JPH03245981A - Method and device for teaching industrial robot - Google Patents

Abstract

PURPOSE:To drastically simplify a robot teaching work and also to drastically shorten the necessary time, by providing a correction means, which corrects the coordinate value of a pentaaxial articulated robot based on a action instruction quantity, under the conditions that the posture in the direction orthogonal with a direct acting shaft of a terminal axis being to be controlled is instructed. CONSTITUTION:In the case of teaching the industrial robot made by mounting a pentaaxial articulated robot 1 on a direct acting axis 2, the pentaaxial articulated robot 1 is acted by correcting its moving target coordinate value corresponding to the action quantity along the direct acting shaft 2, when the control of the posture of a terminal axis if in the direction orthogonal with the direct acting shaft 2 is instructed. Consequently, the need for repeating in many times the action along the direct acting shaft 2 and the control of the pentaaxial articulated robot 1 is eliminated, the robot teaching work can drastically be simplified and also the necessary time can drastically be shortened.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to an industrial robot teaching method and device, and more specifically, a five-axis articulated robot that moves along a linear axis. The present invention relates to a method and apparatus for teaching industrial robots.

<Prior Art and Problems to be Solved by the Invention> Five-axis vertically articulated robots have been conventionally provided for applications such as welding. Unlike industrial robots with other axis configurations, such as 6-axis robots, this spiral-axis vertically articulated robot lacks a degree of freedom, so it is used in applications where the orientation of the workpiece does not matter much, such as boat fishing. . In addition, focusing on the fact that a 5-axis vertically articulated robot can greatly simplify the power transmission mechanism and achieve a significant cost reduction compared to a 6-axis robot, we developed a 5-axis vertically articulated robot. In order to compensate for the lack of degrees of freedom, we adopted a configuration in which the already available 5-axis vertically articulated robot moves along the linear axis to obtain the same degree of freedom as a 6-axis robot. It is possible that However, since the lack of degrees of freedom is compensated for by adding a linear axis, if you want to teach to control the posture of the hand axis in the direction perpendicular to the linear axis, the teaching process will be difficult. This has the disadvantage that not only is it extremely complicated, but the time required is also extremely long.

To explain this inconvenience in more detail, if movement in the direction along the translational axis is instructed, the 5-axis vertically articulated robot as a whole moves along the translational axis, so the position of the hand axis also changes depending on the amount of movement. and,
In this state, it is impossible to control the posture of the hand axis by controlling only the 5-axis vertically articulated robot because of the insufficient degree of freedom. Therefore, in order to compensate for the lack of degrees of freedom, it is necessary to move the linear motion axis and operate the 5-axis vertically articulated robot.

This inconvenience is not an inconvenience at all once robot teaching has been performed, but when performing robot teaching, the 5-axis vertically articulated robot is moved along the linear motion axis, and in this state, the 5-axis Check whether the hand axis can be controlled to the desired posture by operating the vertically articulated robot, and until it is confirmed that the hand axis can be controlled to the desired posture, the 5-axis vertical axis The movement of the articulated robot and the operation of the 5-axis vertical articulated robot itself have to be repeated, making the work extremely complicated and requiring a significant amount of time.

Furthermore, as is clear from the configuration, the industrial robot with the above configuration is constructed by mounting a pre-obtained 5-axis vertically articulated robot on a linear motion axis.
The control of the 5-axis vertically articulated robot itself and the control of the linear motion axes are separate control systems, and the complicated work described above is essential for robot teaching.

<Object of the invention> This invention was made in view of the above problems,
To provide a new method and device for teaching an industrial robot, which can simplify the teaching work of an industrial robot having a configuration in which a five-axis articulated robot is mounted on a linear motion axis, and can greatly shorten the required time. It is an object.

Means for Solving the Problem> In order to achieve the above object, the industrial robot teaching method of the present invention is directed to control the posture of the hand axis in a direction perpendicular to the linear motion axis. In this case, the 5-axis articulated robot is operated by modifying the movement target coordinate values of the 5-axis articulated robot in accordance with the movement amount along the linear axis.

In order to achieve the above object, the industrial robot teaching device of the present invention includes a holding means for temporarily holding a motion instruction amount along a translational axis, and a posture of a hand axis in a direction perpendicular to the translational axis. and a 5-axis articulated type, on the condition that it is instructed to control the posture of the hand axis in a direction perpendicular to the linear motion axis. The apparatus includes a correction means for correcting the coordinate values of the robot based on the movement instruction amount, and a control means for operating the vertically articulated robot based on the movement instruction amount and the corrected coordinate values.

With the above industrial robot teaching method, when teaching an industrial robot consisting of a 5-axis articulated robot mounted on a linear axis, the posture of the hand axis in the direction perpendicular to the linear axis can be adjusted. When an instruction is given to control the 5-axis articulated robot, the 5-axis articulated robot moves by correcting the movement target coordinate values of the 5-axis articulated robot in accordance with the amount of movement along the linear axis. ,
It is no longer necessary to repeat the motion along the linear axis and the control of the 5-axis articulated robot many times, and the robot teaching/instruction work can be greatly simplified and the required time can be greatly shortened.

With the industrial robot teaching device configured as described above, when it is instructed to control the posture of the hand axis in a direction perpendicular to the linear motion axis, the correction means adjusts the coordinates of the five-axis articulated robot. Since the value can be corrected based on the motion instruction amount of the linear motion axis, there is no need to repeat the motion along the linear motion axis and the control of the 5-axis articulated robot many times, and the robot teaching work can be improved. It can be simplified to a large extent, and the time required can be reduced to a large extent.

<Example> Hereinafter, embodiments will be described in detail with reference to the accompanying drawings showing examples.

FIG. 5 is a diagram schematically showing the configuration of an industrial robot to which the present invention is applied, which includes a horizontal rotation axis (1a), and three vertical rotation axes (lb) (lc) following the horizontal rotation axis (la).
(1d) and the horizontal rotation axis (1f) that controls the hand axis (1f).
A five-axis articulated robot (1) with a linear motion axis (1e)
2) is supported.

Therefore, by cooperating these axes,
The hand axis (■") can be controlled to the desired posture.

FIG. 1 is a flowchart showing an embodiment of the industrial robot teaching method of the present invention, and shows a case where posture control in a direction perpendicular to the linear motion axis of the hand axis is instructed.

In step ■, a movement command is taken from a teaching pendant, etc., in step ■, a target coordinate value is generated according to the taken movement command, and in step ■, it is determined whether there is a movement request on the linear motion axis ■. do.

If it is determined that there is a movement request by the linear motion axis (2), then in step 2, the coordinates of the 5-axis vertically articulated robot (1) are set according to the amount of movement by the linear motion axis (2). Correct.

If step ■ has been processed, or step
If it is determined that there is no request for movement by the linear axis (2) in step 2, coordinate transformation is performed on the corrected coordinate values or generated coordinate values in step 2, and in step The coordinate values are taken in as taught coordinate values, and the corresponding axes of the industrial robot are operated in step (3). Thereafter, in step (2), it is determined whether or not the robot teaching has been completed, and if it is determined that the robot teaching has not been completed, the process of step (2) is performed again. On the other hand, if it is determined that the robot/soto teaching has been completed, the series of processes is immediately ended.

In other words, in the past, the 5-axis vertically articulated robot and the linear motion axis were controlled as completely separate control systems, so the movement of the 5-axis vertically articulated robot along the linear motion axis and the movement at that point In contrast, with the teaching method of this invention, the 5-axis vertical joint type ROBOT/SOTO had to be repeatedly operated even though it is a separate control system. When teaching Robo-Soto (1), the coordinate values are corrected taking into consideration the amount of movement of the linear axis (■), eliminating the need for the complicated work of conventional methods, and teaching Robo-Soto (1). can be significantly simplified.

As a method for correcting the coordinate values in the above step , y, z are three-dimensional coordinate values indicating the position, a, b.

C is the coordinate value indicating the posture of the hand axis), and is the linear motion axis (2)
If the amount of movement is +△C, then X becomes X-80 and C becomes C+
The hand axis (l f') should be corrected to ΔC, and even when the 5-axis vertically articulated robot (1) moves from the position shown by the solid line in Fig. 2 to the position shown by the broken line in the same figure, the hand axis (l f')
can be kept in the same state.

<Embodiment 2> Fig. 3 is a block diagram showing an embodiment of the robot teaching device of the present invention.
2), a second import unit (21
) and a first import section (11) that imports movement commands for the five-axis vertically articulated robot (1). A second generation unit (22) generates target coordinate values based on the movement command captured by the second capture unit (21).
), and a first generation unit (12) that generates target coordinate values based on the movement command captured by the first capture unit (11).
), and also has a taught value holding section (23) (13) that holds the generated target coordinate value as a taught value. Furthermore, it has a motion control section (24) (14) that operates the linear motion axis (1) and the five-axis vertically articulated robot (1) based on the generated target coordinate values.

Further, the first generating section (12) is configured to include a first capturing section (12).
The target coordinate values are not generated based only on the movement command taken in by step 1), but as shown in Fig. 4, the presence or absence of a movement command for the linear motion axis (2) is determined and a determination result signal is obtained. a discriminator (12a) and a movement amount output section (12a) that obtains the amount of movement of the linear motion axis (2) based on a determination result signal from the discrimination section (12a) indicating that there is a movement command for the linear motion axis (2); 12b), a generation unit (12c) that calculates a target coordinate value based on the movement command acquired by the first acquisition unit (11), and a target coordinate value and movement amount output unit calculated by the generation unit (12e). A correction unit (12d) that obtains corrected coordinate values based on the movement amount output from (12b).
) and a posture control determining section (12e) that determines whether or not the posture of the hand axis (1f) in a direction perpendicular to the linear motion axis (2) should be controlled based on the instruction manual power, and operates the determining section (12a).
).

Note that the correction unit (+2d) obtains corrected coordinate values in the same way as the process of step ① in the flowchart of FIG. Then, the target coordinate values calculated by the generation unit (12c) are output as they are.

Therefore, if there is no movement command for the linear axis -, the target coordinate values can be generated by considering only the 5-axis vertically articulated robot (1), so it can be easily generated just like a conventional industrial robot. The robot can be taught and the corresponding robot motions performed.

Conversely, if there is a movement command for the linear motion axis (2),
In the correction unit (12d), it is possible to obtain target coordinate values that have been corrected in accordance with the amount of movement of the linear motion axis (2), and in this case as well, the robot can be easily taught and the corresponding robot motion can be performed. I can do it.

Therefore, overall, the teaching work for industrial robots can be greatly simplified and the required time can be greatly reduced.

Note that the present invention is not limited to the above-described embodiments; for example, instead of simply adding and subtracting the amount of movement of the linear motion axis, an amount that takes into account a coefficient that changes depending on the amount of movement may be added or subtracted. In addition, various design changes can be made without changing the gist of the invention.

<Effects of the Invention> As described above, the first invention eliminates the need to repeat the motion along the linear axis and the control of the 5-axis vertically articulated robot many times, and greatly simplifies the robot teaching work. It has the unique effect of significantly shortening the required time.

The second invention also eliminates the need to repeat the motion along the linear motion axis and the control of the 5-axis vertically articulated robot many times, which greatly simplifies the robot teaching work and greatly reduces the required time. It has the unique effect of being able to be shortened.

[Brief explanation of drawings]

FIG. 1 is a flowchart showing an embodiment of the industrial robot teaching method of the present invention, FIG. 2 is a schematic diagram illustrating the operation of the industrial robot, and FIG. 3 is a flowchart showing an embodiment of the robot teaching device of the present invention. FIG. 4 is a block diagram showing in detail the configuration of the first generation section, and FIG. 5 is a diagram schematically showing the configuration of an industrial robot to which the present invention is applied. (1)...5-axis vertical articulated robot, (lf)...
Hand axis, (2)...Linear axis, (12c)...Generation unit, (12e)...Posture control determination unit, (14)...Movement control unit, (21)...No. 2 intake section

Claims (1)

[Scope of Claims] A method for teaching an industrial robot in which a 1-, 5-axis articulated robot (1) is mounted on a linear motion axis (2), the hand axis (1f) being mounted on a linear motion axis (2). ), if it is instructed to control the posture in the direction perpendicular to
Modify the movement target coordinate values of the axis-jointed robot (1) and
An industrial robot teaching method characterized by operating a shaft-jointed robot (1). 2. Holding means (21) that temporarily holds the motion instruction amount along the linear motion axis (2), and the linear motion axis (2) of the hand axis (1f).
a discriminating means (12e) for discriminating whether or not an instruction has been given to control the posture in a direction perpendicular to the axis; and a linear motion axis (2) of the hand axis (1f).
a correction means (12c) for correcting the coordinate values of the five-axis articulated robot (1) based on the movement instruction amount, on the condition that the posture should be controlled in a direction perpendicular to the movement direction; An industrial robot teaching device comprising: a control means (14) for operating a five-axis articulated robot based on an instruction amount and corrected coordinate values.