JPH04297904A - Robot - Google Patents

Abstract

PURPOSE:To reduce the burden of a manipulator to manually manipulate the robot on a tool coordinate system by visually recognizing the coordinate axis direction of the coordinate system set at the operational point of an actuator fitted to the mechanical interface of the robot by the manipulator when teaching an object to be worked by the manipulator. CONSTITUTION:A main body 2 of the robot is provided and a movement teaching device 3 is provided to teach the position and the posture of the robot. Then, a direction selection switch 4 is provided to select the direction of coordinate axes at the tool coordinate system, and a tool jog moving amount calculation part 5 is provided to calculate the amount of moving the respective shafts of a robot arm in the case of tool jog. Further, a joint driving part 6 is provided to command the movements of respective joints at the robot arm, a tool coordinate axis direction arithmetic part 12 is provided to operate the directions of the tool coordinate axes, a direction display part 14 is fitted to the mechanical interface of the robot so as to express the plural moving directions, and a direction display command signal generation part 13 is provided to turn a display lamp on at the direction display part of the designated direction.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot that is capable of reproducing motions in accordance with taught contents such as a taught position and orientation.

0002

[Prior Art] When an operator manually moves a robot to a certain position and orientation by operating a movement instruction device, it is called a jog operation. This is used when the operator manually moves the robot arbitrarily. Furthermore, storing the position and orientation of a robot by a jog operation as teaching data and reproducing the teaching data during work is called a teaching playback method, which is widely used to teach the position and orientation of industrial robots.

[0003] A point of action is set on an actuator (tool) attached to the hand portion of the robot arm (hereinafter referred to as a mechanical interface), and the above teaching is performed on the point of action of this actuator. The coordinate system set at the point of action of the actuator mentioned above is called the tool coordinate system, and the jog operation in the tool coordinate system is called tool jog. Have the child teach posture, etc.

FIG. 8 is a block diagram showing a tool jog operation of a conventional robot control device. In the figure, 1 is a robot control device, 2 is a robot body, 3 is a movement teaching device for an operator to operate the robot and teach the position and orientation, and 4 is a direction selection for selecting the direction of the coordinate axes in the tool coordinate system. Switches 5 and 6 are provided inside the robot control device 1, 5 is a tool jog movement amount calculation unit that calculates the movement amount of each axis of the robot arm in tool jog, and 6 is a tool jog movement amount calculation unit that calculates the movement amount of each axis of the robot arm in tool jog. This is a joint drive unit that commands movement.

Next, the operation will be explained based on the flowchart shown in FIG. In order for the operator to perform a jog operation, the operator turns on the direction selection switch 4 in the motion teaching device 3 corresponding to the coordinate axis direction of the target tool coordinates (S101). By turning on this direction selection switch 4,
A signal corresponding to the turned ON direction is input to the tool jog movement amount calculation unit 5 (S102). Based on this signal input, the tool jog movement amount calculating section 5 calculates the movement amount of each axis of the robot arm (S103). The results of this calculation are sequentially stored as teaching data. At the same time, the calculated movement amount is output to the joint drive section 6 (S104). This joint drive unit 6 outputs a command signal to the robot body 2 to move each axis of the robot arm of the robot body 2 (S105). The robot body 2 operates based on this command signal (S106). As a result of the robot main body 2's movement, if the robot main body 2 moves to the desired position and orientation, the teaching ends. If the robot does not move to the desired position and orientation, the teaching is repeated again (S107).

FIG. 10 is a block diagram showing a tool jog operation when teaching a robot the direction and magnitude of force/torque in a conventional robot control device. In the same figure, 1 to
6 is the same as FIG. Reference numeral 7 is attached to the robot body 2, and 8 is a sensor that detects the direction and magnitude of force/torque applied to the robot arm and a force/torque detection signal generator that generates a signal indicating the direction and magnitude. This is a force/torque storage unit that stores force/torque signals as force/torque teaching data. Further, FIG. 11 shows the hand portion of the robot arm, 20 is the robot arm, 2
1 is a force/torque sensor of the force/torque detection signal generation section; 2
2 is an actuator, which has a coordinate system (Xf, Yf, Zf
) indicates a sensor coordinate system which is the mounting coordinate system of the force/torque sensor, and the coordinate system (X, Y, Z) indicates a tool coordinate system defined by the actuator 22.

Next, the operation will be explained. In FIG. 10, when the operator presses the direction selection switch 4 attached to the motion teaching device 3, a signal corresponding to that direction is input to the tool jog movement amount calculation unit 5, which calculates the movement amount of each axis of the robot arm. calculate. Next, the joint drive unit 6 instructs the robot body 2 to actually operate each axis of the robot arm based on the amount of movement of each axis. Move the robot with arbitrary jog operations and apply a certain force/torque to the workpiece. At this time, the robot is generating the same force/torque as the force/torque acting on the object, and the force/torque detection signal generator 7 detects the direction and magnitude of the three-dimensional force/torque. Output as a detected value in the coordinate system. The output value is converted into a detected value in the tool coordinate system by a certain coordinate transformation, and the direction and magnitude of the force/torque applied to the point of application P of the actuator 22 are stored in the force/torque storage section 8 as force/torque teaching data. be memorized as . As described above, it is possible to teach the direction and magnitude of force/torque in a certain position and posture.

FIG. 12 is a block diagram showing a tool jog operation capable of changing the moving speed of a robot arm of a conventional robot control device. In the same figure, 1 to 6 are shown in Figure 8.
is the same as Reference numeral 9 denotes a jog speed selection switch through which the operator arbitrarily selects the moving speed of the robot arm during tool jog operation, and the moving speed can be selected from "speed 0" to "speed 3". Reference numeral 10 denotes a tool jog speed calculation section that receives a signal from the jog speed selection switch 9 and calculates the speed at which the robot actually moves by jog operation.

Next, the operation will be explained. In FIG. 12, when the operator selects an arbitrary jog speed of the jog speed selection switch 9 attached to the motion teaching device 3,
The moving speed of the tool jog is set in the tool jog speed calculating section 10 in response to the selection signal. Next, in order to move the robot by jog operation, the operator presses the direction selection switch 4 of the motion teaching device 3, and the signal corresponding to that direction and the moving speed of the tool jog are sent to the tool jog movement amount calculation unit 5. The amount of movement of each axis of the robot arm is calculated. Next, the joint drive unit 6 instructs the robot body 2 to actually operate each axis of the robot arm based on the amount of movement of each axis, and the robot moves at the specified jog speed.

0010

[Problems to be Solved by the Invention] Conventional robots are configured as described above, so when an operator gives instructions to a workpiece, it is necessary to , Y, Z, and other coordinate axes are difficult to visually understand, and the robot must be moved once to confirm the direction. Similarly, when teaching force/torque, the operator cannot know in which direction and how much force is being applied to the workpiece by the robot, leading to unexpected damage to the workpiece. There was fear. Additionally, there is a problem in that the operator may fail to check the speed of movement of the robot arm during the jog operation and may similarly destroy the object to be worked on.

The present invention was made to solve the above-mentioned problems, and in teaching a robot by a tool jog operation that teaches the direction, the force applied in that direction, or the magnitude of the movement speed, it is difficult to determine the direction of movement. The purpose of this invention is to obtain a robot whose force magnitude or movement speed can be visualized.

0012

[Means for Solving the Problems] A robot according to a first aspect of the invention teaches the position and orientation of a robot body, and when the robot performs a reproducing operation of the taught position and orientation, the robot body The robot includes a display section that visually displays the direction in which the main body moves, and the display sections are arranged at predetermined central angles in a radial direction on the robot main body.

[0013] The robot according to the second invention teaches the position and orientation of a robot main body having a gripping part capable of gripping an object, and the gripping force corresponding to the weight of the object applied to the gripping part, and this teaching. When the robot performs an operation of regenerating the position/posture and gripping force that have been set, the robot main body includes a display unit that visually displays the movement direction in which the robot main body moves according to the teaching, and the gripping force for each of the movement directions, The display units are arranged at predetermined central angles in a radial direction on the robot body.

[0014] A robot according to a third aspect of the present invention is a robot that is capable of teaching the position and orientation and movement speed of a robot body and reproducing the taught position and orientation and movement speed. The robot main body is provided with a display unit that visually displays the movement direction in which the robot body moves and the movement speed in each of the movement directions, and the display units are arranged at predetermined central angles in a radial direction on the robot body. It is something that exists.

[0015]

[Operation] The display section in the first invention visually represents the moving direction in which the robot body moves.

[0016] The display unit in the second invention visually expresses the movement direction in which the robot body moves and the gripping force for each of the movement directions.

[0017] The display unit in the third invention visually represents the direction in which the robot body moves and the speed of movement in each of the above-mentioned moving directions.

[0018]

[Example] Example 1. An embodiment of the first invention will be described below. FIG. 1 is a block diagram when a robot is moved using a tool jog. In the same figure, 1
6 to 6 are the same as FIG. 8, which is a block diagram of a conventional control device, and therefore their explanation will be omitted. Reference numeral 11 denotes a mode changeover switch attached to the motion teaching device 3 to switch between the tool jog mode and the tool coordinate axis direction display mode, 12 a tool coordinate axis direction calculation unit that calculates a specified tool coordinate axis direction, and 13 a tool coordinate axis direction calculation unit. This is a direction display command signal generation unit for lighting up an indicator light in a direction display unit (described later) in a designated direction, and the tool jog movement amount calculation unit 5
, a joint drive section 6, a tool coordinate axis direction calculation section 12, and a direction display command signal generation section 13, which constitute a robot control device 1. 14 indicates the orientation and size (
This is a direction display section that is a display section that can express the distance traveled.

FIG. 2 is an enlarged view of an example of the direction display section 14, and the coordinate system (X, Y, Z) is the tool coordinate axis, and is the coordinate system set at the point of action P of the actuator attached to the mechanical interface. represents. 17 is a mechanical interface of the robot arm; 18 is an indicator light that can be turned on in units of a plurality of directions; here, indicator lights LED1 to LED8 are provided.

Next, the operation will be explained based on the flowchart shown in FIG. When moving the robot using the tool jog, the operator first switches the mode changeover switch 11 attached to the motion teaching device 3 to the B side to switch between tool jog and tool coordinate direction display.
N (S110), and the mode is set to display the direction of the tool coordinate axes. Next, the operator turns on any direction selection switch 4 corresponding to the direction of the tool coordinate axis that he/she wishes to recognize (S111
). Then, a signal corresponding to the switch turned ON by the direction selection switch 4 is output to the tool coordinate axis direction calculation section 12 (S112). The tool coordinate axis direction calculation unit 12 calculates the direction of the tool coordinate axis corresponding to the input signal (S113). A signal corresponding to the direction of the tool coordinate axis determined by the tool coordinate axis direction calculation section 12 is output to the direction display command signal generation section 13 (S114). The direction display command signal generating section 13 generates a signal that lights up the indicator light 18 of the direction display section 14 corresponding to the designated direction, and the indicator light 18 of the direction display section 14 in the designated direction lights up ( S115). The operator recognizes the tool coordinate axis direction by looking at the lighting position of the indicator light 18 of the direction display section 14.

For example, when the +X switch of the direction selection switches 4 is pressed, the tool coordinate axis direction calculation unit 12
The +X direction of the tool coordinate axis is selected, and the direction display command signal generator 13 sends a signal to the LED 1 of the indicator light 18 of the direction display unit 14 that corresponds to the +X direction of the tool coordinate axis. LED1 lights up. After performing the above operations and before performing the tool jog operation, the operator confirms the direction of the tool coordinate axis to be moved by the tool jog operation, and if it is OK, press the mode changeover switch 7 to A.
side, set it to tool jog mode, and move the robot arm using tool jog operation. This tool jog operation (S117) to (S123) is the same as the operation described in the conventional embodiment, so the explanation will be omitted.

Example 2. Next, a diagram of an embodiment of the second invention will be described. FIG. 4 is a block diagram when teaching force/torque. In the figure, 1 to 8 are the same as those in FIG. 10, which is a block diagram of a conventional control device, and therefore their explanation will be omitted. Reference numeral 14 denotes a direction display section 13 installed on the mechanical interface of the robot body 2 and serving as a display section capable of expressing the orientation of a plurality of direction units.
is a direction display command signal generation unit for lighting an indicator light in a direction display unit for a designated direction. Also, Figure 5
is an enlarged view of an example of the direction display section 14, and the coordinate system (X,
Y, Z) are tool coordinate axes and represent a coordinate system set at the point of action P of the actuator attached to the mechanical interface. 17 is a mechanical interface of the robot arm, and 18 is an indicator light that can be turned on in units of multiple directions, here LED1 to LE.
There are indicator lights up to D8, for example +X in the tool coordinate system.
Three indicator lights are provided in the same direction on the X-Y plane, such as LED1-1, LED1-2, and LED1-3.

Next, the operation will be explained. When teaching the force/torque applied to the robot arm, that is, the force/torque applied to the workpiece, in FIG. is output as a detected value in the sensor coordinate system. The output value is converted into a detected value in the tool coordinate system by a certain coordinate transformation. The detected value in the tool coordinate system is input to the direction display command signal generation section 13, and a signal is generated to turn on the indicator light 18 of the direction display section 14 in accordance with the designated direction and size. This signal causes some indicator lights 18 in the same direction to light up.

For example, in the force/torque detection signal generating section 7,
A certain force is detected in the sensor coordinate system, which is the installation coordinate system of the force/torque sensor, and the detected value is converted into a detected value in the tool coordinate system, for example, "magnitude 2 in the +X-axis direction" by a certain coordinate transformation. Output. The detected value is input to the direction display command signal generation unit 13, and among the indicator lights 18 in FIG. 5, LED1-1 and LE in the direction corresponding to the tool coordinates +
A signal is generated to light up two of D1-2 in the same direction. This signal lights up LED1-1 and LED1-2.

[0025] At this time, the operator looks at the number of lighting lights in the same direction as the lighting direction of the indicator lights 18 of the direction display unit 14, and determines the direction and magnitude of the force/torque applied to the point of application P of the actuator of the robot. can be recognized. The operator must use force/
Teach while checking the direction and magnitude of torque. This teaching operation is the same as the operation explained in the conventional embodiment, so the explanation will be omitted.

Example 3. Next, a diagram of an embodiment of the third invention will be described. FIG. 6 is a block diagram when performing a jog operation of the robot arm. In the same figure, 1 to
6, 9, and 10 are the same as those in FIG. 12, which is a block diagram of a conventional control device, and therefore their explanation will be omitted. Reference numeral 16 indicates a speed display section that can visually represent the set moving direction and speed, and 15 indicates an indicator light of the speed display section 16 depending on the set speed of the jog operation. This is a speed display command signal generator for lighting up the speed display command signal. Further, FIG. 7 is an enlarged view of an example of the speed display section 16, and 17
is the mechanical interface of the robot arm, 19
3 speed indicator lights are installed.

Next, the operation will be explained. The operator
When performing tool jog operation by selecting the moving speed of the robot arm, the operator selects an arbitrary jog speed from "speed 0" to "speed 3" using the jog speed selection switch 9 attached to the motion teaching device 3, as shown in the figure. ”, the tool jog speed calculation section 1 is activated in response to the selection signal.
At 0, the moving speed of the tool jog is set. The moving speed is input to the speed display command signal generating section 15, and a signal is generated to turn on the indicator light 18 of the speed display section 16 in accordance with the magnitude of the specified speed. This signal is
At "speed 0", none of the indicators light up, and at "speed 1", the indicator light S does not light up.
PD1 lights up, and at "Speed 2" the indicator light SPD1, SPD
2 lights up, and at "Speed 3" the indicator lights SPD1, SPD2,
This is a signal that causes the SPD3 to light up. Some of the indicator lights 19 are turned on by the signal.

For example, when "speed 2" of the jog speed selection switch 9 is selected, the tool jog speed calculation section 10 sets the moving speed of the tool jog to "speed 2." The moving speed of the tool jog is input to the speed display command signal generator 15, and among the indicator lights 19 in FIG.
Generates a signal that lights up SPD2. This signal lights up SPD1 and SPD2 of the indicator lights 19. The operator looks at the number of lit indicator lights 19 on the speed display section 16, and
Recognize the movement speed of the robot arm. Next, the operator adjusts the moving speed and performs a tool jog operation to move the robot and teach the position and orientation.

Furthermore, in the second embodiment described above, in the indicator light 18 that can be turned on in each direction as shown in FIG. The size may be expressed by the number of indicator lights lit in the same direction, and the same effect as in the above embodiment can be achieved.

Furthermore, as shown in FIGS. 5 and 7 above, a plurality of indicator lights in the same direction are provided in the display section for indicating coordinate axes, directions and magnitudes of force, torque, speed, etc.; Visual expression may be substituted by changing the brightness or color of the lamp, and the same effect as in the above embodiment can be achieved.

[0031]

As described above, according to the first invention, the directions of the X, Y, Z, etc. coordinate axes of the tool coordinate system are displayed on the display section, so the taught direction can be confirmed by moving the robot. This has the effect of reducing the teaching burden on the operator.

According to the second aspect of the present invention, force and torque are also taught by displaying on the display section how much force the robot is applying to the workpiece in which direction. This has the effect of allowing the operator to know whether a certain amount of force is being applied, and preventing damage to the workpiece.

According to the third invention, since the moving speed of the robot during jog operation is visually displayed on the display section,
The effect is that the operator can check the movement speed before actually moving the robot, there is no need to move the robot to check, and damage to the workpiece can be prevented. There is.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a tool jog operation of a robot control device according to an embodiment of the first invention.

FIG. 2 is a diagram showing an example of the direction display section in FIG. 1;

FIG. 3 is a flowchart showing a tool jog operation of the robot arm according to the first invention.

FIG. 4 is a block diagram showing a tool jog operation when teaching the direction and magnitude of the force and torque of the robot control device to the robot according to an embodiment of the second invention.

FIG. 5 is a diagram showing an example of the direction display section in FIG. 4;

FIG. 6 is a block diagram showing a tool jog operation when teaching the direction and speed of the moving speed of the robot control device to the robot according to an embodiment of the third invention;

FIG. 7 is a diagram showing an example of the direction display section in FIG. 6;

FIG. 8 is a block diagram showing a tool jog operation of a conventional robot control device.

FIG. 9 is a flowchart showing a tool jog operation of a conventional robot arm.

FIG. 10 is a block diagram showing a tool jog operation when teaching the direction and magnitude of force and torque of a conventional robot control device to a robot.

FIG. 11 is a diagram showing a hand portion of a robot arm for teaching a conventional robot.

FIG. 12 is a block diagram showing a tool jog operation when teaching the movement speed of a conventional robot control device.

[Explanation of symbols]

1 Robot control device 2 Robot body 3 Motion teaching device 4 Direction selection switch 5 Tool jog movement amount calculation section 6 Joint drive unit 7 Force/torque detection signal generation section 8. Force/torque memory section 9 Jog speed selection switch 10 Tool jog speed calculation section 11 Mode changeover switch 12 Tool coordinate axis direction calculation section 13 Direction display command signal generation section 14 Direction display section 15 Speed display command signal generation section 16 Speed display section 17 Mechanical interface 18 Indicator light 19 Speed indicator light

Claims (3)

[Claims] 1. In a robot that teaches the position and orientation of a robot body and performs a reproducing operation of the taught position and orientation, the robot body includes a display that visually displays the movement direction in which the robot body moves according to the teaching. Equipped with a department,
The robot is characterized in that the display units are arranged at predetermined central angles in a radial direction on the robot body. 2. The position and orientation of a robot body having a gripping part capable of gripping a target object and the gripping force corresponding to the weight of the target object applied to the gripping part, and the taught position and orientation and gripping force. In the robot that performs a reproduction operation, the robot main body includes a display unit that visually displays the movement direction in which the robot main body moves according to the teaching, and the gripping force for each of the movement directions, and the display unit A robot characterized in that the robots are arranged at predetermined central angles in a radial direction on the top. 3. In a robot that is capable of teaching the position, orientation, and movement speed of a robot body and reproducing the taught position, orientation, and movement speed, the robot body is configured to move in a direction in which the robot body moves according to the teaching. ,
and a display section that visually displays the moving speed in each of the moving directions, the display sections being arranged at predetermined central angles in a radial direction on the robot main body.