JPH05233052A - Teaching device for robot - Google Patents

Abstract

PURPOSE:To prevent velocity higher than rated velocity from being taught to the manipulator for a robot. CONSTITUTION:When an operator inputs velocity data for a main body 1 of a manipulator through a controller 2 or a programming unit 3, the controller 2 calculates angular velocity for each joint at the main body 1 of the manipulator and judges whether the calculated angular velocity exceeds the rated angular velocity of each joint or not. When it is judged that the calculated velocity 'exceeds' the rated velocity, velocity data are corrected in a certain range so that the angular velocity of each joint can not exceed the rated angular velocity.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching device for a so-called teaching playback robot, and more particularly to a teaching device suitable for use in a painting sealing robot in which locus accuracy is important.

[0002]

2. Description of the Related Art Today, industrial robots are used in various fields. For example, in a coating robot, a manipulator equipped with a paint spraying device is provided, a plurality of coating points on the object to be coated are stored in advance, and the manipulator is driven to spray the coating material while sequentially moving these points. A device for teaching the robot a work procedure in order to automatically perform such a series of work is called a teaching device.

[0003]

By the way, the conventional teaching device for the coating robot checks the operation of the manipulator at the painting location, but what checks the operation when moving between a plurality of painting locations. There was no That is, when the manipulator moves between the two taught points, there is a possibility of teaching a speed equal to or higher than the rated maximum speed of the manipulator. For this reason, there has been a problem that the trajectory accuracy of the manipulator is significantly lowered and the life of the manipulator is shortened. The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a robot teaching device capable of preventing the teaching of a speed higher than the rated speed of the manipulator.

[0004]

In order to solve the above-mentioned problems, the structure according to claim 1 has a manipulator having a joint for driving a tip portion, and a driving speed of the joint of the manipulator based on teaching data. And a input device for inputting to the control device the teaching point data for designating the teaching point at which the distal end should be located and the moving speed data for designating the moving speed between the teaching points. In a robot teaching device, a rated drive speed storage means for storing a rated drive speed of the joint, and a conversion means for converting the moving speed data input from the input device into drive speed data indicating the drive speed of the joint, Comparing means for determining a magnitude relationship between the drive speed indicated by the drive speed data and the rated drive speed; and the drive speed in the comparing means for the rated drive speed. It is characterized by comprising an alarm means for generating an alarm when it is determined that is greater than the rate.

Further, in the structure according to claim 2,
2. The robot teaching apparatus according to claim 1, wherein when the comparison unit determines that the drive speed is higher than the rated drive speed, the movement within a range in which the drive speed does not exceed the rated drive speed. Moving speed calculation means for calculating speed and outputting the calculated moving speed as updated moving speed data, display means for displaying the updated moving speed data, and data updating for updating the moving speed data to the updated moving speed data And means.

Further, in the structure according to claim 3,
The robot teaching device according to claim 1 or 2, wherein the moving speed calculation means includes a rated angular acceleration / rated angular speed storage means for storing a rated angular acceleration and a rated angular speed of the joint, and the rated angular acceleration. Maximum acceleration calculating means for calculating the maximum acceleration of the manipulator based on, and the manipulator is accelerated at the maximum acceleration,
The time required to move between the teaching points by being driven at a constant speed by the moving speed calculated by the moving speed calculating means or the taught moving speed based on the rated angular velocity, and then being decelerated at the maximum acceleration and stopped. An average speed calculation means for calculating an average speed by dividing the distance between the taught points by the required time and an average speed display means for displaying the average speed are provided.

[0007]

According to the structure of the present invention, the conversion means converts the moving speed data into the driving speed data indicating the driving speed of the joint, and the driving speed indicated by this data and the rated driving speed are large or small. The relationship is determined by the comparison means. Then, when it is determined that the former is large, the alarm means issues an alarm. Thereby, the operator can recognize that the moving speed data input from the input device is excessive. The rated drive speed can be obtained from, for example, the angular velocity of each axis, and varies depending on the posture within the operating range.

Further, in the structure according to the second aspect, the moving speed in the range where the driving speed does not exceed the rated driving speed is calculated by the moving speed calculating means, and the moving speed is displayed on the display means. Since the data updating means updates the moving speed data based on this moving speed, the optimum moving speed is automatically set.

Further, in the structure according to the third aspect, the maximum acceleration calculation means calculates the maximum acceleration of the manipulator based on the rated angular acceleration of the joint stored in the rated angular acceleration storage means. Further, the average speed calculation means moves between the teaching points by accelerating the manipulator at the maximum acceleration, driving the manipulator at a constant speed at the moving speed calculated by the moving speed calculation means, and then decelerating at the maximum acceleration and stopping. The required time is calculated, and the average speed is calculated by dividing the distance between the taught points by the required time. Since the average speed is displayed on the average speed display means, the operator can easily know the average speed of the manipulator.

[0010]

【Example】

[First Example] A. Configuration of Embodiment A. Overall Configuration of One Embodiment FIG. 1 shows a coating robot system according to a first embodiment of the present invention. In the figure, 1 is a manipulator main body, and 2 is a controller for controlling this. The controller 2 is connected to the manipulator main body 1 via a cable 4. Next, 3 is a programming unit (hereinafter referred to as PGU), which is provided for the operator to give instructions to the manipulator main body 1 and to teach. The PGU 3 is connected to the controller 2 via the cable 5.

A. 2 Configuration of Manipulator Main Body 1 The manipulator main body 1 further includes a box 1-1, a base 1-2, a first arm 1-3, a second arm 1-6, a first link 1-4, and a second link 1-5. , Wrist upper and lower part 1-
7, a wrist left and right part 1-8 and a turning part 1-9. The box 1-1 is fixed to the installation surface, the base 1-2 is rotatably attached to the box 1-1 in the direction of the arrow θ ₁ , the first arm 1-3 is the base 1-2. It is pivotally attached to and is rotatable in the direction of the arrow θ ₂ . The first link 1-4 is rotatably supported by the base 1-2 in the θ ₃ direction. In addition, the second arm 1-6,
The first arm 1-3 is rotatably supported at a point C. This allows the second arm 1-6 to move in the length direction.

The second arm 1-6 is rotatably supported by the second link 1-5 at a point D located on the opposite side of the point C, and is moved by the operation of the first link 1-4. It can be moved up and down. A wrist upper and lower portion 1-7, which is rotatable in the θ ₄ direction, is pivotally supported at the tip of the second arm 1-6. Furthermore, a wrist left / right portion 1-8 rotatable in the θ ₅ direction is pivotally supported by the wrist upper / lower portion 1-7, and a wrist turning portion 1-9 is rotatable in the θ ₆ direction on the wrist left / right portion 1-8. It is pivotally supported.

The above-mentioned components are the manipulator main body 1
It can be driven by a motor (not shown) therein, and these and the controller 2 can exchange signals and powers via a cable 4. Similarly, signals can be exchanged between the controller 2 and the PGU 3 via the cable 5. The PGU 3 is provided with a keyboard and a display unit, and the operator can operate the manipulator main body 1 by operating the keyboard and the display unit. Note that FIG. 3 shows the relationship between the robot base coordinate system, the model of the manipulator main body 1, and the spindle angles θ _{1 to} θ ₆ . In the figure, the length of the first arm 1-3 is L ₁ , the second
The length of arm 1-6 is L ₂ .

B. Operation of the Embodiment The configuration of the above-described embodiment is the same as that of a well-known coating robot system, and the operation when performing coating work using this system is also the same as that of the well-known system. Since the present embodiment is characterized in the process of teaching the painting robot system the painting process, the teaching operation will be described in detail.

B. 1. Overall Operation of Embodiment First, the overall operation of this embodiment will be described with reference to FIG.
2 is a flowchart of the main routine of the processing program set in the controller 2. When the process is started in the figure, a predetermined initialization is performed in step SP1. For example, in the present embodiment, a variable P_NUM (hereinafter referred to as the number of teaching points) indicating the number of teaching points is used, but this is set to "0",
It is initialized.

Next, when the processing advances to step SP2, the operator can specify points. The operator directly or remotely determines the posture of the robot and teaches it. The operator can specify a plurality of points, and the teaching point number P_NUM is incremented each time the points are specified. Then, when the operator inputs an instruction of the final point, the process of step SP2 ends.

Next, the variable i is in the range of "1" to "P_NUM".
Is incremented, and step SP is performed for each variable i.
The processes of 3 to 6 are repeated. First, in step SP3, the operator designates whether the positioning mode is "fine" or "coarse" for the i-th teaching point, and the designated positioning mode is set. Here, the positioning mode "fine" is a mode that requires a high trajectory accuracy to perform painting, and the positioning mode "coarse" is a mode that does not require a high trajectory accuracy to simply move. ..

Next, when the processing advances to step SP4, it becomes possible to specify the moving speed V to the teaching point. Here, when the operator specifies the speed V, the process proceeds to step SP5. In step SP5,
The maximum speed V _{max at} which the manipulator body 1 can move while maintaining a high trajectory accuracy is calculated. Note that step S
Details of P5 will be described later.

Next, when the processing advances to step SP6, it is judged whether or not the speed V is higher than the maximum speed V _max . If "YES" is determined here, then it is determined whether the positioning mode is "fine". Here, if it is further determined to be “YES”, the maximum speed V _max obtained in step SP5 is forcibly substituted for the speed V,
This is displayed to the operator.

For example, when remote control is performed using the PGU 3, the speed taught by the operator and the maximum speed V _max are alternately blinked on the display unit of the PGU 3 and a buzzer sounds. Also, the buzzer pattern at this time is the same as that for overspeed. On the other hand, when teaching directly through the controller 2, an LED (not shown) close to the hand switch is turned on, an alarm is generated, and a buzzer sounds. The buzzer pattern shall be the same as that for maximum speed over.

Further, in this embodiment, the acceleration / deceleration control can be performed by slightly changing the program (details will be described later). In such a case, the displayed speed may be an average speed between two points. That is, when the average speed is t, the time required to accelerate to acceleration a and move at a constant speed V to decelerate and stop at acceleration -a is
It is a value obtained by dividing the moving distance L by t.

When the speed V is less than or equal to the maximum speed V _max in step SP6 or the positioning mode is "coarse", the variable i is incremented,
The processing of steps SP3 to 6 is repeated. Thus, for each teaching point, the maximum speed V _max
When the speed V is set in sequence while being compared with, and the setting of the “P_NUM” th teaching point is completed, the processing of the main routine ends.

B. 2. Details of operation in step SP5
Fine will be described in detail below procedure for determining the maximum velocity V _max in step SP5 of the main routine. The procedure for _{obtaining the} maximum speed V _max differs depending on whether the operation of the manipulator body 1 is linear or circular. The operator can specify which operation is selected, and the case will be described separately below. In addition, in the attached drawings, vector quantities are shown in bold type in accordance with general mathematical notation, and the first and second differentials of a variable with respect to time t are attached to the variable by " ^・ " and " ^{・, respectively. In} the specification, the vector quantity is expressed by the upper suffix " ^* " of the variable, and the first derivative and the second derivative of the variable with respect to time t are added by the upper suffix "'" and "," respectively. Indicated by "".

Maximum speed calculation processing during linear movement (i) Maximum speed calculation processing based on teaching data During linear movement, step SP is executed in the main routine.
When step 5 is executed, the subroutine shown in FIG. 4 is called. When the process starts in the figure, first, step SP
101, the i-th teaching point position is P ^* _i , the i + th teaching point position
The first teaching point position is P ^* _{i + 1} , and the distance L between both points is L.
Is calculated by the following equation. _{^{L = │P * i + 1 -P}} * i │

Next, when the processing proceeds to step SP102, the number of samplings required to move the straight line connecting the two points at the taught speed V is calculated by the following equation, and the calculation result is the number of divisions. Substituted in Stp. Stp = (L / V) * Sample_f where Sample_f is the sampling frequency of predetermined digital control. Next, when the process proceeds to step SP103, the direction vector (unit vector) of the straight line connecting the two points
e ^* is calculated by the following equation. e ^* = (P ^* _{i + 1-} P ^* _i ) / L

By the way, each axis angle θ ₁ , θ ₂ , ..., θ ₆
The _{^{θ * = [θ 1, θ}} 2, ......, θ 6] Expressed in consisting angle vector ^{θ *, θ * '= [} θ 1', θ 2 ', ......, θ 6'] becomes ^T angular velocity vector It is possible to find θ ^* '. In the following processing, the maximum angular velocity vector θ ^* 'max that is the maximum value of this angular velocity vector θ ^* ' is obtained.
In preparation for that, in step SP104, a vector "0" is substituted for the maximum angular velocity vector θ ^* 'max.

Next, the variable j is changed from "0" to the division number Stp, and steps SP105 to 1 for each variable j.
The processing of 09 is performed. That is, the distance from the teaching point P _i to the teaching point P _i + ₁ is sampled for each “V / Sample_f”, and the maximum speed is checked for each sampling point. First, in step SP105, j
The tip position x ^* _{j of the} th (however, j = 0, 1, ..., Stp) is obtained by an approximate expression of x ^* _j = P ^* _i + (V × j / Sample_f) e ^* .

Next, when the processing advances to step SP106, each axis angle θ ^* when the tip position is at x ^* _j is obtained, and further the Jacobian matrix J ^* is obtained. Next, when the process proceeds to step SP107, the velocity x ^* ' _j at this time point is obtained by an approximate expression of x ^* ' _j = Ve ^* , and the process proceeds to step SP108.
Proceed to. Here, since the relationship between the Jacobian matrix J ^* and the tip velocity x ^* 'is x ^* ' _j = J ^* θ ^* ', in step SP108, each unit angular velocity θ ^* _{' j} = [θ _{'j1, θ' j2, ......} , θ 'j6] T is obtained by the following equation. θ ^* _'j = J ^{* -1} x ^* ' _j

The routine then proceeds to step SP109, "1" for variable k to "6", 'and _jk, maximum angular velocity vector theta ^*' angular velocity theta of the k-axis second serving each element of max k
The magnitude relationship with the maximum angular velocity θ'max _{k of the} axis is determined. Then, when it is determined that there is a relation of “θ ′ _jk > θ ′ max _k ”, this angular velocity θ ′ _jk is set to a new maximum angular velocity θ ′ max _k .

In this way, steps SP105-108
In the processing of, the j-th (however, j = 0, 1, ..., St
The angular velocity θ ′ _jk is calculated with respect to the teaching point of p), and the maximum angular velocity θ ′ max _k is updated when it is determined in step SP109 that “θ ′ _jk > θ ′ max _k ” is satisfied. .. Therefore, the processing of steps SP105 to 108 is St.
After repeating p times, the true maximum angular velocity θ'ma
x _k , that is, the velocity V between the two taught points (P ^* _i , P ^* _i ).
The maximum angular velocity vector θ ^* 'max required to move at is obtained.

(Ii) Comparison Frequency Calculation Processing Next, in the processing of steps SP110 to 112,
Rated angular velocity vector θ that the manipulator body 1 can output
The ratio of ^* 'limit and the maximum angular velocity vector θ ^* ' max is obtained, and the smallest value among them is the variable C _mp (hereinafter,
It is set to the comparison frequency). Hereinafter, each step will be described. First, in step SP110, the comparison frequency C _mp is initialized to “1”. Next, while changing the variable k from "1" to "6", step SP11
The processes 1 and 112 are performed.

[0032] In step SP111, the ratio of the rated angular speed Shita'limit _k and the maximum angular velocity Shita'max _k according to the k axis "θ'limit _k / _{θ'max k"} is calculated, the result variable C
Stored in _m . Next, when the process proceeds to step SP112, it is determined whether or not the variable C _m is smaller than the comparison frequency C _mp , and when it is determined to be “small”, the contents of C _m are compared. Transferred to frequency C _mp . Next, when the processing of steps SP111 and 112 is completed, the maximum speed V _max that V _max = V * C _mp is calculated. That is, the teaching point P ^*
Unless restrained from _i the moving velocity of the taught points P ^* _{i + 1} below the maximum speed V _max, the maximum angular velocity vector theta ^* 'each element of max rated angular velocity vector theta ^*' no longer exceed the respective elements of the limit.

Operation for Circular Interpolation The manipulator body 1 may be driven along an arcuate trajectory. The operation in this case will be described with reference to FIG. First, the circular arc trajectory is specified by specifying the starting point vector P ^* ₁ , the ending point vector P ^* _3, and the midpoint vector P ^* ₂ located in the middle of the circular arc. Step SP201
, Based on these vectors P ^* _{1 to} P ^* ₃ ,
The central angle φ of the arc, the length R of the arc and the center position x ^* _c are calculated.

Next, when the processing advances to step SP202, the division number Stp for moving at the taught speed is calculated by the following equation. Stp = (R / V) × Sample_f Next, the variable i is changed from “0” to the number of divisions Stp,
The processing of steps SP204 to 209 is performed for each variable j. That is, the maximum speed is checked for each point that advances in one sampling when moving on the circular arc trajectory at the speed V. In preparation, in step ^{SP203, θ * 'max = [} θ' max1, θ 'max2, ......, θ' max6] T becomes maximum angular velocity vector theta ^* 'max to "0" vector is assigned.

The processing of steps SP204 to 209 will be described below step by step. First, step SP204
At, the position vector x ^* _{i at the} i-th sampling point is calculated. i-th position vector x
^* _I is the starting point vector P ^* _1, the midpoint vector P ^* ₂ and an end point vector P ^* ₃ flush, "i from the starting point vector P ^* ₁
It exists at a position rotated by xφ / Stp ”toward the end point vector P ^* ₃ .

Next, when the processing advances to step SP205, each axis angle θ ^* in this position vector x ^* _i is calculated, and the Jacobian matrix J ^* is obtained. Next, when the processing advances to step SP206, a direction cosine e ^* in the normal direction from the center position x ^* _c of the arc toward the position vector x ^* _i is calculated. That is, the direction of the velocity vector at this position is calculated. Next, when the process proceeds to step SP207, it is approximated that the tip of the manipulator body 1 moves at the velocity V and the direction e ^* , and the tip velocity x ^* ' _i is calculated by the following equation. x ^* ' _i = (V / Sample_f) × e ^*

Next, when the processing proceeds to step SP208, the angular velocity vector θ is the same as in step SP108.
^* ' _i is calculated. Next, when the process proceeds to step SP209, "1"-
For the variable j of "6", 'and _ij, the maximum angular velocity vector theta ^*' angular velocity theta of the j axis magnitude relationship between the maximum angular velocity Shita'max _j of the j-axis serving each element of max is determined. Then, "θ '
_ij> If it is determined that a relationship of Shita'max _j "is the angular velocity theta _'ij is set to new maximum angular θ'max _j.

Therefore, after the processing of steps SP204 to 209 is repeated Stp times, the true maximum angular velocity vector θ ^* 'max is obtained. Next, step SP21
In steps 0 to 213, the above steps SP110 to 11
The same process as 3 is performed. That is, the comparison frequency C _mp is obtained based on the rated angular velocity vector θ ^* 'limit and the maximum angular velocity vector θ ^* ' max that the manipulator body 1 can output, and the maximum velocity V _max is calculated based on this.

As described above, according to this embodiment, the rated angular velocity vector θ ^* 'limit that the manipulator body 1 can output is
Since the maximum speed V _max is calculated on the basis of, it is possible to avoid teaching a speed that is unreasonable for performance.

[Second Embodiment] A. Configuration of Embodiment Next, a second embodiment of the present invention will be described. FIG. 7 shows a coating robot system according to the second embodiment of the present invention. In the figure, the configurations of the manipulator body 1 and the controller 2 are the same as those in the first embodiment. Further, in the system of the second embodiment, a personal computer 6 with a floppy disk drive, a keyboard 8-1 and a tablet 8-2 as input devices thereof, and a CRT display 7 as a display device are provided. The offline teaching device is configured by these.

The operator can input the position and orientation of the teaching point, the speed between each teaching point, the acceleration, etc. to the personal computer 6 via the keyboard 8-1 or the tablet 8-2 to create teaching data. is there. The created teaching data is recorded on the floppy disk 9.
Then, use the floppy disk 9 for the controller 2
When set to, the recorded teaching data is read by the controller 2, and the manipulator main body 1 is automatically controlled by this teaching data.

B. Operation of Embodiment Next , the operation of this embodiment will be described. Also in this embodiment,
The operation of the painting work itself is the same as that of a known system, and the feature of this embodiment is the teaching operation using the personal computer 6. Therefore, this teaching operation will be described in detail with reference to the flowchart (FIG. 6) of the teaching data setting program set in the personal computer 6. When the process starts in the figure, step SP30
1 to 303, step S in the first embodiment
The same processing as P1 and P2 is performed. That is, in step SP301, a predetermined initialization such as setting the teaching point number P_NUM to “0” is performed, and the operator teaches the robot posture and the like for each teaching point through steps SP302 and 303. ..

Next, the variable i is in the range of "1" to "P_NUM".
Is incremented, and step SP is performed for each variable i.
The processes of 304 to 311 are repeated. First, step S
In P304, the operator gives an instruction as to whether the positioning mode is "fine" or "coarse" for the i-th teaching point. Next, when the processing proceeds to step SP305, the moving speed V to the teaching point is designated by the operator.

If the positioning mode is "coarse", the variable i is incremented and the processing of steps SP304 and 305 is performed for the next teaching point, but the positioning mode is "fine". If there is, the processing of the next steps SP306 to 311 is performed.

First, in step SP306, the maximum acceleration a that can be output from the angular acceleration of each axis is calculated. Here, the arm tip acceleration X "and each axis angular acceleration θ ^* "
, A = | x ^* "| = | (dJ ^* / dθ ^* ) ・ θ ^* ' ² + J ^* θ ^* " | holds, but here the first term on the right-hand side is "0" for simplicity. And Next, when the processing proceeds to step SP307, the maximum movable speed V _max is calculated. In addition,
This process is similar to the process of the first embodiment described with reference to FIGS.

Next, when the processing advances to step SP308, it is judged whether or not the speed V taught at step SP305 is larger than the maximum speed V _max. If it is larger, the speed V is set. V _max is substituted. At this time, CRT
It is preferable to blink the speed V on the display 7 and generate a beep sound. Next, the process is step SP30.
9, the moving time t when the vehicle is accelerated by the acceleration a, moves at a constant speed at the speed V, and decelerates and stops at the acceleration -a is calculated by the following formula. t = L / V + V / a

Next, when the processing advances to step SP310, the average speed V _ave is calculated by the following equation. V _ave = L / t Next, when the processing proceeds to step SP311, the calculated average speed V _ave is displayed on the CRT display 7.
Then, for the variable i, the above steps SP304 to 31
When the process of 1 is completed, the variable i is incremented,
The processing of steps SP304 to 311 is repeated. When the setting of the "P_NUM" th teaching point is completed, the teaching data creation process ends. After that, the created teaching data may be recorded in the floppy disk 9 and set in the controller 2.

As described above, according to this embodiment, similarly to the first embodiment, the speed V is sequentially set for each teaching point while being compared with the maximum speed V _max, and further, for each teaching point. It is possible to display the average speed V _ave . Therefore, the amount of information is large when constructing a production line using an industrial robot, which is more suitable.

As described above, according to the teaching apparatus for a robot of the first aspect, the converting means converts the moving speed data into the driving speed data indicating the driving speed of the joint, and this driving speed is rated. When it is determined that the driving speed is higher than the driving speed, an alarm is issued by the warning means, so that it is possible to prevent the manipulator from being taught a speed higher than the rated speed. As a result, it is possible to improve the quality such as painting or sealing. According to the robot teaching apparatus of the second aspect, in addition to the above advantages, the speed can be automatically set, so that the operator does not need to repeatedly teach the speed, and the teaching time can be shortened. be able to. Furthermore, according to the configuration of claim 3, the maximum acceleration can be automatically set, so that the target trajectory is accurately reproduced, and the coating quality and the like are improved. In addition, since an unreasonable load is not applied to the manipulator itself, the life of the manipulator can be extended, which is a special effect.

[Brief description of drawings]

FIG. 1 is a perspective view showing a configuration of a first embodiment.

FIG. 2 is a flowchart of a main routine of a control program of the first embodiment.

FIG. 3 is a diagram showing a mathematical model of the first embodiment.

FIG. 4 is a flowchart of a subroutine of a control program of the first embodiment.

FIG. 5 is a flowchart of a subroutine of a control program of the first embodiment.

FIG. 6 is a flowchart of a control program of the second embodiment.

FIG. 7 is a diagram showing a configuration of a second exemplary embodiment.

[Explanation of symbols]

1 Manipulator main body (manipulator) 2 Controller (control device, input device, rated drive speed storage means, conversion means, comparison means, alarm means, moving speed calculation means, display means, data update means) 3 PGU (input device, display device) ) 6 personal computer (control device, input device, rated drive speed storage means, conversion means, comparison means, alarm means,
Moving speed calculation means, display means, data update means Rated angular acceleration storage means, maximum acceleration calculation means, average speed calculation means, average speed display means) 7 CRT display (display device, average speed display means) 8-1 Keyboard (input Device) 8-2 Tablet (input device) 9 Floppy disk (rated drive speed storage means, rated angular acceleration storage means)

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁵ Identification number Office reference number FI technical display location G05B 19/407 Q 9064-3H

Claims (3)

[Claims] 1. A manipulator having a joint for driving a tip portion, a controller for designating a driving speed of a joint of the manipulator based on teaching data, and teaching point data for designating a teaching point at which the tip portion should be located. In a teaching device of a robot comprising an input device for inputting movement speed data designating a movement speed between the teaching points to the control device, a rated drive speed storage means for storing a rated drive speed of the joint, A conversion unit that converts the moving speed data input from the input device into driving speed data indicating the driving speed of the joint, and a magnitude relationship between the driving speed indicated by the driving speed data and the rated driving speed is determined. Comparing means and alarm means for issuing an alarm when the comparing means determines that the drive speed is higher than the rated drive speed. Teaching apparatus of a robot which is characterized in that. 2. When the comparison means determines that the drive speed is higher than the rated drive speed, a moving speed in a range in which the drive speed does not exceed the rated drive speed is calculated and calculated. A moving speed calculation unit that outputs the moving speed as updated moving speed data; a display unit that displays the updated moving speed data; and a data updating unit that updates the moving speed data to the updated moving speed data. The teaching device for a robot according to claim 1, wherein the teaching device is a robot. 3. The moving speed calculation means calculates a maximum angular acceleration of the manipulator based on the rated angular acceleration / rated angular speed storage means for storing the rated angular acceleration and the rated angular speed of the joint, and the rated angular acceleration. Maximum acceleration calculating means, the manipulator is accelerated at the maximum acceleration, is driven at a constant speed at the moving speed calculated based on the rated angular velocity by the moving speed calculating means or the taught moving speed, and then at the maximum acceleration. Average speed calculation means for calculating a mean speed by dividing the distance between the taught points by the necessary time to find a necessary time to move between the taught points by decelerating and stopping, and displaying the mean speed. The robot teaching device according to claim 1 or 2, further comprising an average speed display means.