JPH06106489A - Burr removal teaching jig for robot - Google Patents

Abstract

PURPOSE:To carry out teaching on posture and a route of a robot exactly and efficiently when a burr is removed by arranging a distance detecting part and an abnormal approach detecting part in a teaching jig body part installed in a tool holder of the robot. CONSTITUTION:A burr removal teaching jig 20 is installed on the arm tip of a robot 10. Distance detecting proximity sensors 21 and 22 to a work 40 and abnormal approach detecting proximity sensors 23 and 24 to the work 40 are arranged on the two surfaces 271 and 272 above this teaching jig 20. While looking at display of the proximity sensors 21 and 22, and while keeping a distance to the work 40 in contant range, an operator can teach burr removing posture and a route. When the robot approached the work 40 abnormally, the proximity sensors 23 and 24 stop the robot 10 immediately. Thereby, teaching on the robot posture and the route can be carried out without using a tool, and a distance between the robot and the work can be kept constant without relying on visual observation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a deburring teaching jig for a robot used when teaching a deburring operation to a robot, and more particularly to teaching of deburring operation without a tool attached to the robot. Deburring teaching jig for robots.

[0002]

2. Description of the Related Art In recent years, it has been put into practical use to have a robot perform deburring work in a finishing process such as machining or casting. Teaching in that case has been performed by attaching a tool to a robot and actually pressing the tool against a work to set a teaching point.

[0003]

However, when the tool is actually pressed against the work and teaching is performed, it is difficult to adjust the pressing force, and the tool is damaged or damaged. Further, since the teaching is performed by visual observation, it takes time for the teaching work, and the posture and the route of the teaching robot are varied. Therefore, the teaching of the deburring work has been a complicated task as a whole.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a deburring teaching jig for a robot, which can eliminate the complexity of teaching the robot for deburring work. And

[0005]

According to the present invention, in order to solve the above-mentioned problems, a deburring teaching jig for a robot, which is used when teaching a robot for deburring a work, is attached to a tool holder of the robot. Detects whether or not the distance between the teaching jig main body part having two surfaces provided so as to face the surfaces adjacent to each other of the work and the work provided on each of the two surfaces is within a predetermined range A deburring teaching jig for a robot, characterized in that it has a distance detection unit that displays and an abnormal approach detection unit that is provided on each of the two surfaces and that detects and displays an abnormal approach to the workpiece. Provided.

[0006]

Operation: The teaching jig main body is attached to the tool holder of the robot. The two surfaces of the teaching jig main body are provided so as to face the surfaces of the work adjacent to each other. A distance detector is provided on each of the two surfaces to detect whether or not the distance to the work is within a predetermined range. An abnormal approach detection unit is provided on each of the two surfaces to detect an abnormal approach to the work.

Therefore, the operator can teach the posture and path of the robot at the time of deburring, based on the detection results of the distance detector and the abnormal proximity detector. Therefore, teaching can be performed without using a tool. Further, the distance between the robot and the work can be kept constant without visual inspection, and the posture and path of the robot can be taught accurately and efficiently. As a result, the complexity involved in the conventional teaching work can be eliminated.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 2 is a diagram showing a robot system for carrying out the present invention. In the figure, a deburring teaching jig 20 is attached to the tool holder 12 provided at the tip of the arm 11 of the robot 10. The deburring teaching jig 20 has four proximity sensors 21, 2
2, 23 and 24 are provided. This deburring teaching jig 20 and its four proximity sensors 21-24
Will be described later in detail. The operator 100 operates the teaching operation panel 31 based on the displays of the proximity sensors 21 and 22.
Is operated to move the robot 10 along the ridgeline 41 of the work 40. The posture and route of the robot 10 at that time are taught by the robot control device 30, and become the posture and route at the time of deburring. If the robot 10 approaches the work 40 abnormally during teaching, the proximity sensor 23 or 24 of the deburring teaching jig 20 is used.
Detects the abnormality, and the detection signal is sent to the robot controller 30. The robot controller 30 immediately stops the robot 10 based on the detection signal.

FIG. 1 is a diagram showing the structure of a deburring teaching jig of the present invention. In the figure, a tool holder 12 is attached to the tip of an arm 11 of a robot 10,
Deburring teaching jig 20 is attached to the tool holder 12.
Are attached by their two legs 25 and 26. As described above, the four proximity sensors 21 to 24 are provided on the two surfaces 271 and 272 formed on the upper portion 27 of the deburring teaching jig 20. These two faces 27
1 and 272 are formed so as to face surfaces 42 and 43 of the work 40 which are adjacent to each other.

Of the four proximity sensors 21 to 24, the inner two proximity sensors 21 and 22 are distance detecting sensors for detecting whether or not the distance to the work 40 is within a predetermined range. Further, the two outer proximity sensors 23 and 24 are
This is for detecting an abnormal approach to the work 40. These proximity sensors 21 to 24 have LED lamps 21a, 22a, 23a and 2 for displaying the detection state thereof.
4a is provided, and the lighting of the LED lamp 21a and the like can be visually observed. Proximity sensor 21,
If the distance between 22 and the workpiece 40 is within the predetermined range,
The LED lamps 21a and 22a are lit in green, and if the distance between the proximity sensors 23 and 24 and the work 40 is abnormally short, the LED lamps 23a and 24a are lit in red. The proximity sensors 21 to 24 are of a built-in amplifier type, and the distance detection range thereof can be arbitrarily set by adjusting a volume (not shown) provided in each of the proximity sensors 21 to 24. In the case of the amplifier separated type, the amplifier may be attached to the arm 11 of the robot 10 and used.

Proximity sensors 23 and 24 for detecting abnormal approach
LED lamps 23a and 2a based on the detection result.
In addition to lighting 4a, the detection signal is sent to the robot controller 30 as described above. Therefore, when the distance between the proximity sensors 23 and 24 and the workpiece 40 becomes abnormally short, the operation of the robot 30 immediately stops.

FIG. 3 is a diagram for explaining the operation of the proximity sensor. In the figure, the proximity sensor 21 lights up its LED lamp 21a in green when the distance L to the work 40 becomes L1 or less. Further, when the distance L to the work 40 becomes L2 or less, the proximity sensor 22 turns on the LED lamp 22a in green. The proximity sensor 23 has a distance L from the work 40.
When is less than L3, the LED lamp 21a is turned on in red and the detection signal is sent to the robot controller 30. Further, the proximity sensor 24 has a distance L from the work 40.
When L is less than or equal to L4, the LED lamp 21a is turned on in red and the detection signal is sent to the robot controller 30. The operator 100 uses the proximity sensor 21 for distance detection.
While looking at the green display of 22 and 22, the distance L between the robot 10 and the work 10 is set within a certain range (L1 <L <L2, L3 <
Teach the deburring posture and route while maintaining L <L4).

When the teaching of the robot 10 is completed, the operator 100 removes the deburring teaching jig 20 from the tool holder 12 and attaches the deburring tool 50 shown by the broken line in the figure. Robot 1
0 uses the deburring tool 50 to work 40
Deburring work is performed along the ridgeline 41 of the.

As described above, the teaching jig 20 is attached to the tool holder 12 of the robot 10, and the four proximity sensors 21 to 24 are provided on the two surfaces 271 and 272 of the teaching jig 20. Among the four proximity sensors 21 to 24, the inner two proximity sensors 21 and 22 are distance detection sensors that detect whether or not the distance to the work 40 is within a predetermined range, and the outer two sensors. The individual proximity sensors 23 and 24 are for detecting abnormal proximity to detect abnormal proximity to the work 40. Operator 100
Can teach the deburring posture and route while keeping the distance L between the robot 10 and the workpiece 10 within a certain range while observing the green display of the proximity sensors 21 and 22 for distance detection. Further, the proximity sensors 23 and 24 for detecting abnormal approach can immediately stop the robot 10 when the robot 10 approaches the work 40 abnormally.

Therefore, teaching can be performed without using the deburring tool 50, and damage to the deburring tool 50 can be prevented. Further, since the distance L between the robot 10 and the work 40 can be maintained appropriately without visual inspection, the posture and path of the robot 10 can be taught accurately and efficiently. As a result, the complexity involved in the conventional teaching work can be eliminated.

In the above description, the proximity sensor is used as the sensor used in the deburring teaching jig, but it is also possible to use another distance detection sensor, for example, a distance setting type photoelectric switch. By using this photoelectric switch, the inclination of the tool with respect to the work can be maintained within a certain range. So, like a grinder,
This is effective when using a tool that deburrs while maintaining a certain inclination with respect to the work.

[0017]

As described above, according to the present invention, the tool holder of the robot is provided with the distance detecting section and the abnormal approach detecting section. Therefore, the operator, based on the detection results of the distance detection unit and the abnormal proximity detection unit,
It is possible to teach the posture and path of the robot when deburring. Therefore, teaching can be performed without using a tool. Further, the distance between the robot and the work can be kept constant without visual inspection, and the posture and path of the robot can be taught accurately and efficiently. As a result, the complexity involved in the conventional teaching work can be eliminated.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a deburring teaching jig of the present invention.

FIG. 2 is a diagram showing a robot system for carrying out the present invention.

FIG. 3 is a diagram illustrating the operation of a proximity sensor.

[Explanation of symbols] 10 Robot 12 Tool holder 20 Deburring teaching jig 21, 22 Proximity sensor (for distance detection) 23, 24 Proximity sensor (for abnormal proximity detection) 30 Robot controller 31 Teaching operation panel 40 Work

Claims (3)

[Claims] 1. A deburring teaching jig for a robot used when teaching a robot for deburring work, comprising two jigs attached to a tool holder of the robot and provided so as to face mutually adjacent surfaces of a workpiece. A teaching jig main body having a surface, a distance detection unit provided on each of the two surfaces and configured to detect whether or not a distance from the work is within a predetermined range, and a distance detection unit provided on each of the two surfaces. A deburring teaching jig for a robot, comprising: an abnormal approach detection unit that detects an abnormal approach to the work. 2. The abnormal approach detector sends a detection signal to the robot controller when detecting an abnormal approach to the work, and the robot controller stops the operation of the robot based on the detected signal. The deburring teaching jig for a robot according to claim 1, wherein the teaching jig is configured as described above. 3. The deburring teaching jig for a robot according to claim 1, wherein the distance detector and the abnormal proximity detector are proximity sensors or reflection sensors.