JPH0498404A - Industrial robot - Google Patents

Abstract

PURPOSE:To speedily correct teaching data by providing a teaching data input means and a teaching data correction means. CONSTITUTION:The teaching data input means inputting teaching data which is nearly set by correction is provided. The teaching data correction means which obtains a point nearest to the present position of a movable part among respective points corresponding to respective pieces of teaching data stored in a storage device and which writes teaching data inputted by the teaching data input means as teaching data of the point is provided. For executing teaching, a user key-operates a correction board 3 in a state where the power of a robot controller 2 is supplied. Thus, teaching data can speedily be corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to an industrial robot using a teaching playback method, and particularly to an industrial robot using FTP (Poi) as a teaching method.
The present invention relates to an industrial robot using the nt to point) teaching method.

"Prior Art" Industrial robots using a teaching/playback method based on FTP teaching are known. When using, for example, a painting robot belonging to this type of industrial robot, FTP teaching is performed in advance as described below. First, by operating the operation panel, the coating gun, which is a movable part, is positioned at the first position of the trajectory to be coated on the workpiece. Then, control parameters such as the moving direction, moving speed, and paint jetting speed of the coating gun at the first point are input by operating the operation panel, and these control parameters are stored in the storage device as teaching data of the first Voinote. be done. Next, the painting gun is moved to the second point by remote control, and teaching data at the second point is created and stored in the same way as the first point. Thereafter, teaching data corresponding to each point from the third point to the final point is created and stored in the same manner. During the playback operation, teaching data corresponding to each point from the first point to the final point stored in the storage device is read out sequentially, and the movement of the painting robot is controlled according to each teaching data, automatically Painting work will be carried out by

"Problem to be solved by the invention" Now, in an industrial robot taught by FTP,
It may be necessary to modify the teaching data. In this case, the movable part is sequentially moved one point at a time by forward movement or reverse movement, and the teaching data is corrected when the movable part reaches the target point. After the movable part is moved along the determined trajectory in this way, the teaching data is corrected, so the time required to move the movable part increases and the correction time is wasted. That's the problem.

This invention was made in view of the above circumstances,
The object of the present invention is to provide an industrial robot that can quickly modify teaching data.

"Means for Solving the Problem" This invention stores the teaching data of the operation related to the work for each point in advance in a storage device, and when reproducing the teaching data of each teaching point stored in the storage device. teaching data input means for inputting teaching data to be newly set by correction in an industrial robot whose movable parts perform work according to the teaching data; The present invention further comprises teaching data modifying means for determining the point closest to the current position of the movable part among the points and writing the teaching data inputted by the teaching data inputting means into the storage device as the teaching data of the point. It is characterized by

-Effect.

According to the above configuration, new teaching data is inputted by the teaching data input means. Then, the teaching data correction means selects the one closest to the current position of the movable part from among the teaching data points stored in the storage device, and as the teaching data of the selected point,
New teaching data input by the teaching data input means is written into the storage device.

"Example" Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of a nostem according to an embodiment in which the present invention is applied to a painting robot. In this figure, 1 is a robot manipulator that performs painting work, and 2 is a robot controller that controls the operation of the robot manipulator 1. 3 is a correction panel used to input teaching data when creating teaching data and modifying the created teaching data, and as shown in Fig. 2, various keys are used to instruct the operation of the robot manipulator l. and indicators are in place.

When teaching, the user operates keys on the correction board 3 while the robot controller 22 is powered on. In this case, when the user presses each key in the area labeled "Arm/Column", information indicating the pressed key is sent to the robot controller 2, and the robot controller 2 sends information indicating the pressed key on the robot manipulator l. The axis corresponding to the key is driven, and the coating gun in the robot manipulator l is moved. Then, with the paint gun positioned at the desired first teaching point, the user operates the correction panel 3 to turn off/off the paint discharge at that point, the angle of the paint gun, or the moving speed of the paint gun. Teaching data such as the following is input. When the user presses the key labeled "Register" on the correction board 3, the input teaching data is transferred to the storage device of the robot controller 2 (
(not shown). By repeating similar operations, the painting gun is sequentially advanced to the second and third points, and teaching data at each teaching point is created and stored.

When the input of teaching data is completed in this manner, the robot controller 2 is set to playback mode, the operation of the robot manipulator 1 is controlled according to the stored teaching data, and painting work is performed. If you observe the state of the workpiece after painting, you may find that there are areas where the paint film is thin or thick. This occurs because the angle and position of the painting gun in that part are not appropriate, and in such a case, it is necessary to correct the teaching data of the teaching point corresponding to the area where the painting condition is not good. In conventional painting robots, the painting gun was moved to the desired teaching point by pressing the key labeled "Forward" or "Reverse" on the correction panel 3. . however,
In the painting robot of this embodiment, positioning to the intended teaching point is performed as described below.

For example, suppose that the coating gun of the robot manipulator 1 is currently located at a point Pl shown in FIG. 3, and the teaching data at the point Pn is inappropriate, so that a portion of the workpiece 4 has a poor coating condition. In this case, the user moves the painting gun to the vicinity of the point Pn that requires correction by operating the "arm/column" key on the correction board 3. In this state, the user operates the correction board 3 to input appropriate teaching data, and then
Press the key labeled “Register”.

In the robot controller 2, a program whose flow is shown in FIG. 3 is always being executed. ``When the registration key is pressed, the determination result of ``whether or not the registration key was pressed'' in step Sl becomes rY E S J, and the process advances to step S2. Note that unless the "registration key" is pressed, the determination result in step Sl is "NO" and the processes from step S2 onwards are not executed. Proceeding to step S2, the position of the coating gun is calculated from the current posture of the robot manipulator 1. Next, in step S3, the three-dimensional position of each teaching point corresponding to each teaching data stored in the storage device of the robot controller 2 as seen from the current position of the painting gun is calculated. The point closest to the position of the paint gun at is selected.

Next, the process proceeds to step S4, where it is determined whether the distance between the point selected in step S3 and the current position of the coating gun is within 100 mm. If the determination result is rY E S J, the process advances to step S5, and the painting gun is positioned in accordance with the teaching data of the point selected in step S3. Furthermore, the teaching data of the point selected in step S3 is corrected by the teaching data inputted by the correction board 3.

Then exit this program. On the other hand, step S
If the determination result in step 4 is 7NOj, error handling is performed to prevent interference between the workpiece 4 and the robot manipulator 1, and the input error lamp on the correction board 3 lights up. The user should confirm that the "entering lamp" is lit,
Perform the position correction operation again. In this way, the painting gun is moved to the teaching point to be corrected and the teaching data at that point is quickly corrected.

"Effects of the Invention" As explained above, according to the present invention, there is provided a teaching data input means for inputting teaching data newly set by correction, and a teaching data input means for inputting teaching data newly set by correction, , a teaching data modifying means is provided for determining the point closest to the current position of the movable part and writing the teaching data inputted by the teaching data inputting means into the storage device as the teaching data of the point, so that the teaching data can be changed. This has the effect of being able to make corrections quickly.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram of a painting robot according to an embodiment of the present invention, FIG. 2 is a plan view showing the configuration of a correction board 3 in the embodiment, and FIG. 3 is a diagram showing the teaching data correction procedure in the embodiment. The explanatory diagram, FIG. 4, is a flow chart showing the operation of the same embodiment. ...Robot manipulator, 2 ...Robot controller, 3 ...Modification board.

Claims (1)

[Scope of Claims] The teaching data of the operation related to the work for each point is stored in advance in a storage device, and during playback, the teaching data of each teaching point stored in the storage device is sequentially read out, and the teaching data an industrial robot in which the movable part performs work according to the teaching data input means for inputting teaching data newly set by correction; an industrial robot, comprising: a teaching data modifying means for determining a point closest to the current position of the robot, and writing teaching data inputted by the teaching data inputting means into the storage device as teaching data of the point. .