JPH03245982A - Operation device of teaching robot - Google Patents

Abstract

PURPOSE:To facilitate the teaching work of a robot and to shorten the time, by composing it so as to move a tool in the direction operating a grip by pushing and drawing the grip and falling it vertically and to the right and left. CONSTITUTION:In the case of moving a tool up and down, the right and left for the shaft center thereof, a grip 21 is pulled down to up and down, the right and left. Then, the switches 14a, 14b, 15a, 15b located at the up and down, the right and left of the grip are turned ON on each cases and the tool is moved in the same direction as the direction in which the grip 21 is operated by the action of a robot. The tool is moved in the same direction as the operation direction of the grip 21 even by pushing and pulling this grip 21. Namely, the movement of the tool in the same direction as the direction in which the grip 21 operates in the three dimensional space is possible.

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to an operating device for a teaching robot that facilitates the operation of a robot during teaching.

B0 Summary of the Invention The present invention provides a teaching robot operating device for operating a robot for the purpose of teaching when a robot moves a tool to process a workpiece, and the present invention provides a grip attached to the side opposite to the tip of the tool. By operating the robot by tilting the tool in four directions around the axis of the tool, or pushing and pulling it in the direction of the axis, the direction in which the tool is desired to be moved matches the direction in which the instructor operates it. This makes it easy to teach the robot and enables quick response.

C1 Conventional technology When performing the same processing on a plurality of identical workpieces using a robot, a teaching operation is performed to memorize a trajectory so that the blade of a tool attached to the robot moves along a fixed trajectory. The teaching method is to move the tool along the trajectory when actually machining and memorize the trajectory at that time,
There is a method of inputting pre-recorded coordinate data as numerical values.

When teaching using the batter's method, conventionally the robot is operated using a teaching box attached to the robot control panel.

For example, we will explain the teaching work when attaching a grinder as a tool to a robot to remove burr from an engine block. As shown in FIG. 6, a master 7-1 from which burrs have been removed in advance is prepared, and the cutting tool 2a of the tool 2 is moved along a trajectory that will be used when actually removing burrs. The operation of the robot 3 at this time is performed using a teaching box having many buttons, etc., and the coordinates (position), attitude (angle), etc. of the cutting tool 2a to be moved at this time are stored in the robot control panel. For example, in the case of Fig. 7, the coordinates for teaching are as follows.
Both ends of the continuous line segment and the circle i as shown in (a) to (wa)
Suppose you want to change the joints between parts, the shape of the blade, the position of the cutting tool, or the movement speed.

When teaching, the robot 3 is operated while visually checking the contact state between the work l and the cutting tool 2.

D. Problems to be Solved by the Invention However, since the robot is operated indirectly by pressing keys provided on the teaching box, it is difficult to move the robot as desired. Therefore, it takes a lot of time even for those who are accustomed to the work. Furthermore, there is a large difference in the time required for teaching between experienced users and beginners, and it is not possible for anyone to easily and quickly provide high-quality teaching.

Therefore, an object of the present invention is to provide an operating device for a teaching robot that solves the above problems.

81 Means for Solving the Problems The present invention is configured to provide an operating device for a teaching robot that is attached to the side opposite to the cutting tool mounting side of a tool that is attached to a teaching robot, and that comprises: A long stick is attached to the base to which the tool extends in the direction in which the tool extends, and is swingable in either direction via a bearing, while an operating plate is fixed to the base end of the stick at right angles to the axis of the stick. , Arrange four switches that are turned on when pressed by the operation panel at approximately equal intervals on a concentric circle centered on the stick, on a plane perpendicular to the tool's precision, and fixed to the base, and The tool is set so that when a switch located in a specific direction is turned on, the tool moves in the direction of the switch relative to the stick, and a grip is attached to the tip of the stick so that it can move freely in the axial direction of the stick. It is characterized by the provision of a pair of switches that detect the moving direction and move the tool in the same direction as the moving direction of the grip.

If you want to move the F8 action tool up, down, left, or right with respect to its axis, tilt the grip up, down, left, or right. Then, switches located above, below, left and right of the grip are turned on in each case, and the tool moves in the same direction as the direction in which the grip was operated by the robot's motion.

Pushing or pulling the grip also moves the tool in the same direction as the direction of operation of the grip.

In other words, the tool can be moved in the same direction as the direction in which the grip is operated in three-dimensional space.

G. Embodiments The present invention will be described in detail below based on embodiments shown in the drawings.

(,) Configuration of the embodiment The configuration of the operating device of the teaching robot according to the present invention is described in the first example.
This will be explained based on FIGS.

As shown in FIG. 2, the operating device 5 is attached to the opposite side of the tool 2. Then, the operating device 5 and the teaching box 6
is connected to the robot 3 via the control panel 7.

Next, the structure of the operating device 5 will be explained based on FIGS. 1(a) to (e).

As shown in FIG. 1(a), a base 8 is attached to the tool 2. At the center of the base 8 is a spherical ring bearing 11 consisting of bearings 9 each having a spherical inner circumferential surface and an inner bearing IO having a spherical outer circumferential surface.
A stick I2 extending in the narrow direction of the tool 2 is swingably provided through the stick I2.

A disk 13 serving as an operation plate is integrally formed at the base end of the stick 12 at right angles to the axis of the stick 12. Four button switches 14a, 14 are arranged on a plane parallel to the disk 13 and on a circumference centered on the stick 12.
b, 15a, and 15b are fixedly provided to the base 8.

These button switches 14a, 14b, 15a, 15
b is provided at the top, bottom, left and right of the stick [2], and its tip abuts against the disk I3. In order to maintain the stick 12 perpendicular to the base 8, latch fittings 16 are arranged at four positions in the circumferential direction of the base 8 at equal intervals.
A spring 17 is provided between the stick 12 and the stick 12, respectively. In order to prevent the disk 3 from rotating around the stick 12, a support portion 18 is formed at the top of the disk 13 and projects along the axis of the stick 12, and the support portion 18 projects toward the stick 12. A guide rod 19 is loosely fitted into a guide groove 20 formed in the base 8 along the direction in which the stick 12 extends (see FIG. 1(c)).

The stick I2 thus provided is provided with a grip 21 that is movable in the axial direction thereof. The inside of the grip 2 is formed hollow, and a spring chamber 23 is formed by further screwing in the cap 22. stick 12
is provided movably through the cap 22 and further through the partition wall 24 that partitions the spring chamber 23 and the interior. Inside the spring chamber 23, a flange 2 formed on the stick 12
5 and the cap 22 and the partition wall 24, respectively.
is provided. As shown in FIG. 1(e), near the tip of the stick 12 there is a notch 2 extending in the axial direction.
7 is formed, and a protrusion 28 formed to protrude from the partition wall 24 is loosely fitted into the notch 27. And stick 1
A nut 29 is screwed onto the tip of 2 and fixed with a set screw or the like. Below the nut 29, there is a limit switch 30a that turns on when the nut 29 is moved in the X direction (to the right in the figure) and a limit switch 30a that turns on when the nut 29 is moved in the -X direction (to the left). A limit switch 30b is provided.

In addition, a changeover switch 31 is provided at the tip of the grip 21. Normally, grip 21 is X.

- Push or pull in the X direction, y, -y, z.

If the tool 2 is tilted in the Z direction, the tool 2 will move in the same direction as the operating direction of the grip 2■, but if the changeover switch 31 is pressed, the tool 2 will move around the X axis or in the y direction or Z direction around the tip of the cutting tool 2a. The tool 2 is configured to rotate to.

In addition, a reflective photosensor (safety switch) 32 is provided inside the grip 2I, and the operation switch of the operating device 5 is turned on only when the instructor grasps the grip 21. A window 33 is formed.

(b) Effect of the example Next, the operation of the operating device of the teaching robot will be explained.

As shown in Fig. 2, the teaching work involves moving the cutting tool 2a to the workpiece 1.
Move along and do the serving. The operation in that case will be explained based on FIGS. 3 to 5.

As shown in FIGS. 3(a) and 3(b), when the grip 21 is pushed (in the earth direction) or pulled (in one direction) along the X axis, the nut 29 is activated by the limit switch 302L or 30b.
, the tool 2 moves along the X axis in the +X direction or -X direction.
Move in the direction of. Also, if the lever operation is performed while the changeover switch 3I is pressed, the tool 2 will move by ÷R with the X axis as the center.
Rotate in the x direction or -Rx direction. When the force applied to the grip 21 is released, the grip 21 is returned to the neutral position by the action of the spring 26, and the movement of the tool 2 is stopped.

As shown in FIGS. 4(a) and 4(b), move the grip 21 to the right (
When the button switch 15a or 15b is pressed by the disc 13, the tool 2 moves in the +y direction or -y direction along the y-axis. Also, if this operation is performed with the changeover switch 31 pressed, the tool 2 will move +
Rotate in the Rz direction or -Rz direction. Grip 21
When the force applied to is removed, it becomes a spring! 7, the grip 21 is returned to the neutral position and the movement of the tool is stopped.

As shown in FIGS. 5(a) and 5(b), when the grip 21 is tilted upward (+ direction) or downward (one direction), the button switch 14a or 14b is pressed by the disc 13. The tool 2 moves along two axes in the +2 direction or the -2 direction. Also, if this operation is performed with the changeover switch 31 pressed, the tool 2 will move +Ry with the tip of the cutter 2a as the center.
direction or -Ry direction.

As described above, the direction in which the grip 21 is moved or tilted substantially coincides with the direction in which the tool 2 is moved or rotated. Then, when the teacher releases his/her hand from the grip 2I, the power of the operating device is turned off by the action of the photo sensor 32.

H1 Effects of the invention As can be seen from the above explanation, the teaching robot operating device according to the invention has the following effects.

By pushing or pulling the grip or tilting it up, down, left, or right, you can move the tool in the direction in which you operate the grip. Therefore, it is possible to easily teach the robot, save time, and respond quickly. Furthermore, there are few individual differences in teaching techniques, and anyone can easily perform the teaching task.

Conventionally, input was performed by key operation, which required time to search for the key that corresponds to the direction in which the tool was moving, and there were many cases where errors caused interference between the cutting tool and the workpiece. Also, because I was so worried about searching for the key, I couldn't concentrate on the positional relationship between the cutting tool and the workpiece, which caused a lot of mental fatigue. The present invention solves all of these problems.

[Brief explanation of drawings]

1 to 5 relate to an embodiment of the operating device for a teaching robot according to the present invention, FIG. 1 shows the configuration of the operating device, FIG. 1(a) is a front sectional view, and FIG. FIG. 1(b) is a bottom view, FIG. 1(c) is a view taken along the ■-■ arrow in FIG. 1(a), FIG. 1(d) is a view taken along the I-I arrow in FIG. 1(a), Figure 1 (e
) is a view from the ■-■ arrow in Fig. 1(a), Fig. 2 is an explanatory diagram of the action, Figs. 3(a) and (b) are an explanatory diagram of the action when pushing and pulling the grip, and Fig. 4 ( a) and (b) are explanatory diagrams of the effect when the grip is tilted left and right, Figures 5 (a) and (b) are explanatory diagrams of the effect when the grip is tilted up and down, and Figure 6 is a conventional diagram for robot teaching. FIG. 7 is an explanatory diagram for teaching the robot. 2... Tool, 2a... Cutting tool, 3... Robot, 5
... Operating device, 8... Base, 11... Spherical bearing, 12... Stick, 13 ・=- Disc, 14a,
14b, 15a. 15b...Button switch, 21...Grip, 3
0a, 30b...Limit switch. 8--Heath 21-11 Creation 117 F0 Figure 1 (d) I-I arrow view haze in Figure 1 (a) (e) ■ ■ Arrow view mouth in Figure 1 (a) Fig. 2 (a) δ (invention) Fig. 5 (invention) ko (b) Front 2 Figure 6 Roho''...Indication for teaching the throat (Junior ending) Figure 7 De-sun moon area for teaching

Claims (1)

[Claims] (1) An operating device for a teaching robot that is attached to the side opposite to the cutting tool attachment of a tool attached to a teaching robot, in which a long stick is attached to the base attached to the tool in the direction in which the axis of the tool extends, and a bearing is attached to the base. An operating plate is fixed to the proximal end of the stick at right angles to the axis of the stick, and a control plate is provided on a plane perpendicular to the axis of the tool and centered on the stick. Four switches are arranged concentrically at approximately equal intervals and are turned on when pressed by the operation panel, and are fixed to the base, and when a switch located in a specific direction relative to the switch is turned on, the tool will move the switch to the stick. A grip is attached to the tip of the stick so that it can move freely in the direction of the axis of the stick, and the direction of movement of the grip relative to the stick is detected and the tool moves in the same direction as the grip. An operating device for a teaching robot, characterized in that it is provided with a pair of switches.