JPH06786A - Teaching device and teaching method for robot - Google Patents

Abstract

PURPOSE:To perform the teaching work without damaging a work object and a tool by providing a coordinate direction display transparent filter marked with the rectangular coordinate axes and scales. CONSTITUTION:A light source device incorporated with a transparent filter 14 marked with the rectangular coordinate axes and scales is provided at one portion of a robot main body. The transparent filter 14 is position adjustably fitted between a condensing lens 8 and an image forming lens 12. The planar positions of a teaching object and a tool are taught by the position of the transparent filter image 18 illuminated by the light source device and projected on the surface 16 of the teaching object while the teaching object and the tool tip are kept in no contact with each other. Teaching can be performed while the work object and the tool are not damaged.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching device and a teaching method for a robot, and particularly to shorten teaching time.

[0002]

2. Description of the Related Art FIG. 13 is a schematic diagram showing a conventional teaching method by a robot. In FIG. 13, reference numeral 40 is a control device, 42 is a teaching pendant, 44 is a robot body, 46 is a tool, 30 is an object to be taught, 48 is coordinate display, and 50 is a guide operation button. When teaching is performed in the conventional robot configured as described above,
The operator guides the robot arm in each of the X, Y, Z, and R directions by the guide operation button 50 on the teaching pendant 42, and the tool 46 reaches a specific teaching position determined by the relationship with the teaching target object 30. An operation for storing the posture of the arm of the robot in the control device 40 is performed.

[0003]

However, when the teaching work is performed by the above method, if the teaching position is on the surface of the teaching object, the worker guides the posture of the robot arm from the teaching pendant at hand. The position of the tool tip on the surface of the object to be taught must be adjusted so that the vertical position of the surface of the object to be touched and the position of the tool tip in the vertical direction are adjusted so as to contact each other.
Especially when verticality between the surface of the object to be taught and the tool is required, the verticality must be judged by visually observing the tool from two directions. Further, when a certain specific value is required as the rotation angle of the tool with respect to the object to be taught, it is necessary to confirm the coordinate display of the teaching pendant held by the operator. In addition, when the teaching position is a space with a certain distance from the surface of the teaching object, the plane direction of the teaching position with respect to the surface of the teaching object remains in the state where the tool tip and the surface of the teaching object are separated. Since it is difficult for the operator to recognize both the position and the vertical position, the tool tip is guided to the point where the vertical line lowered from the target teaching point onto the surface of the teaching target intersects with the teaching target surface, It is necessary to perform a guiding operation up to the target teaching point while using the teaching reference point as the reference point and observing the coordinate display of the teaching pendant held by the operator from that point.

In the teaching work that requires such consideration, the operator is required to look into the object to be taught by bringing his or her body or head closer to the object to be taught, and the guiding operation is performed while watching the coordinate display of the teaching pendant. Required to do. For this reason, the operator cannot pay attention to only the operation of the tip of the tool, which increases the risk of an accident and reduces the work efficiency.

The present invention has been made in view of the above circumstances, and an object thereof is to provide an environment in which safe and prompt teaching is possible.

[0006]

A teaching device of the present invention is a light source device provided in a part of a robot body, wherein a light source, a condenser lens, an imaging lens, and a lens between the focusing lens and the imaging lens. And a transparent filter whose position can be adjusted.

Particularly, as the transparent filter, a coordinate direction display transparent filter having orthogonal coordinate axes and scales is used.

Using the teaching device having the above structure, the planar position between the teaching object and the tool is detected by the position of the filter image projected from the light source device on the surface of the teaching object.

By using the teaching device having the above-described structure, the focus of the filter image projected from the light source device on the surface of the teaching target object is focused on the surface of the teaching target object so that the teaching object and the tool are perpendicular to each other. The direction position is detected.

Using the teaching device having the above-described configuration, the verticality between the teaching object and the tool is detected from the shape of the filter image projected by irradiating the surface of the teaching object from the light source device.

Using the teaching device having the above structure, the rotation angle between the teaching object and the tool is detected from the angle of the orthogonal coordinate axes of the filter image projected from the light source device onto the surface of the teaching object.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. First, the configuration of the light source device will be described with reference to FIGS. 1 to 4 are views showing an internal configuration of a light source device of the present invention, FIG. 1 is a cross-sectional view of the light source device, FIG. 2 is a side view of the light source device, and FIG. 3 is a filter moving knob 10 and a transparent filter 14. Top view, FIG. 4 shows filtered image 18
FIG.

As shown in FIG. 1, the light source device includes a detachable portion 2 for connecting to the tip of a robot arm, a case 4, a light source 6 attached to the inside thereof, and a condenser lens arranged on the optical axis thereof. 8 and the transparent filter 14 and the imaging lens 12. The transparent filter 14 is located between the condenser lens 8 and the imaging lens 12, and can be moved along the optical axis of the light source 6 by moving the filter moving knob 10 in the vertical direction on the paper surface. As shown in FIG. 2, the case 4 is provided with a filter movement guide hole 20 that extends vertically along the optical axis of the light source 6 to form a vertically elongated groove. Moving guide hole 20
A scale 22 is provided in the vicinity. The filter moving knob 10 extends through the filter moving guide hole 20 to the outside of the case 4, and can be adjusted and moved up and down along the optical axis within the range of the scale 22 using the scale 22 as a guide. The transparent filter 14 is transparent, and the orthogonal coordinate axis 13 and the scale 15 are marked.

The light emitted from the light source 6 is collected by the condenser lens 8.
Through the transparent filter 14, the imaging lens 12, and the filtered image 18 on the teaching target surface 16. Even if the height of the teaching point is different from the point taught last time and the distance from the light source device to the surface of the teaching target is different, the position connecting the filter images 18 can be changed by adjusting the position of the transparent filter 14. It is also possible to handle teaching work that requires a plurality of teaching point heights.
The orthogonal coordinate axis 13 and the scale 15 marked on the transparent filter 14 are displayed as a filter image 18 on the teaching target surface 16.

Next, an example of a specific method of use will be described with reference to FIGS. 5 to 8 are views showing examples of use of the light source device in relation to the robot. 5, 6 and 7 are examples of application applied to an AHC (automatic hand changer) device. FIG. 5 is a diagram showing a state where a robot has a brush and painting is performed, and FIG. FIG. 7 is a diagram showing a state in which replacement is performed, and FIG. 7 is a diagram showing a state in which teaching work is being performed by the light source device of the present invention. Reference numeral 24 denotes a robot arm tip, 26 denotes AHC for attaching / detaching a tool, 30 denotes a plate (teaching object) for performing painting work, and 28 denotes a brush. Further, 32 indicates a tool stand, and 34 indicates a light source device.

A plurality of brushes 2 are used for painting work as shown in FIG.
When the robot 8 is used, the tool stand 32 and the AHC 26 are usually used together. Here, if the teaching light source device 34 is also set on the tool stand 32, the teaching light source device 34 can be easily set on the robot arm tip 24 at the time of teaching. The error between the position of the light source and the position of the hand during teaching can be easily corrected by using the tool offset function of the robot controller. Moreover, even in the case where AHC is not used, FIG.
As described above, by installing the teaching light source device 134 near the robot arm tip 24 and applying the tool offset to the taught position data, the work at the tool position becomes possible.

The teaching method by the teaching device thus configured will be specifically described below with reference to FIGS. 9 to 12. 9 to 12 are schematic diagrams for explaining the action at the time of teaching, and FIG. 9 is a state in which the teaching work of the planar direction position of the tool tip with respect to the surface of the teaching target object is performed using the light source device. 10 is an explanatory view showing a state in which a vertical direction height position of the tool tip with respect to the surface of the teaching object is being taught using the light source device, and FIG. 11 is a teaching object. FIG. 12 is an explanatory view showing a state in which the teaching work of the angular position of the tool tip with respect to the vertical direction with respect to the surface of the object is performed using the light source device, and FIG. 12 is a tool tip in a plane with the surface of the object to be taught as a reference. It is explanatory drawing which shows the state which is performing the teaching work of the rotation angle position of using the light source device. Here, 34 is a light source device, 30 is a teaching object, 36 is a teaching position filter image, and 38 is a filter image when the light source device is not at the teaching position.

In FIG. 9, point a, which is the position in the plane direction of the tool tip with respect to the surface of the teaching object 30, is indicated by the light source device 3.
4 is used to teach the robot body, the operator uses the teaching pendant to move the robot from the teaching pendant so that the center point of the orthogonal coordinate axis of the filter image projected from the light source device 34 onto the teaching object 30 is aligned with point a. Guide operation. Although the guide operation method of the robot differs depending on the robot, here, the manual guide coordinate axes of the robot on the surface of the teaching target object 30 are referred to as the X direction and the Y direction shown in FIG.
The case where it is determined by one guide axis will be described as an example. In the robot having such a guide axis, the light source device 34 attached to the tip of the robot arm is attached to the surface of the teaching target object 30 as the operator operates the X-axis and Y-axis guide operation buttons of the teaching pendant. The robot arm operates so as to move in a horizontal plane, and as a result, the light source image moves on the surface of the teaching target object in the X and Y directions. The operator looks at the X image of the robot while looking at the filter image of the light source device 34.
Teach the robot body's attitude that the tool tip reaches the desired plane point a by manipulating each of the axes Y and Y to make the center of the coordinate axis of the filter image coincide with point a. can do.

In FIG. 10, when the vertical position b of the tool tip with respect to the surface of the teaching target object 30 is taught to the robot main body using the light source device 34, the teaching object 30 is to be taught from the light source device 34. An operator guides the robot from the teaching pendant so that the filter image projected by irradiation is in focus. Although the guide operation method of the robot differs depending on the robot, a case will be described here as an example where the manual guide coordinate axis of the robot in the vertical direction with respect to the surface of the teaching target object 30 is the Z guide axis shown in FIG. 10. In the robot having such a guide axis, the light source device 34 attached to the tip of the robot arm is attached to the surface of the teaching target object 30 as the operator operates the Z-axis guide operation button of the teaching pendant. The robot arm operates so as to move in the vertical direction, and as a result, the focal position of the light source image moves in the Z-axis direction vertical to the surface of the teaching target object. The operator guides the Z axis of the robot while looking at the filter image of the light source device 34, and adjusts the focus position of the filter image to the surface of the object to be taught, so that the tool tip reaches the target vertical position b. It is possible to teach the posture of the robot body that the robot reaches.

In FIG. 11, when the robot main body is taught, using the light source device 34, the vertical angle position c where the angle of the tip of the tool with respect to the surface of the teaching object 30 with respect to the vertical direction coincides with the vertical direction, the light source device is used. The operator guides the robot from the teaching pendant so that the shape of the filter image projected by irradiating the teaching target object 30 from 34 is a circular shape without distortion. The guidance operation method of the robot differs depending on the robot, but here,
An example will be described in which the manual guidance coordinate axis of the robot that changes the vertical angle with respect to the surface of the teaching object is the K guidance axis shown in FIG. In a robot having such a guide axis, as the operator operates the K-axis guide operation button of the teaching pendant, the light source device 34 attached to the tip of the robot arm is directed in the vertical direction with respect to the surface of the teaching target object 30. The robot arm operates so that the angle of the object changes, and as a result, the shape of the light source image changes on the surface of the object to be taught. The shape of the light source image is the teaching object 30.
When the angle with respect to the surface of the light source device 34 with respect to the vertical direction is 0, it becomes a perfect circle, and as the angle deviates from 0, the deviation from the perfect circle becomes large and the shape becomes distorted into an elliptical shape.
An operator guides the K-axis of the robot while looking at the filter image of the light source device 34, and matches the shape of the filter image with a perfect circle to obtain a target vertical position c.
It is possible to teach the posture of the robot main body in which the vertical angle of the tool tip matches.

In FIG. 12, when teaching the rotation angle position d of the tool tip on the surface of the teaching target object 30 to the robot body using the light source device 34, the teaching target object 30 is irradiated with light from the light source device 34. The operator guides the robot from the teaching pendant so that the rotation angle of the filter image coordinate axis projected as described above coincides with the rotation angle position d. The guidance operation method of the robot differs depending on the robot, but here, the case where the manual guidance coordinate axis of the robot for changing the rotation angle of the tool tip on the surface of the teaching target object 30 is the R guidance axis shown in FIG. 12 is taken as an example. Explain. In the robot having such a guide axis, the light source device 34 attached to the tip of the robot arm is based on the surface of the teaching target object 30 as the operator operates the R axis guide operation button of the teaching pendant. The robot arm operates so as to rotate and move in the plane in which
The rotation angle of the filter image coordinate axis rotationally moves on the surface of the teaching target object 30. The operator guides the R axis of the robot while looking at the filter image of the light source device 34, and adjusts the rotation angle of the filter image coordinate axis to the rotation angle position d, so that the tool tip rotates to the target rotation angle position d. It is possible to teach the postures of the robot body whose angles are the same.

[0022]

As is apparent from the above, the teaching apparatus of the present invention can teach the planar position and the vertical position of the teaching object and the tool tip without contacting the teaching object and the tool tip with each other. Therefore, it is possible to teach without working objects or tools.

Further, even when the teaching point is located in a space at a specific distance from the surface of the object to be taught, such as when teaching a robot for welding or spray painting, the focal length of the light source device is adjusted. Since it is possible to cope with this, there is no need to perform an operation of bringing the tip of the tool into contact with the surface of the object to be taught and then guiding to the corresponding position while observing the coordinate display of the teaching pendant.

Further, even when the verticality between the teaching object and the tool is required, the work of judging the verticality by visually observing the tool from two directions becomes unnecessary.

Further, even when a specific value is required as the rotation angle between the teaching object and the tool, the work of checking the coordinate display of the teaching pendant and confirming it becomes unnecessary.

As described above, according to the teaching apparatus of the present invention, it is not necessary for the operator to perform an operation of bringing the operator's body or head close to or peeking at the object to be taught, and the coordinate display of the teaching pendant is not required. Since the robot can be guided by the robot, only the movement of the tool tip can be watched. Therefore, it is possible to provide an environment in which safe and prompt teaching is possible.

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing an internal configuration of a light source device that is an embodiment of the present invention.

FIG. 2 is a side view showing an internal configuration of a light source device that is an embodiment of the present invention.

FIG. 3 is a cross-sectional view of a movable knob and a filter of a light source device that is an embodiment of the present invention.

FIG. 4 is a plan view of a filter image of a light source device that is an embodiment of the present invention.

FIG. 5 is a diagram showing a state in which a robot is provided with a brush and painting is performed, which is an example of use of the present invention.

FIG. 6 is a diagram showing a usage example of the present invention in a state where a tool is being replaced.

FIG. 7 is a diagram showing a state in which a teaching work is being performed, which is an example of use of the present invention.

FIG. 8 is a use example of the present invention.

FIG. 9 is an explanatory diagram showing a state where a teaching operation of a position in the plane direction is being performed by the teaching method of the present invention.

FIG. 10 is an explanatory diagram showing a state in which a teaching work of a vertical position is being performed by the teaching method of the present invention.

FIG. 11 is an explanatory diagram showing a state in which a vertical angle teaching operation is being performed by the teaching method of the present invention.

FIG. 12 is an explanatory view showing a state in which a teaching work of a rotation direction angle is being performed by the teaching method of the present invention.

FIG. 13 is a schematic diagram showing a conventional teaching method by a robot.

[Explanation of symbols]

 2 Attaching / detaching part 4 Case 6 Light source 8 Condensing lens 10 Filter moving knob 12 Imaging lens 13 Cartesian coordinate axis 14 Transparent filter 15 Scale 16 Teaching target surface 18 Filter image 20 Filter moving guide hole 22 Scale 24 Robot arm tip 26 AHC 28 Brush 30 Teaching object 32 Tool stand 34 Light source device 36 Teaching position filter image 38 Non-teaching position filter image 40 Control device 42 Teaching pendant 44 Robot body 46 Tool 48 Coordinate display 50 Guidance operation button

Claims (5)

[Claims] 1. A robot teaching device provided in a part of a robot body, comprising: a light source, a condenser lens, an imaging lens, and a transparent filter capable of position adjustment between the lenses between the condenser lens and the imaging lens. A teaching device for a robot, which is a light source device having the transparent filter, wherein the transparent filter is a coordinate direction display transparent filter having orthogonal coordinate axes and scales. 2. The robot teaching device according to claim 1, wherein the planar position of the teaching object and the tool is determined by the position of the filter image projected from the light source device onto the surface of the teaching object. A plane direction detecting method characterized by detecting. 3. The teaching object by using the robot teaching device according to claim 1, by focusing on a surface of the teaching object the focus of a filter image projected by irradiating the surface of the teaching object from a light source device. A vertical direction detection method characterized by detecting a vertical position between an object and a tool. 4. The robot teaching device according to claim 1, wherein the verticality between the teaching object and the tool is detected from the shape of the filter image projected from the light source device onto the surface of the teaching object. A verticality detection method characterized by: 5. The rotation of the teaching object and the tool from the angle of the orthogonal coordinate axis of the filter image projected from the light source device onto the surface of the teaching object using the robot teaching device according to claim 1. A method for detecting a rotation angle, which comprises detecting an angle.