JPH06110545A - Programming method for teaching data - Google Patents

Abstract

PURPOSE:To easily and exactly prepare teaching data for operating a manipulator. CONSTITUTION:A manipulator 10 is operated by operating a joy stick 24 and each time the tip of the manipulator 10 reaches a teaching position, a storage button 22 is pressed. Therefore, position information showing each teaching position are calculated and stored by a computer 21 based on a joint signal S of the manipulator 10. After the position information is stored, operation information P is inputted by an information input device 23 for each piece of position information so as to prepare the teaching data by the computer 21.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching data programming method, and is capable of easily and accurately creating teaching data for operating a manipulator.

[0002]

2. Description of the Related Art In order for a manipulator of a robot to move as intended by a human, it is necessary to previously teach the manipulator's operation amount and procedure. Conventionally, there are mainly a direct teaching method and a complete software method as methods for programming teaching data.

In the direct teaching method, a desired position / orientation and movement are taught by successively memorizing each joint angle of the manipulator while manually moving the tip of the manipulator.

In the complete software method, the operation sequence, work environment, robot structure, etc. are loaded as software information into a computer, and teaching data is created in software by calculation and processing.

[0005]

In the direct teaching method, however, the tip of the manipulator cannot be moved accurately at a constant speed or can be moved straight forward.
For this reason, it is impossible to accurately teach constant velocity movement or straight movement. Also, the manipulator tip must be laid around in accordance with the operation sequence, resulting in heavy labor.

On the other hand, in the complete software method, teaching data can be created only by an expert (a programmer or the like) who is familiar with software technology, and it is difficult to create a program.

In view of the above-mentioned conventional technique, it is an object of the present invention to provide a teaching data programming method capable of easily and accurately creating teaching data.

[0008]

The configuration of the present invention for solving the above problems teaches a manipulator which is a multi-joint type and outputs a joint signal indicating the angle of each joint. Therefore, the tip of the manipulator is placed on the work trajectory. The position information indicating the tip position of the manipulator is calculated and stored from the joint signal at each position when the positions are reached, and then the motion information is set for each position information. hand,
It is characterized in that teaching data of the manipulator is created.

[0009]

In the present invention, the information indicating the position of the manipulator is fetched from the manipulator, and then the motion information is set to create teaching data.

[0010]

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

First, a 7-axis manipulator 10 to which the present invention is applied will be described with reference to FIG. As shown in FIG. 1, the mounting base 2 is installed with the mounting surface 1 formed on the bottom surface thereof fixed to a work floor surface, a work wall surface or the like. The mounting base 2 is connected to a rotary body 3 that can swivel around a first axis perpendicular to the mounting surface 1, and the rotary body 3 includes a second rotary body 3 orthogonal to the first rotary axis. The base end portion of the arm sleeve 4 that rotates around the axis is connected. A base end portion of an intermediate arm 5 that rotates around a third axis orthogonal to the second axis is connected to a distal end portion of the arm sleeve 4, and the distal end portion of the intermediate arm 5 is connected to the first arm. A base end portion of a connection sleeve 6 that rotates around a fourth axis orthogonal to the three axes is connected. Further, a base end portion of an extension sleeve 7 that rotates around a fifth axis orthogonal to the fourth axis is connected to the tip portion of the connection sleeve 6, and the tip portion of the extension sleeve 7 is connected to the above-mentioned portion. A wrist portion 8 that rotates around a sixth axis orthogonal to the fifth axis is connected. The wrist portion 8 is provided with a seventh portion orthogonal to the sixth axis.
A face plate 9 that rotates around an axis and on which various types of work equipment are assembled is attached.

A servo motor, a joint angle detection sensor, etc. are provided on each of the first to seventh axes, and the face plate 9 for the mounting base 2 is controlled by controlling the operation of the servo motor.
The position and orientation of the manipulator can be arbitrarily changed according to the work form, and the position and orientation of the manipulator can be obtained based on the detection signal of the joint angle detection sensor.

Next, the method of the present invention will be described with reference to FIG. 2 showing the entire robot apparatus using the 7-axis manipulator 10. In FIG. 2, the 7-axis manipulator 1
0 is schematically shown.

As shown in FIG. 2, a 7-axis manipulator 10 is provided.
Outputs a joint signal S indicating each joint angle, and when the memory button 22 is pressed, the joint signal S at that time is stored in the computer 21, and the tip position of the manipulator 10 is calculated and stored. The information input device 23 inputs the operation information P to the computer 21. The motion information includes the speed of the tip of the manipulator, the interpolation method, the wait time, the offset amount, and the like.

On the other hand, when the joystick 24 is operated, the manipulator 10 is moved according to the operation amount of the joystick 24 by the motion control by the computer 25. After creating the teaching data as described later, the computer 21 reproduces the teaching data and controls the operation of the manipulator 10 based on the reproduced data. A monitor 25 is connected to the computer 21.

Next, the operation for teaching will be described. As shown in FIG. 3, when the trajectory of the tip of the manipulator 10 passes through the positions D1, D2, D3, D4, first, the position data d1 through d4 of the positions D1 through D4 are stored.
That is, the joystick 24 is operated to operate the manipulator 1
The tip of 0 is occupied at the position D1 and the memory button 2
Press 2. Then, based on the joint signal S at this time, the position information d1 of the position D1 is calculated by the computer 21 and stored. Next, by operating the joystick 24, the tip of the manipulator 10 is occupied at the position D2 and the memory button 22 is pressed, whereby the computer 21 calculates and stores the position information d2 of the position D2. After that, in the same way,
The computer 2 stores the position information d3 and d4 of the positions D3 and D4.
Store in 1.

First, the position D is set as described above.
Position information d1, d2, d3, d of 1, D2, D3, D4
After storing 4, the operation information P for each position is input to the computer 21 from the information input device 23. For example,
At position D1, stop for 10 seconds, move from position D1 to position D2, go straight from position D2 to position D3 with linear interpolation at a speed of 20 mm / sec, move from position D3 to position D4,
Input operation information P such as stopping at position D4 for 10 seconds and returning from position D4 to position D1. The operation information P also includes the amount of offset, the number of repetitions, the type of tool, and the like.

The state when the operation information P is input will be described with reference to FIGS. 4 to 6 showing the display screen of the monitor 25. The motion information P is input by a so-called interactive method. For example, when the position information d1, d2, d3, d4 of the positions D1, D2, D3, D4 is stored, the monitor 25 displays as shown in FIG. At this time, when the cursor is placed on the line of the position information d1, as shown in FIG. 5, a window for making necessary settings as the operation information at this d1 is displayed, and when setting is made along this window, it is shown in FIG. As described above, the motion information P at the position information d1
Is set. Thereafter, also in d2, d3 and d4, the motion information P is set by the similar interactive method.

In this way, the position information d1, d2, d
When 3, d4 and the motion information P at each position are input, the computer 21 automatically performs programming. Table 1 below shows an example of teaching data created by programming. In Table 1, sentences showing the meaning of each line are added, but this additional item is not displayed in the actual program.

[0020]

[Table 1]

[0021]

According to the present invention as described in detail with reference to the above embodiments, the position information is simply fetched from the manipulator and the motion information is set for each position information. Therefore, the teaching is simple and accurate. Can create data.
In other words, the position information can be specified without having to consider the origin position of the manipulator or the three-dimensional coordinates because the position information only needs to take in the value from the manipulator, which simplifies the operation. In addition, the motion information is set separately, so that the motion is accurately performed.

[Brief description of drawings]

FIG. 1 is a perspective view showing a 7-axis manipulator.

FIG. 2 is a block diagram showing the entire robot apparatus.

FIG. 3 is an explanatory view showing a teaching position.

FIG. 4 is an explanatory diagram showing a monitor and its display.

FIG. 5 is an explanatory diagram showing a monitor and its display.

FIG. 6 is an explanatory diagram showing a monitor and its display.

[Explanation of symbols]

 10 Manipulator 21 Computer 22 Memory Button 23 Information Input Device 24 Joystick 25 Monitor

Claims (1)

[Claims] 1. To teach a manipulator of a multi-joint type that outputs a joint signal indicating the angle of each joint, the tip of the manipulator is successively occupied at a plurality of positions on a work trajectory, and each position is reached. At this time, the position information indicating the tip position of the manipulator is calculated from the joint signal at that time and stored, and then the motion information is set for each position information to create teaching data of the manipulator. Teaching data programming method.