JPH0440506A - Teaching device for robot - Google Patents

Abstract

PURPOSE:To easily execute teaching without the need of experience by detecting the pressing force of the hand of a worker grasping a handle part, discriminating a direction to which feed is to be given, and speed and executing jog feed in the direction and at the speed. CONSTITUTION:Plural pressure sensors 22 positioned in a part to which the hand of the worker is abutted are provided for the handle part for teaching 21 around the wrist part 16a of a robot. Furthermore, a direction/speed discrimination means 29 dicriminating the feed direction and the feed speed by the hand of the worker grasping the handle part 16a from the detection values of plural pressure sensors 22 is provided and a jog feed means 30 driving respective shafts of the robot so that the wrist part 16a moves in the feed direction and at the feed speed, which the means 29 discriminates. Data on the positions of respective axes and speed at the time of jog feed are stored in a storage means 31. Thus, the teaching device of the robot where the wrist part 16a of the robot can directly be moved by the hand while a power source is used, and the position and speed can easily be taught can be obtained.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention is applicable to rotors of machine tools and other various purposes.・Relates to a teaching device.

[Conventional technology]

As a method of teaching position data to the PlayHack robot, there is a method of cutting off the power source and directly moving the wrist,
There are ways to operate at a slow speed by operating the axis feed button on the teaching operation panel without cutting off the power source, and a method to perform Zunawaji jog feed. The speed data is taught using a speed setting input means such as a polycomb.1 The teaching method of cutting off the power source requires a large force for operation, so the method of teaching by feeding the power source is Generally adopted.

[Problems that the invention seeks to solve]

However, in order to perform shock feed, it is necessary to operate the axis feed button for each axis of the robot, and it is difficult to correlate the movements of each axis. Furthermore, when teaching speed using Polycomb, it is difficult to input instructions to change the speed at each part of the moving route.

Therefore, there are problems in that teaching requires skill and takes a long time.

An object of the present invention is to provide a teaching device that can easily teach position and speed by directly holding a hot wrist in the hand without using a power source. It is to be.

[Means for Solving the Problems] The configuration of the present invention will be explained with reference to FIG. 1 corresponding to an embodiment. This teaching device is located at the hand section (16a) of Lohosoto (2).
) (: On the teaching grip (21) near j, there are a plurality of pressing force sensors located in the part where the hair of the worker comes into contact →j
(22) is provided.

A direction/speed determining means (29) is provided for determining the feeding direction and feeding speed by the hand of the worker holding the grip part (16a) from the detected values of the plurality of pressing force sensors (22), and this means Lohot (2) moves the wrist (+61) in the feed direction and feed speed determined in (29).
) is provided with jog feeding means (30) for driving each axis of the shaft.

A storage means (31) is provided for storing the position and speed data of each axis during this single feed.

[For production]

The operator's hand is placed on the pressing force sensor (22) of the grip part (21), and while holding the grip part (16a),
), apply force in the desired feeding direction to the wrist (16a). This type of pressing force is detected by a plurality of pressing force sensors (22), and from a comparison of the detected values of each pressing force sensor IJ (22), it is determined whether the direction in which the feed is to be applied or the direction/speed determining means (2
9). Further, the speed at which the feed is to be applied is determined by the same determining means (29) based on the magnitude of the detected value of the pressure sensor (22).

Jog feeding is performed by the jog feeding means (30) using the determined feeding direction and feeding speed. Therefore, the wrist part (16a) of Rohat (2) can be moved in the same way as a hand movement, and with a light force. The position and speed data during this jog feeding are stored in the storage means (31).

〔Example〕

An embodiment of the present invention will be described based on FIGS. 1 to 4.

As shown in FIG. 1, a canting type robot loader 2 is installed on the side of the lathe l. The lathe l is an automatic lathe equipped with two main spindle chucks 3 and 4 and two turrets 1-5.6, and a reversing device 9 having two reversing chucks 7.8 or a headstock 10. ” It is installed on two sides. On both the left and right sides of the lathe 2, there are a supply station 11 and a single output station 12 connected to a conveyor, respectively.

The loader 2 transfers workpieces between the spindle chuck 3.4, the reversing chuck 7.8, and the supply/discharge station 1112. The rotor 2 includes a traveling platform 14 that runs along a construction rail 13, a lifting loft 16 provided via a back-and-forth moving table 15, and a chuck device 17 provided at the wrist portion 16a, which is the lower end of the lifting loft 16. . The chuck device I7 can be moved in a three-dimensional direction by moving the carriage 14 left and right (in the X direction), moving the back and forth moving table 15 back and forth (in the X direction), and lowering the lifting rod 16 (in the Y direction).

As shown in FIG. 3, the chuck device 17 has a downward rotor chuck 18 and a forward rotor chuck 19.
It is a swiveling type that is supported by a tilted JJ seat 20 so as to be replaceable, and a rotating shaft (not shown) inserted into the field droplet 16 is used to drive the -f-1, . . . links to be replaced.

The three-sided portion of the wrist portion 16a of the lifting rod 16 is formed into a grip portion 21 during the teaching operation, and the grip portion 21 is provided with a plurality of pressing force sensors 22.The pressing force sensors 22 are circular in the figure. It is possible to detect changes in the pressing force applied to the pressure-sensitive portion shown in FIG. 3, and a sensor using a piezoelectric element or the like is used. Each pressing force sensor 22 is arranged at a position where each of the plurality of fingers 24 of the hand 23 on the workbench that grips the grip portion 21 comes into contact.

FIG. 2 is a block diagram of the loader control device.

A program storage unit 26, which is connected to the central processing unit 25 and includes a main memory, stores the overall teaching of the loader 2 and a control program for the playback operation, and includes a playback program 27 and the playback program shown in FIG. A teaching program 28 that stores subprograms and the like is stored. Direction/speed determining means 29 and jog feeding means 3 of the teaching program 28
0 is step S3.0 in FIG. It consists of means for performing the operation of S4.

The data storage section 31 in FIG. 2 has a position data storage section 32 and a speed data storage section 33, and these storage sections 32.
33 stores position data and speed data for driving the servo motor 34.

The servo motor 34 is connected to the traveling base IL and the back-and-forth moving base 15. and for each axis that drives the lifting rod 16, and in FIG. 2, one of these is shown as a representative. The servo motor 34 is connected to the human output boat 43 via a servo driver 35, and is attached with a position detector 36 such as a rotary encoder. The detection signal of the position detector 36 is fed back to the Zapotoriha 35 and is also manually input to the input/output capo 43.

The jack driving means 37 is a means for driving the replacement of the J-tajack 1819 and driving the claws to open and close.

Each of the pressing case holes →) 22 provided on the grip part 21 is connected to the A/
The teaching mode 1 to switching means 39 connected to the input/output port 43 via the D converter 38 is a switch that calls the teaching program 28 and selects the teaching mode. The teaching activation means 40 consists of a switch that switches position and speed teaching between a possible state and a disabled state. Sahisko-1
- etc. input means 41 is means for inputting command codes for opening/closing and replacing operations of the loader chucks 18 and 19 into the data storage section 3; These teaching mode switching means 39, teaching activating means 40, and input means 41 such as →no-hisco I, etc. are provided on an operation pendant (not shown) or the like, or are provided on the grip part 21 of the lifting rod 16. ] or the operation console 42 or the like. The operating controller 42 is
It is mainly used to perform operations during playback operations, and is equipped with a keyhole, display, etc.

The teaching operation with the above configuration will be explained with reference to the flowchart of FIG. When teaching, the rotor control device is set to the teaching mode by the teaching mode switching means 39 shown in FIG. In this state, the teaching activation means 40 is turned on (Sl), and the third
As shown in the figure, the operator's finger 24 is placed on each pressing force sensor 21 of the grip part 22 of the lifting rod 16, and the operator holds the grip part 21 and applies force to the wrist part +6a of the rotor 2 in the direction in which feed is to be applied. Add.

The pressing force of this finger 24 is detected by a plurality of pressing force sensors 22 (S2), and from the comparison of the detection values of each pressing force sensor 22, a direction/speed determining means 29 determines whether the feed is to be applied or not.
(FIGS. 1 and 2) (S3). Further, the speed at which the feed is to be applied is determined by the determining means 29 based on the magnitude of the detected value of the pressing force sensor 22. That is, if the wrist portion 16a is pressed hard and the detection value of the pressing force sensor 22 is large, it is determined that the operation is to increase the feed speed.

In order to move the wrist portion 16a in the determined feeding direction and feeding speed, a drive command is given from the jogging means 30 to the →no small motor 34 of each axis, and jogging is performed (S4). Therefore, like the movement of hand 23,
Moreover, the wrist portion 16a of the loader 2 can be moved with light force.

Note that when the wrist portion 16a is being moved forward and no force is applied to the grip portion 21, the current moving direction and speed are maintained. Therefore, when stopping the movement of the wrist portion 16a, force is applied in the opposite direction to the movement direction.

The position and speed data of the servo motor 34 of each axis during this jog feeding is taken in from the position detector 36 and stored in the position data storage section 32 and speed data storage section 33 of the data storage section 3 (S5 ).

The position and velocity data are sampled and taken in, for example, at regular time intervals, and TPT control (pseudo CP control) is performed in which intermediate passing points are supplemented during playback. Alternatively, the position data may be stored only when the wrist portion 16a is stopped, and only the feed speed may be stored so that it becomes the continuous feed speed.

Service code inputs such as opening and closing of the jack device 17 are performed from the service code input means 41 with the jog feed stopped and the position/velocity teaching activation means 40 turned off.

With this teaching device, the wrist part 1 (ia) can be directly held in the hand to perform jog feeding, and the teaching operator's sensations can be taken out as movements, so manual teaching operations can be easily performed, and even beginners can freely teach. can be done.

FIG. 5 shows another embodiment. In this example, the grip part 2I is provided with four parts 44 and 45 on which the operator's fingers are hung, and these four parts 44 and 45 are provided on the grip part 2I.
．． Suppression force sensors 22 are provided above and below 45.

With this configuration, it is easy to detect the vertical movement of the front portion 16a.

Although the above embodiment has been described with reference to a case where it is applied to a Gantt-type loader, the present invention can also be applied to multi-articulated robots and the like, and can be applied to play hack robots in general.

〔Effect of the invention〕

The teaching device of the present invention includes a plurality of pressing force sensors in the teaching grip near the wrist of the robot, detects the pressing force of the worker's hand holding the grip, and attempts to feed the robot. Since the robot is configured to determine the direction and speed and perform Yog feed according to the direction and speed, the robot's wrist can be moved with light force in the same way as the hand moves.
Position and speed can be taught. Therefore, there is an effect that teaching can be easily performed without requiring any skill.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram showing a combination of a schematic block diagram of a teaching device according to an embodiment of the present invention and a front view of a lathe, FIG. 2 is a block diagram showing the entire loader control device, and FIG. Similarly, FIG. 4 is a perspective view showing the wrist portion and chuck portion of the rotor, FIG. 4 is a flowchart of a part of the teaching program, and FIG. 5 is a side view of the grip portion in another embodiment. 1. Lathe, 2. Loader (Robono h), 3.4 Main spindle chuck, 5, 6... Turret, 9... Reversing device, 13
... Erection rail, 14.-Traveling platform, 15.. Back and forth moving platform, 16.. Elevating entrance yl., 16a Wrist part, 17
・Chuck device, 21・grip part, 22・pressure force sensor,
29...Direction/speed determination means, 30...Jog feed means, 31-Data storage section

Claims (1)

[Claims] A plurality of pressing force sensors are installed in the teaching grip near the wrist of the robot, and are located in the area where the worker's hand touches, and from the detected values of these pressing force sensors, the operator's hand grasping the grip is detected. and a jog feed means for driving each axis of the robot so that the wrist portion moves in the feed direction and feed speed determined by the means. , a robot teaching device provided with a storage means for storing position and speed data of each axis during jog feeding.