoid interference with other transported objects 5. The arrangement and stacking of the transported objects 5 at this gathering position are designated differently depending on the order. That is, it is necessary to teach each individual object. In this way, in palletizing work, the position of each conveyed object.

There is a lot of teaching information such as the direction and the position of the approach.

(Problem to be Solved by the Invention) Conventionally, all the teaching points for the movement of the robot during palletizing work were manually taught to create a program, so it took a lot of effort to create the movement program at each teaching point. There is a drawback that it requires a lot of teaching time.

Furthermore, there is a problem in that the teaching accuracy is limited, making it difficult to teach complicated assembly operations.

Therefore, an object of the present invention is to attach a teaching mark having teaching information to the teaching objects arranged on a pallet in advance, read the teaching information of the mark with an image sensor, and use the teaching information to cause the robot to perform palletizing work. For example, by teaching the program, the gripping position 1 gripping direction of the conveyed object during palletizing work.

To provide a teaching method for a robot in which a program for gripping order, flapping position, etc. can be automatically created easily and in a short time.

[Structure of the Invention] (Means for Solving the Problems) The present invention is a robot that performs palletizing work by sequentially transferring and arranging objects to be transported on a pallet, in which teaching information is provided to teaching objects arranged in advance on packets. The present invention is characterized in that a teaching mark is attached to the robot, the teaching mark is read by an image sensor, and the teaching information is used to teach the robot a palletizing work program.

(Operation) According to the above means, the teaching mark attached to the teaching object is read as teaching information by an image sensor, the teaching information is recognized, and the teaching point of the robot is calculated based on the recognized information. Since the teaching information at the teaching points is automatically calculated, by manually inputting only the information that cannot be specified by the teaching marks into the calculation results, it is possible to complete a program for the robot to perform all movements at the teaching points. It can be created easily and in a short time.

(Embodiment) A first embodiment of the present invention will be described below with reference to FIGS. 1 to 4. In FIG. 1 showing the overall configuration, an attachment for teaching work is provided at the tip of an arm 12 of a robot 11 in place of a hand 13 (see FIG. 3), which will be described later, for gripping a conveyed object during teaching. 14 is attached, and this is provided with a hand TV left camera 5 as an image sensor and an article height detection sensor 16. A pallet 17 is arranged at a position where palletizing work is to be performed, and teaching articles 18 are arranged on the upper surface of the pallet in a positional relationship to be taught. A teaching mark, which will be described later, is attached to the upper surface of each of these teaching articles 18. As the teaching object, a model having the same shape as the limb to be transported or the object to be transported is used. And palette 1
An overall TV camera 19 serving as both (♀) sensors for inputting an overall image is installed above the hand TV left camera 5 and an overall TV camera 19 for inputting an overall image, and outputs from the hand TV left camera 5 and the overall TV camera 19 are given to an image processing device 20. The output from this is given to a control device 21. A keyboard 22 and an article height detection sensor 16 are connected to this control device 21.
The output is given to the robot control device 23, and the output of this robot control device 23 is received by the robot 11.

Now, an example of the teaching mark attached to the upper surface of the teaching article 16 will be explained in detail with reference to FIGS. 2 to 4.

That is, 24 is a teaching mark of Ti1, and 25 is a second teaching mark located near the first teaching mark 24.

The first teaching mark 24 is a circle with a black triangle and a white triangle attached, the center 26 of the circle indicates the teaching point, that is, the gripping position, and the long axis 27 of the inertia axis of the first teaching mark 24 indicates the gripping direction, the black triangle indicates the claw A side of the hand 13,
The white triangle indicates the claw B side of the hand 13.

The second teaching mark 24 indicates the loading and unloading order using Arabic numerals. In FIG. 4, reference numeral 28 indicates the field of view of the hand TV left camera 5, and 29 indicates the current field origin of the hand TV left camera 5.

Next, a procedure for performing automatic teaching processing on the teaching article 18 and obtaining teaching information will be described. In this case, the teaching articles 18 are first stacked on the pallet 2 as shown in FIG. 1, and the blocks are stacked in a state where the injury is completed. Teaching article 18
When laminating multiple layers in multiple stages, teaching is performed one stage at a time. First, 1ζ when teaching one stage will be explained. A teaching mark 24 is placed on the top surface of each teaching article 18 in advance.
and a teaching mark 25 are attached at a position and direction indicating the teaching information. In this state, a full view of the teaching article 18 is captured by one all-external TV camera, and the control device 21 receives the information via the image processing device 20. Then, the control device 21 first detects the position of "1" of the teaching mark 25 based on the information processed by the image processing device 20 and operates the robot 11, and the hand TV left camera 5 detects the "1" position of the teaching mark 25.
” Move arm 2 so that it is above the mark,
As shown in FIG. 4, the teaching mark 24 and the teaching mark 25 "1" are placed in the field of view of the left TV camera 5 at the hand. The teaching information given to the teaching mark 24 by this hand TV left camera 5 is then sent to the image processing device 20 as an image.
This is processed and sent to control device g121 #5.
-'f, and at the same time, the heights (Z-axis components) of the teaching marks 24 and 25 are detected by the article height sensor 16 and provided to the control device 21. Therefore, the gripping position is determined by the control device 21 based on the information on the teaching position (X-axis, Y-axis components) from the image processing device 2° and the height information (Z-axis component) from the article height sensor 16. In addition, the direction of the grip t1j is calculated by the control device 21 from the direction of the long axis 27 of the teaching mark 24. The processing functions of the image processing device 20 described above are commonly performed, so a detailed explanation will be omitted, but the control device 21
performs calculations based on information obtained from the image processing device 20 and the article height sensor 16, and information taken in from the keyboard 22 as necessary, and automatically creates a program for palletizing work. The above explanation is about the teaching article 18 marked with "1" of the teaching mark 25, but when the above operation is completed, r2J of the teaching mark 25,
r3J, r4J... The same operation as above is performed for the taught articles 18 marked with "7" to create a palletizing work program. The above is the teaching for the first stage, but the second stage and subsequent stages are taught in exactly the same manner as above.

5 and 6 show a second embodiment of the present invention, 30 is a teaching mark for indicating the gripping position, and this is made up of four isosceles triangles attached to the four corners of the teaching article 18. The center of grip is determined by calculating the combined center of gravity 30A of the four teaching marks 30 from the center of gravity 30a of each of these teaching marks 3°. Reference numerals 31 and 32 are two teaching marks for indicating the gripping position. The black triangular teaching mark 31 indicates the claw A side of the hand 13, and the white triangular teaching mark 31 indicates the claw B side of the hand 13. And teaching mark 31
．． Arabic numeral teaching mark 3 placed in the middle of 32
3 shows the loading and unloading order. Then, the teaching information given to the teaching marks 30 to 33 by the hand TV left camera 5 is transferred to the image processing device 2 as an image.
D J,: Read, processed and sent to control device 2
1, and calculations are performed based on the teaching information of each teaching mark 30 to 33, and a palletizing work program is automatically created in the same manner as in the first embodiment described above.

7 to 9 show a third embodiment of the present invention, and 34.35 is a teaching mark for positioning the teaching articles 18, which is attached to a device that performs width-adjusting when stacking teaching articles 18. These are the marks shown in Figure 7(a).

The dashed line in (b) indicates the alignment position, and “→”
The shape of the teaching mark 34 is set so that the horizontal direction of the loading and unloading position shown by the solid line in the same figure and the loading position E shown by the two-dot chain line in the same figure is shown in FIG. The distance is indicated by the length of the teaching mark 34, and the teaching mark 35 with the symbol "H" is vertical to the loading and unloading position E. It represents the distance in the direction.

In this case, the letter "H" has the meaning that, for example, the height H of the flap is 100 mm. Even in this configuration, the teaching information given to the teaching marks 24.2'5 and 34.35 by the hand TV camera 15 is read into the image processing device 20 as an image, which is processed and given to the control device 21. Each teaching mark 24
．． Calculations are performed based on the teaching information of 25 and 34.35, and a palletizing work program is automatically created in the same manner as in the first embodiment described above. In FIG. 7(b), EA and DA indicate the center of gravity of the teaching article 18 with respect to the vertical plane. FIG. 9 shows an example of attaching the teaching marks 33 and 34 described in FIGS. 7 and 8 to four teaching articles 18.

In addition to the teaching information shown in each of the above-mentioned embodiments, hand 1
A teaching mark having teaching information for instructing the depth of grasping, the posture of the robot (distinguishing between right-handed and left-handed systems), etc., may be pasted on the teaching object.

Furthermore, the shape of the teaching mark and the type of teaching information shown in each of the above-mentioned embodiments are shown as examples only, and the teaching mark can be any letter, number, symbol, figure, etc. There are no particular restrictions on the number, color, etc., and it is possible to set them arbitrarily.

[Effects of the Invention] As is clear from the above description, the present invention provides a robot that performs palletizing work by sequentially arranging transported objects on a pallet, and in which teaching information is applied to teaching objects arranged in advance on packets. The present invention is characterized in that a teaching mark with a . This has an excellent effect in that a program for palletizing work by a robot can be automatically created easily and in a short time only by manually inputting information that cannot be completed.

[Brief explanation of drawings]

1 to 4 show a first embodiment of the present invention, in which FIG. 1 is a schematic configuration diagram, FIG. 2 is an enlarged top view of the teaching article, FIG. 3 is a perspective view, and FIG. 5 and 6 show the second embodiment of the present invention, FIG. 5 is a plan view of the teaching mark, and FIG. 6 is a top view of the teaching article. 7 to 9 show a third embodiment of the present invention, in which FIG. 7(a) is a plan view, FIG. 7(b) is a side view, and FIG. 8 is an enlarged plan view of the teaching mark. 9 is a top view showing the arrangement of teaching articles, FIGS. 10 to 14 are for explaining the prior art, FIG. 10 is a perspective view, and FIG.
12 are top views, FIG. 13 is a perspective view, FIG. 14(a) is a top view, and FIG. 14(b) is a side view. In the drawings, 11 is a robot, 13 is a hand, 14 is an attachment, 15 is a hand TV camera, 16 is an article height detection device, 17 is a pallet, 18 is a teaching article, 19 is a general TV camera, and 20 is an image processing device. , 21 is a control device, 2
4, 25.30931, 32.33, 34.35 are teaching marks. Applicant: Toshiba Corporation

Claims (1)

[Claims] 1. In a robot that performs palletizing work by sequentially transferring and arranging objects to be transported on a pallet, a teaching mark with teaching information is attached to the teaching objects arranged on the pallet in advance, and the teaching mark is attached using an image sensor. A method for teaching a robot, characterized in that the program for palletizing work is taught to the robot by reading the teaching information contained in the teaching mark.