JPH05204440A - Off-line direct teaching device - Google Patents

Abstract

PURPOSE:To unnecessitate improving a device main body at the time of converting an operational range by enlarging and reducing a distance from the reference point of three-dimensional data after a teaching in a space within the operational range of a teaching mechanism by a teaching data editing means. CONSTITUTION:A teacher grasps a hand 1, and moves a teaching manipulator 4. A personal computer 8 stores received position data (the output of a rotation detector 2), prepares coordinate data, operates an arbitrary enlargement and reduction in a three-dimensional space, and edits the coordinate data of Y. The coordinate data are transmitted to a robot controller 9, and a conversion corresponding to a manipulator mechanism is operated. Thus, an objective operational locus can be obtained by a robot 10. For example, the teaching is operated by preparing a reduced model part and tool, and the data are enlarged for the inverse number of a reduction scale. On the contrary, the teaching is operated on the condition of an enlargement scale, the data are enlarged, and a high efficiency is obtained. Thus, a main device can be shared.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an offline direct teaching device.

[0002]

2. Description of the Related Art An offline direct teaching device creates data by manually manipulating the body of a device to be reproduced by a robot, as proposed by the applicant in Japanese Patent Application No. 3-33078. It was something to do.

[0003]

However, in this case, it is premised that the work hand and the like are exactly the same as those actually mounted on the robot. Therefore, when the weight is large, the balance adjustment by the weight is difficult to perform. There was a problem that the sex deteriorates. Furthermore, when a wide operating range is required, such as for painting purposes, it is necessary to extend the operating range by extending the arm length in order to actually match the operating range of the device. There was a problem that the device body had to be modified. On the other hand, as proposed by our company in Japanese Examined Patent Publication No. 64-11396, in the welding work of a robot, there are some which enlarge or reduce the line segment connecting each point by the length and ratio between two points of the weaving pattern. However, it cannot be applied to offline direct teaching, which is an operation in a coordinate system whose origin is a reference point set at an arbitrary spatial position. Therefore, it is an object of the present invention to provide a device that does not require modification of the device body even when the operating range is changed.

[0004]

In order to solve the above-mentioned problems, the present invention adds means for enlarging / reducing created data.

[0005]

[Operation] By the above means, the same work as the robot side
Teaching data can be created even if the target work is not the same product without having a hand.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A configuration example of the present invention will be described below with reference to FIG. In the figure, a rotation detector 2 is attached to each joint of a teaching manipulator 4, and an interface 5
It is connected to the personal computer 8 via. The teacher moves the teaching manipulator 4 by gripping the hand 1. The personal computer 8 stores the received position data (output of the rotation detector 2), creates coordinate data, and performs arbitrary enlargement / reduction in the three-dimensional space to edit the Y coordinate data. The edited coordinate data is sent to the robot controller 9,
Performs conversion according to the manipulator mechanism. This allows
The robot 10 can obtain a desired motion locus. In this example, the teaching data editing means is realized by software of the personal computer 8, but it may be realized by a separate hardware circuit. Next, a concrete example will be described. Consider a teaching that requires a wide operating range, such as the teaching of a painting robot, and is larger than the operating range of the teaching device. First, a model part reduced by a certain scale is prepared for an actual teaching target work. The dimensions required when operating the teaching device to create data are the X and Y positions at which the user coordinate system is defined with respect to the target work, as shown in FIG.
The dimensions and the tool dimension A shown in FIG. 3 (the distance between the wrist of the robot and the work is determined by this). Therefore, this size is also reduced on the same scale. In FIG. 2, X / X '= Y /
Y '= a / a' = b / b '= constant. Tool size A
For, prepare model products with reduced tools (parts). If the conventional teaching is performed in this reduced scale product, all the data created will be values reduced by that scale. Therefore, as data editing, the raw data is expanded by the reciprocal number of the reduction scale. The edited data is used as the final teaching data and transferred to the robot side to finish the teaching. In this way, the teaching device can be shared for all objects, and the above-mentioned problems can be solved. In the case where more accurate teaching is required, as a reverse method to the above, when teaching is performed under the teaching condition of the enlarged scale and the data is reduced by data editing, the error amount is also reduced and highly accurate data can be created.

[0007]

As described above, according to the present invention, it is possible to perform direct teaching for all kinds of work by using one teaching device.

[Brief description of drawings]

FIG. 1 is a configuration example of the present invention.

FIG. 2 is an operation explanatory diagram of the present invention.

FIG. 3 is a diagram illustrating tool dimensions.

[Explanation of symbols]

 1 Hand 2 Rotation Detector 4 Manipulator for Teaching 5 Interface 8 Personal Computer 9 Robot Controller 10 Robot

Claims (1)

[Claims] 1. An off-line direct robot of a robot having a direct teaching mechanism, which is provided separately from a robot which actually performs a work, in which an instructor holds a tip portion of a movable portion to teach the robot to actually perform a work. A teaching device, comprising a displacement detector for detecting the displacement of each movable part, and from the output signal of the displacement detector of each movable part and the mechanical constant of the direct teaching mechanism, the robot has a mechanical shape. In the offline direct teaching device having data processing means for obtaining and storing an operation in a coordinate system having a reference point set at an arbitrary spatial position as an origin for different direct teaching mechanisms, Expand or reduce the distance from the reference point of the three-dimensional data taught in the space within the operating range. An off-line direct teaching device, which is provided with a teaching data editing means.