JPH0588741A - Teaching device for industrial robot and controlling method for its position - Google Patents

Abstract

PURPOSE:To perform a teaching action of an industrial robot by guiding a machining head to a desired machining point in a safe place distant from a work and at the same time teaching the machining head with the three- dimensional machining like the cutting of a curved surface, etc. CONSTITUTION:A teaching head 2 is provided with a light emitting means 3 for the laser irradiation light b1 and a light receiving part 4 for the laser reflected light b2. The part 4 includes a reference photodetector 4a which receives the light b2 from an ideal machining point O having a distance suited to the machining. A camera 5 is attached to the head 2 and photographs the point O. A display 7 is provided apart from a work W and connected to the camera 5 and the part 4. The image of the camera 5 and the receiving state of the part 4 are projected on the display 7. An operator operates a control means while looking at the display 7 and then moves continuously the head 2 until the coincidence is secured among the machining point of the work W, the light b1, the light b2, and the photodetector 4a respectively.

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 an industrial robot that guides a machining head of the industrial robot to a machining point of a workpiece, and a position adjusting method thereof.

[0002]

2. Description of the Related Art Generally, when machining a precision part used in an aircraft or the like, a machining head of an industrial robot is guided to a machining point of a workpiece, and the machining head is taught the machining point of the workpiece. We are processing. As an apparatus for this teaching, for example, Japanese Patent Laid-Open No.
As disclosed in Japanese Patent Publication No. 274981, the processing head is provided with a light emitting means for irradiating the processing point with laser light and a plurality of light receiving elements for receiving the laser reflected light reflected at the processing point. When the processing head is moved until is received by the reference light receiving element of the plurality of light receiving elements,
It is known that the drill of the processing head is placed at a position where it can reach the processing point.

[0003]

However, in the above-mentioned teaching device, the desired machining point on the work surface cannot be found by the device itself, so that the operator must drill in advance for the machining point of the work. At an almost reachable distance,
Moreover, it is necessary to set the machining head by visual measurement at the upper position, which is considered to be almost vertical. That is, the teaching device described above is first adjusted by human hands to some extent, and then
This is a device that corrects the distance to the machining point.If you want to continue machining the work, the vertical direction of the machining head with respect to the machining point changes depending on the curved shape of the work, so the operator sets the machining head each time. There is a problem in that the worker has to perform the process again and must always wait near the work.

Further, since dangerous obstacles are often present around the work and the industrial robot, from that point as well,
Workers need to be released from the work site.

Further, when a large number of processing points are concentrated in a narrow area of the work surface, it is difficult for the teaching device to specify a desired processing point, and the operator processes the processing head near the work. There is also the problem of having to guide you to the point.

By the way, the position where the machining head is perpendicular to one machining point exists in the range of 360 degrees with the machining point as the center. When simply drilling holes by using a drill like the above teaching device, the device is
Machining is possible regardless of the direction of 0 degree. However, in the case of continuously advancing in a constant direction such as cutting, the direction of the machining head must be controlled. However, teaching is impossible in three-dimensional processing such as cutting a curved surface.

The present invention has been made in view of the above points, and an object of the present invention is to guide a processing head to a desired processing point at a safe place away from a work and to perform teaching, and It also intends to teach three-dimensional processing such as cutting processing.

[0008]

In order to achieve the above object, in the invention according to claim 1, the teaching head is reflected by the light emitting means for irradiating the laser beam toward the machining point of the work and the work surface. And a light receiving section formed of a plurality of light receiving elements for receiving laser reflected light, wherein one of the plurality of light receiving elements receives reflected light from an ideal processing point located at a distance suitable for processing a workpiece. In the teaching device for industrial robots set as the reference light receiving element, the teaching head is set to have a predetermined angle when the reflected light from the ideal processing point is received by the reference light receiving element, and the teaching head is set to the teaching head. A camera for photographing the periphery of the ideal processing point is provided, and an image of the camera is projected on the camera and the light receiving unit, and a laser image is reflected as an image of the light receiving unit. Connect the display that reflects the light receiving point and the reference light receiving element of the optical, disposed in a place away the display from the workpiece, the position error between the processing point of the laser radiation beam and the workpiece while watching the display,
The control means adjusts the positional error between the processing point of the work and the reference light receiving element and the positional error between the laser reflected light and the reference light receiving element.

According to a second aspect of the invention, the teaching head comprises a light emitting means for irradiating a laser beam toward a processing point of the work and a plurality of light receiving parts for receiving the laser reflected light reflected by the work surface. And a camera for photographing an ideal processing point on the laser irradiation light for setting a distance suitable for processing a workpiece.
Is set as a reference light receiving element that receives the reflected light from the ideal processing point, and the teaching head has a predetermined angle when the reflected light from the ideal processing point is received by the reference light receiving element. And a control means for moving the teaching head with respect to a work while watching the image of the camera and the light receiving part connected to the camera and the light receiving part. In the method of adjusting the position of the robot teaching device, while watching the display, move the teaching head to apply the laser irradiation light to the machining point of the work, and then move the teaching head along the laser irradiation light to move the machining point of the work. Adjust the distance between the teaching head and the machining point of the workpiece by adjusting it to the reference light receiving element, then By applying the laser light reflected on the reference light receiving element and over quenching head is rotated around the machining point of the workpiece, it is an arrangement for adjusting the angle between the processing point of teaching and workpiece.

According to a third aspect of the invention, the teaching head comprises a light emitting means for irradiating a laser beam toward a processing point of the work and a plurality of light receiving parts for receiving the laser reflected light reflected on the work surface. And a camera for photographing an ideal processing point on the laser irradiation light for setting a distance suitable for processing a workpiece.
Is set as a reference light receiving element that receives the reflected light from the ideal processing point, and the teaching head has a predetermined angle when the reflected light from the ideal processing point is received by the reference light receiving element. And a control means for moving the teaching head with respect to a work while watching the image of the camera and the light receiving part connected to the camera and the light receiving part. In the position adjustment method of the robot teaching device, while watching the display, move the teaching head to align the machining point of the work with the reference light receiving element, and then move the teaching head along the aiming point of the camera to emit the laser irradiation light to the work. Adjust the distance between the teaching head and the machining point of the workpiece by hitting the machining point of By applying the laser light reflected on the reference light receiving element of I over quenching head is rotated around the machining point of the workpiece, it is an arrangement for adjusting the angle between the processing point of teaching and workpiece.

According to a fourth aspect of the present invention, the light receiving portion is integrally formed of a plurality of transparent light receiving elements and is mounted in front of the objective lens of the camera.

[0012]

With the above construction, in the invention according to claim 1,
By remotely controlling the teaching head by the control means while observing the display at a place remote from the work, the positional error between the laser irradiation light emitted from the light receiving means and the work point of the work is corrected, and the work point of the work is corrected. After adjusting the distance between the teaching head and the machining point of the workpiece by correcting the positional error between the reference light receiving element and the reference light receiving element, the teaching head is adjusted by correcting the position error between the laser reflected light and the reference light receiving element. And the machining point of the workpiece are adjusted, and the teaching head is set at a position suitable for teaching. Therefore, it becomes possible to teach the machining head at an appropriate position with respect to the machining point of the work at a place distant from the work. Further, during three-dimensional processing such as cutting of a curved surface, it is possible to adjust the processing direction of the processing head while observing the processing surface of the workpiece displayed on the display.

According to the second aspect of the present invention, the teaching head is moved by operating the control means while observing the display at a place away from the work, and the laser irradiation light is applied to the working point of the work, and then the teaching head. Is moved along the laser irradiation light to adjust the work point of the work to the reference light receiving element, the distance between the teaching head and the work point of the work is adjusted, and then the teaching head is rotated around the work point of the work. By irradiating the reference light receiving element with the laser reflected light, the angle between the teaching head and the machining point of the workpiece is adjusted. As a result, the teaching head is set at an appropriate position for teaching, so that it becomes possible to teach the machining head at an appropriate position with respect to the machining point of the work at a place distant from the work.

According to the third aspect of the invention, the teaching head is moved to adjust the machining point of the work to the reference light receiving element by operating the control means while observing the display at a place away from the work, and then the teaching head. By moving the laser along the sight of the camera and applying the laser irradiation light to the machining point of the workpiece, the distance between the teaching head and the machining point of the workpiece is adjusted, and then the teaching head is rotated around the machining point of the workpiece. Then, the laser reflected light is applied to the reference light receiving element, whereby the angle between the teaching head and the processing point of the work is adjusted. As a result, the teaching head is set at an appropriate position for teaching, so that it becomes possible to teach the machining head at an appropriate position with respect to the machining point of the work at a place distant from the work.

[0015]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a teaching device for an industrial robot according to a first embodiment of the present invention, in which 1 is a processing head for processing a work W, and 2 is a desired processing of the processing head 1 on the surface of the work W. The teaching head 2 guides to a point S, and the teaching head 2 is supported together with the processing head 1 at the tip of the robot arm (not shown).

The teaching head 2 emits a laser beam b1 toward the processing point S of the work W, and emits light.
And a light receiving section 4 for receiving the laser reflected light b2 reflected by the surface of the work W, and an ideal processing point O for setting a distance suitable for processing the work W on the light beam of the laser irradiation light b1. It is set.

The machining head 1 is, as shown in FIG.
When the teaching head 2 has a predetermined ideal angle i with respect to the work W when the reflected light b2 from the ideal work point O is received by the reference light receiving element 4a, with respect to the work point S of the work W. Located vertically above. That is, the ideal machining point O is on the machining direction axis c of the machining head 1, and the machining head 1 is set to perform machining based on the distance to the ideal machining point O.

The teaching head 2 is provided with a CCD camera 5, which is set so as to project the light receiving portion 4 and photograph the periphery of the ideal processing point O.

As shown in FIG. 2, the light receiving section 4 is integrally formed with a plurality of transparent light receiving elements 4a, 4b, 4c, ... And is mounted in front of the objective lens 6 of the CCD camera 5. , One of the plurality of light receiving elements 4a, 4b, 4c, ...
One is set to the reference light receiving element 4a when receiving the reflected light b2 from the ideal processing point O.

The CCD camera 5 and the light receiving section 4 are connected to a display 7 installed at a place distant from the work W. On the screen of this display 7, laser irradiation light b is displayed as an image of the CCD camera 5.
1 and the processing point S of the workpiece W, and the workpiece W
A position error between the processing point S and the reference light receiving element 4a is displayed, and a position error between the laser reflected light b2 and the reference light receiving element 4a is displayed as an image of the light receiving section 4. Further, on the screen of the display 7, the sight of the CCD camera 5 is set to coincide with the reference light receiving element 4a.

Further, the teaching head 2 is connected to a control means (not shown), and by this control means, movement in three dimensions, rotation about the vertical direction, and the tip of the teaching head 2 as a fulcrum position. It is possible to rotate it. The control means is provided in the vicinity of the display 7, and controls the teaching head 2 while watching the screen of the display 7.

Next, the first position adjusting method of the teaching head using the teaching device for the industrial robot will be described. FIG. 1 shows a state before starting the position adjustment of the teaching head, and FIGS. 3 to 5 show a first position adjusting method.

When the teaching head 2 is brought close to the work W, the position of the processing point S, the irradiation point A of the laser irradiation light b1, the light receiving point B at which the reflected light b2 is received, and the CCD are displayed on the screen of the display 7. The sights of the camera 5 are displayed respectively. From this state, as shown in FIG. 3, the teaching head 2 is horizontally moved while observing the screen of the display 7 until the irradiation point A of the laser irradiation light b1 overlaps the processing point S. Next, the teaching head 2 is moved vertically and horizontally along the laser irradiation light b1,
As shown in FIG. 4, the irradiation point A and the processing point S are aligned with the aim of the CCD camera 5. As a result, the irradiation point A and the processing point S are aligned with the reference light receiving element 4a of the light receiving section 4. At this time, the ideal machining point O of the teaching head 2 coincides with the actual machining point S on the surface of the work W, so the distance between the teaching head 2 and the machining point S is adjusted. Then, the teaching head 2 is rotated around the processing point S until the actual laser reflected light b2 hits the reference light receiving element 4a. As a result, as shown in FIG. 5, the laser reflected light b2 and the work W form an ideal angle i, so that the angle between the teaching head 2 and the processing point S is adjusted. At this time, the processing head 1 is positioned perpendicular to the processing point S of the work W and at a distance suitable for processing.

Therefore, according to such a position adjusting method, the teaching head 2 can be set at a position suitable for teaching the machining head 1, and it is not necessary to visually teach the machining head 1 in advance. The teaching of the processing head 1 can be completely automated. Further, since the teaching of the processing head 1 is operated at a place away from the work W, the operator can be freed from the dangerous environment at the site, an accident can be prevented, and the work efficiency can be improved.

Further, when performing three-dimensional processing such as cutting a curved surface, the processing direction of the work W can be known by looking at the processing surface of the workpiece W projected on the display 7. Can be adjusted.

6 to 8 show a second method of adjusting the position of the teaching head using the teaching device for industrial robots. In this second position adjusting method, first, as shown in FIG. 6, while looking at the screen of the display 7, the sight of the CCD camera 5, that is, the reference light receiving element 4a.
The teaching head 2 is moved horizontally until is aligned with the processing point S. Next, the teaching head 2 is connected to the CCD camera 5
Up and down and horizontally along the line of sight, the processing point S is aligned with the irradiation point A of the laser irradiation light b1 as shown in FIG. As a result, the ideal machining point O of the teaching head 2
Corresponds to the actual machining point S on the surface of the workpiece W, so the distance between the teaching head 2 and the machining point S is adjusted. Then, the teaching head 2 is moved to the processing point S until the actual laser reflected light b2 hits the reference light receiving element 4a.
Rotate around. As a result, as shown in FIG.
Since the laser reflected light b2 and the work W form an ideal angle i, the angle between the teaching head 2 and the processing point S is adjusted. At this time, the processing head 1 moves the work W
Is perpendicular to the machining point S and is located at a distance suitable for machining.

Also in this second position adjusting method, the first
Similarly to the position adjusting method described above, the teaching head 2 can be set to an appropriate position for teaching the machining head 1, and it is not necessary to visually teach the machining head 1 in advance. It can be fully automated. Further, since the teaching of the processing head 1 is operated at a place away from the work W, the worker is freed from the dangerous environment on the site, an accident can be prevented, and the work efficiency can be improved. Can play.

FIG. 9 shows a teaching device for an industrial robot according to a second embodiment of the present invention, in which 8 is a teaching head, and the teaching head 8 is laser reflected light b.
A light receiving section 9 for receiving 2 is provided at a position apart from the CCD camera 5. The light receiving unit 9 includes a plurality of light receiving elements (not shown), one of which is set as a reference light receiving element 9a for receiving the reflected light b2 from the ideal processing point O.

Since the present embodiment is exactly the same as the first embodiment in the configuration other than the above, the same components are designated by the same reference numerals and a detailed description thereof will be omitted.

Next, a first teaching head using the teaching device for an industrial robot according to the second embodiment will be described.
The position adjusting method will be described. 9 shows a state before starting the position adjustment of the teaching head, and FIGS. 10 to 12 show a first position adjusting method.

Before starting the teaching position adjustment,
As shown in FIG. 9, on the screen of the display 7, the position of the processing point S, the irradiation point A of the laser irradiation light b1, and the reflected light b2 are shown.
The light receiving point B at which the light is received and the aim of the CCD camera 5 are displayed. From this state, as shown in FIG. 10, while watching the screen of the display 7, the teaching head 8 is horizontally moved until the irradiation point A of the laser irradiation light b1 overlaps the processing point S. Next, the teaching head 8 is moved vertically and horizontally along the laser irradiation light b1, and the irradiation point A and the processing point S are moved to C as shown in FIG.
Align with the aim of the CD camera 5. As a result, the ideal machining point O of the teaching head 8 coincides with the actual machining point S of the work W surface, so that the teaching head 8 and the machining point S
It means that the distance between and has been adjusted. Then, the teaching head 8 is rotated around the processing point S until the actual laser reflected light b2 hits the reference light receiving element 9a. As a result, as shown in FIG. 12, the laser reflected light b2 and the work W form an ideal angle i, so that the angle between the teaching head 8 and the processing point S is adjusted. At this time, the processing head 1 is positioned perpendicular to the processing point S of the work W and at a distance suitable for processing.

13 to 15 show a second method of adjusting the position of the teaching head using the teaching device for industrial robots. In the second position adjusting method,
First, as shown in FIG. 13, while looking at the screen of the display 7, the teaching head 8 is horizontally moved until the aim of the CCD camera 5, that is, the reference light receiving element 9a is aligned with the processing point S. Next, the teaching head 8 is moved vertically and horizontally along the line of sight of the CCD camera 5 to align the processing point S with the irradiation point A of the laser irradiation light b1 as shown in FIG. As a result, the ideal machining point O of the teaching head 8 coincides with the actual machining point S of the work W surface,
This means that the distance between the teaching head 8 and the processing point S has been adjusted. Subsequently, the teaching head 2 is rotated around the processing point S until the actual laser reflected light b2 hits the reference light receiving element 9a. As a result, as shown in FIG. 15, the laser reflected light b2 and the work W form an ideal angle i, so that the angle between the teaching head 8 and the processing point S is adjusted. At this time, the processing head 1
The workpiece W is positioned perpendicular to the processing point S and at a distance suitable for processing.

When adjusting the position of the teaching head using the teaching device for an industrial robot of the present invention, an error in the distance between the teaching head and the machining point and an error in the angle are calculated, and based on the result of the calculation. It is also possible to control. FIG. 16 shows a control method by calculation using the teaching device according to the first embodiment, where θ is the laser reflected light b2 reflected at the ideal processing point O.
Is an ideal reflection angle formed when striking the reference light receiving element 4a.

In performing the above calculation, first, the teaching head 2 is horizontally moved until the irradiation point A of the laser irradiation light b1 overlaps the processing point S. At this time, the values to be calculated are the distance SO between the actual processing point S and the ideal processing point O, and the angle 1/2 (θ) which is ½ of the difference between the actual reflection angle γ and the ideal reflection angle θ. -Γ). In obtaining the above SO and the above-mentioned 1/2 (θ-γ), as the values obtained in advance, the distance a from the light emitting means 3 to the ideal processing point O, the distance b from the ideal processing point O to the light receiving point B, and the laser irradiation The laser irradiation light b1 is used as a value obtained as a result of measurement by the light emitting means 3 and the light receiving section 4 by utilizing the angle α formed by the light b1 and the straight line from the ideal processing point O to the light receiving point B and the complementary angle β of this angle α. Of the length a'of the laser beam and the length b'of the reflected laser beam b2
′ + B ′, and the distance SO and the length b of the laser reflected light b2
The sum SO + b 'with' is used.

The calculation of the distance SO is performed as follows.

[0037]

[Equation 1]

Therefore,

[0039]

[Equation 2]

Therefore,

[0041]

[Equation 3]

When calculating the angle 1/2 (θ-γ),

[0043]

[Equation 4]

Therefore,

[0045]

[Equation 5]

Therefore,

[0047]

[Equation 6]

When the teaching head 2 is controlled by the above calculation, it can be controlled from either the distance or the angle with respect to the processing point S. Further, as in the first embodiment of the present invention, in a state in which the distance to the processing point S is set by operating the control means while looking at the display screen in advance (shown by the one-dot chain line X in FIG. 16), After that, the angle with respect to the processing point S may be obtained by the calculation of the above formulas to control to an appropriate state indicated by the chain double-dashed line Y. Although not shown, after setting the angle with respect to the processing point S in advance. , The machining point S is calculated by the above equations.
It is also possible to obtain the distance with respect to and control to an appropriate state indicated by the two-dot chain line Y.

In the first and second embodiments, the CCD camera 5 is used as a camera for photographing the laser irradiation light b1, but a microscope such as a fiberscope or another camera such as a video camera may be used. You can also

[0050]

As described above, according to the teaching device for industrial robots according to the first aspect, the teaching head and the machining can be processed by remotely controlling the teaching head by the control means while observing the display at a place distant from the work. By adjusting the distance to the point and the angle between the teaching head and the processing point, the teaching head can be set at a position suitable for teaching. Therefore, it is not necessary to visually teach the machining head in advance, and the teaching of the machining head can be completely automated. Further, since the teaching of the processing head is operated at a place away from the work, the worker can be freed from a dangerous environment on the site, an accident can be prevented from occurring, and the work efficiency can be improved. Furthermore, when performing three-dimensional processing such as cutting a curved surface, the processing direction can be known by looking at the processing surface of the work piece projected on the display, so that the processing direction of the processing head can be adjusted while watching the display.

According to the position adjusting method of the teaching device for the industrial robot of the second aspect, the teaching head and the machining point are moved by operating the control means while operating the control means while observing the display at a place away from the work. Since the distance between the teaching head and the machining point is adjusted, the teaching head can be set at an appropriate position for teaching. Therefore, it is not necessary to set the machining head vertically in advance, and the teaching of the machining head can be completely automated. Further, since the teaching of the processing head is operated at a place away from the work, the worker can be freed from a dangerous environment on the site, an accident can be prevented from occurring, and the work efficiency can be improved.

According to the position adjusting method of the teaching device for the industrial robot of the third aspect, the teaching head and the machining point are moved by operating the control means by operating the control means while observing the display at a place away from the work. Since the distance between the teaching head and the machining point is adjusted, and the angle between the teaching head and the processing point is adjusted, the teaching head can be set at a position suitable for teaching. Therefore, it is not necessary to set the machining head vertically in advance, and the teaching of the machining head can be completely automated. Further, since the teaching of the processing head is operated at a place away from the work, the worker can be freed from a dangerous environment on the site, an accident can be prevented from occurring, and the work efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a teaching device for an industrial robot according to a first embodiment of the present invention.

FIG. 2 is a plan view of a light receiving unit.

FIG. 3 is a first example of the present invention using the teaching device of FIG.
It is explanatory drawing explaining the position adjustment method of.

FIG. 4 is an explanatory diagram illustrating a first position adjusting method of the present invention.

FIG. 5 is an explanatory diagram illustrating a first position adjusting method of the present invention.

6 is a second embodiment of the present invention using the teaching device of FIG.
It is explanatory drawing explaining the position adjustment method of.

FIG. 7 is an explanatory diagram illustrating a second position adjusting method of the present invention.

FIG. 8 is an explanatory diagram illustrating a second position adjusting method of the present invention.

FIG. 9 is a configuration diagram of a teaching device for an industrial robot according to a second embodiment of the present invention.

FIG. 10 is an explanatory view illustrating a first position adjusting method of the present invention using the teaching device of FIG. 9.

FIG. 11 is an explanatory diagram illustrating a first position adjusting method of the present invention.

FIG. 12 is an explanatory diagram illustrating a first position adjusting method of the present invention.

FIG. 13 is an explanatory diagram illustrating a second position adjusting method of the present invention using the teaching device of FIG. 9.

FIG. 14 is an explanatory diagram illustrating a second position adjusting method of the present invention.

FIG. 15 is an explanatory diagram illustrating a second position adjusting method of the present invention.

FIG. 16 is an explanatory diagram illustrating a position adjustment method by calculation using the teaching device of the present invention.

[Explanation of symbols]

 2,8 Teaching head 3 Light emitting means 4,9 Light receiving part 4a, 9a Reference light receiving element 5 CCD camera 7 Display A Irradiation point B Light receiving point O Ideal processing point S Work processing point W Work b1 Laser irradiation light b2 Laser reflected light i Ideal angle

Claims (4)

[Claims] 1. A teaching head has a light emitting means for irradiating a laser beam toward a processing point of a work, and a light receiving part made up of a plurality of light receiving elements for receiving the laser reflected light reflected by the work surface. In the teaching device for an industrial robot, wherein one of the plurality of light receiving elements is set as a reference light receiving element that receives reflected light from an ideal processing point located at a distance suitable for machining a workpiece, the teaching head is The reflected light from the ideal processing point is set to have a predetermined angle with respect to the workpiece when received by the reference light receiving element, and the teaching head has a camera for photographing the periphery of the ideal processing point. The image of the camera is projected on the camera and the light receiving section, and the light receiving point of the laser reflected light and the reference are displayed as an image of the light receiving section. A display that reflects the position of the light-receiving element is connected, and this display is arranged at a location away from the work.While looking at the display, the positional error between the irradiation point of the laser irradiation light and the processing point of the work,
A teaching device for an industrial robot, comprising a control means for adjusting a position error between a machining point of a work and the reference light receiving element and a position error between a light receiving point of laser reflected light and the reference light receiving element. 2. A teaching head, a light emitting means for irradiating a laser beam toward a processing point of a work, a light receiving part including a plurality of light receiving elements for receiving the laser reflected light reflected on the work surface, and a laser irradiation light. And a camera for photographing an ideal processing point for setting a distance suitable for processing a workpiece, and one of the plurality of light receiving elements is a reference light receiving element for receiving reflected light from the ideal processing point. Is set,
The teaching head is set to have a predetermined angle with respect to the workpiece when the reflected light from the ideal processing point is received by the reference light receiving element, and is connected to the camera and the light receiving unit. In a position adjusting method for a teaching device for an industrial robot, which comprises a display showing an image and the light receiving section, and a control means for moving the teaching head with respect to a work while observing the display, the teaching head is observable while observing the display. After moving the laser irradiation light to the machining point of the workpiece, move the teaching head along the laser irradiation light to align the machining point of the workpiece with the reference light receiving element, and thereby the distance between the teaching head and the machining point of the workpiece is adjusted. Adjustment, and then rotate the teaching head around the machining point of the workpiece. By applying the laser light reflected on the reference light receiving element, the position adjustment process of industrial robot teaching apparatus characterized by adjusting the angle of the machining point of the teaching and workpiece. 3. A teaching head, a light emitting means for irradiating a laser beam toward a processing point of a work, a light receiving portion including a plurality of light receiving elements for receiving the laser reflected light reflected on the work surface, and a laser irradiation light. And a camera for photographing an ideal processing point for setting a distance suitable for processing a workpiece, and one of the plurality of light receiving elements is a reference light receiving element for receiving reflected light from the ideal processing point. Is set,
The teaching head is set to have a predetermined angle with respect to the workpiece when the reflected light from the ideal processing point is received by the reference light receiving element, and is connected to the camera and the light receiving unit. In a position adjusting method for a teaching device for an industrial robot, which comprises a display showing an image and the light receiving section, and a control means for moving the teaching head with respect to a work while observing the display, the teaching head is observable while observing the display. After moving the workpiece to match the machining point of the workpiece with the reference light receiving element, move the teaching head along the aiming point of the camera to direct the laser irradiation light to the machining point of the workpiece, and the distance between the teaching head and the machining point of the workpiece. Adjustment, and then rotate the teaching head around the machining point of the workpiece. By applying the laser light reflected on the reference light receiving element Te, position adjusting method for industrial robots teaching apparatus characterized by adjusting the angle of the machining point of the teaching and workpiece. 4. The teaching device for an industrial robot according to claim 1, wherein the light receiving section is formed by integrally forming a plurality of transparent light receiving elements and is mounted in front of the objective lens of the camera.