JPH07132475A - Robot position teaching device - Google Patents

Abstract

PURPOSE:To provide a robot position teaching device enabling the instruction of teaching action without carrying a robot and the robot position teaching device into a work site and enabling the start of teaching action even in the incomplete state of all work object articles. CONSTITUTION:The drawing 16 of a workpiece 5 or the like is placed on a digitizer 11, and a starting point and moving points at the time of moving a robot 1 are successively inputted in the drawing 16 on a tablet 11a by a pen type input means 11b. Input data in the digitizer 11 is inputted to a personal computer 12 to recognize the moving points of the robot 1, and the data of the moving points is converted into a robot driving program. This robot driving program is stored in a storage device built in a robot control device 2, and the robot 1 is driven by this robot driving program.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot position teaching device for teaching a robot a moving position.

[0002]

2. Description of the Related Art A conventional robot position teaching device for teaching a moving position to a robot is shown in FIG.
The robot control device 2 for controlling the movement of the robot 1, the teaching box 3 for inputting the moving direction of the robot 1, and the program conversion device 4 including a personal computer. As an example of the robot 1, a 5-axis (rotational direction J1 to J5) vertical multi-joint type is used, and various tools (in FIG. 2, the work 5 which is the work target in FIG. 2) are clamped at the tip according to the work purpose. Tool 6 to be installed.

The position teaching work for the robot 1 is performed as follows. First, the robot 1 and the robot position teaching device are connected to a work 5 which is a work target of the robot 1.
Installed on the work site where is provided. Next, while visually confirming the movement operation of the robot 1, the operation switch 7 of the teaching box 3 is operated to move the robot 1 to a target position. For example, switches 7a, 7b, 7c (FIG.
The robot 1 is sequentially moved in the X direction, the Y direction, the Z direction, or the J1, J2, and J3 directions to the target position. Each axis of the robot 1 is provided with an encoder (not shown) that detects a rotation angle, and the encoder outputs data corresponding to the rotation angle of each axis to the robot controller 2. Next, the data such as the operation axis and the movement angle are converted into a robot drive program by the program conversion device 4, and the robot drive program is stored in a storage device (not shown) built in the robot control device 2. To be done. Then, the robot 1 is driven based on this robot driving program.

[0004]

However, according to the robot position teaching device having the above-mentioned conventional configuration, the robot 1 and the robot position teaching device are operated by the work 5 in order to move and teach the robot 1 with respect to the work 5. It is said that the teaching operation cannot be instructed unless brought into an existing work site, and when the work 5 is composed of a plurality of articles, the instruction of the teaching operation cannot be started unless all the works 5 are prepared. There was a problem.

The present invention solves the above-mentioned problems, and can instruct a teaching operation without bringing a robot and a robot position teaching device to a work site, and even if all work target articles are not available. An object of the present invention is to provide a robot position teaching device capable of starting a teaching operation.

[0006]

In order to solve the above-mentioned problems, the first means of the present invention corresponds to a robot control device for controlling the operation of a robot and a work object or an object in this work environment. A position input device for pointing a point on a corresponding display object such as a drawing in which data is input to input the movement position of the robot, and a drive data conversion device for converting input data in the position input device to robot drive data It is equipped with and.

The second means of the present invention is, in addition to the above-mentioned first means, an image pickup device attached to a robot, a display device for displaying image pickup data of the image pickup device, and a display device for displaying the image pickup data. And a position input assisting device for inputting a moving position of the robot by designating a point in the captured image.

[0008]

With the first means, the position input device indicates a point on a corresponding display object such as a drawing to input the movement position of the robot. Therefore, if there is a corresponding display object such as a drawing, a teaching operation is instructed. Therefore, the teaching work can be performed without bringing the robot and the robot position teaching device to the work site.

Further, while the robot is moved by teaching the position as described above, the second means causes the display device to display a picked-up image of a work object or the like from the viewpoint of the robot, and the picked-up image is displayed. By pointing the upper point with the position input assist device and correcting the moving position of the robot,
It is possible to teach the robot a movement position with higher accuracy.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. The same functions as those of the conventional robot position teaching device are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 1, the robot position teaching device includes a robot control device 2 for controlling the operation of the robot 1.
And a digitizer 11 as a position input device for inputting points on the tablet 11a by a pen type input means 11b.
A personal computer 12 as a drive data conversion device for converting input data in the digitizer 11 into robot drive data; and a video camera 13 as an image pickup means attached near the tip of the robot 1 for picking up an image of the work 5 or the like. And a display device 14 for displaying an image captured by the video camera 13, and a mouse 15 as a position input assisting device connected to the personal computer 12.

Here, the digitizer 11 is provided with a drawing 16 on which a work 5 which is a work object or an arrangement of the work (or an arrangement including the work 5) may be written. A selection column writing sheet 17 in which a plurality of selection columns for selecting the type of the drawing 16 (type of two-dimensional coordinate system such as front view or side view or three-dimensional coordinate system such as perspective view or scale magnification) is described. It is fixed in advance. Also, 12a
Is a keyboard connected to the personal computer 12.

The position teaching work for the robot 1 in the above configuration is performed as follows. First, the digitizer 11
A drawing 16 of the work 5 or the work target arrangement is placed on top of the drawing, and a selection box of the selection box 17 on the tablet 11a corresponding to the type and scale of the drawing 16 is displayed by the pen type input means 11b. Press to specify the type of drawing 16 and the scale factor.

Next, in FIG. 16 on the tablet 11a, the starting point a and the moving points b and c for moving the robot 1 are sequentially input by the pen type input means 11b. Further, the drawings 16 are replaced as necessary, and in a plurality of drawings, similarly, the starting point and the moving point when the robot 1 is moved are sequentially input.

The input data from these digitizers 11 are input to the personal computer 12, the moving point of the robot 1 is recognized by the personal computer 12, and the moving point data is converted into a robot driving program. This robot driving program is stored in a storage device (not shown) built in the robot control device 2, and the robot 1 is driven by this robot driving program.

Next, in an environment where there is a work 5 or a model corresponding to the work 5, the robot 1 is driven by the robot driving program. Then, the video camera 13 causes the display device 14 to display a picked-up image 18 of the work 5 or the like from the robot side viewpoint.
The moving point of the robot 1 is corrected by pointing the upper point with the mouse 15. As a result, it is possible to teach the robot 1 a more accurate moving position.

In this way, the digitizer 11 can be used for drawing 1
6 is used to input the moving position of the robot 1 by pointing to points, and thus teaching operation can be instructed if the drawing 16 is present.
Before bringing the robot 1 and the robot position teaching device to the work site, the teaching operation can be input in advance. In addition, even when the work 5 or a part of the work environment is not completed or installed,
If there is only the drawing 16 for design, the teaching operation can be input in advance. Further, as described above, in the state where the position teaching is performed and the robot 1 is moved, the picked-up image 18 from the robot side viewpoint is displayed, and a point on the picked-up image 18 is designated to change the moving position of the robot 1. By modifying
The accuracy of the moving position can be improved.

The keyboard 1 is used instead of the mouse 15.
2a may be used to indicate a point on the captured image 18. In addition, the selection field entry sheet 17 fixed to the digitizer 11
The case of selecting the type of the drawing 16 or the like from the selection column of is shown, but a selection column for selecting the type of the drawing 16 or the like is displayed on the display device 14 and the type of the drawing 16 or the like is input by the keyboard 12a or the mouse 15. May be. Further, the robot drive program is stored in the storage device provided in the robot control device 2 as in the conventional case, and the drive data conversion device (personal computer 12) is not required after the teaching. The storage device on the data conversion device (personal computer 12) side may be used, or a separate storage device may be provided. Further, the robot controller 2 and the drive data conversion device (personal computer 12).
It is also possible to integrate and. Further, although the case where the digitizer 11 and the mouse 15 are used as the position input device and the position input auxiliary device is shown, the present invention is not limited to this, and any device that can input the position and detect the position may be used. Further, the teaching operation can be performed only by the position input device such as the digitizer 11 without providing the position input auxiliary device such as the video camera 13 or the mouse 15.

In the above embodiment, the case of inputting the points in FIG. 16 and designating the moving position has been described.
A work object or a work environment arrangement is three-dimensionally shown on a virtual reality screen, and the work object or work environment arrangement is displayed as a corresponding display object virtually shown on the virtual reality screen. It is also possible to perform the teaching operation by three-dimensionally instructing the starting point and the moving point on the object.

[0020]

As described above, according to the present invention, by inputting the movement position of the robot by pointing a point on the corresponding display object such as a drawing with the position input device, only the corresponding display object such as the drawing is displayed. Teaching operation can be instructed.
As a result, the teaching operation can be input in advance before the robot and the robot position teaching device are brought to the work site, and the work target or a part of the work environment is not completed. Even if it is not installed, teaching operation can be input in advance,
The teaching operation can be performed earlier.

Further, while teaching the position and moving the robot, a picked-up image of a work object or the like from the viewpoint of the robot is displayed on the display device, and a point on the picked-up image is designated by the position input assisting device. By correcting the moving position of the robot, the moving position can be taught to the robot with higher accuracy, and the reliability of the robot position teaching device can be improved.

[Brief description of drawings]

FIG. 1 is a perspective view of a robot position teaching device according to an embodiment of the present invention.

FIG. 2 is a perspective view of a conventional robot position teaching device.

FIG. 3 is a plan view of a teaching box of a conventional robot position teaching device.

[Explanation of symbols]

1 Robot 2 Robot Control Device 5 Work (Work Object) 11 Digitizer (Position Input Device) 12 Personal Computer (Drive Data Converter) 12a Keyboard 13 Video Camera (Imaging Means) 14 Display Device 15 Mouse (Position Input Auxiliary Device) 16 Drawing (Corresponding Display Object) 18 Image

Claims (2)

[Claims] 1. A robot control device for controlling the movement of a robot, and pointing a point on a corresponding display object in which data corresponding to a work object or an arrangement of this work environment is indicated to indicate the moving position of the robot. A position input device for inputting,
A robot position teaching device comprising: a drive data conversion device for converting input data in the position input device into robot drive data. 2. An image pickup device attached to a robot, a display device for displaying image pickup data of the image pickup device, and a position input for indicating a point in a picked-up image displayed by the display device and inputting a movement position of the robot. The robot position teaching device according to claim 1, further comprising an auxiliary device.