JPH0720284U - Robot teaching device - Google Patents

Abstract

(57) [Abstract] [Purpose] When teaching a teaching playback robot, the robot arm suddenly approaches the operator,
Avoid contact. [Configuration] The position of the teaching pendant 2 is calculated by the position calculation device 5, and in the warning mode, it is determined whether the robot arm 3 approaches the teaching pendant 2 within a predetermined range based on this position and the arm position of the robot arm 3. The approach determination device 12 makes a determination, and when approaching, a warning device 6
Generates a warning, decelerates the robot arm 3 by the deceleration command device 13 in the deceleration mode, and stops when the robot arm 3 approaches the teaching pendant 2 within the predetermined range set by the setting device 7C in the stop mode. The robot arm 3 is stopped by the command device 14.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a teaching playback robot teaching device, and more particularly to a technique for preventing a robot arm from suddenly approaching or contacting an operator even if an operator operates erroneously.

[0002]

[Prior art]

 When teaching a motion to the teaching playback robot or confirming the taught motion, the operator 1 holds the teaching pendant 2 and approaches the robot arm 3 to operate the teaching pendant 2 as shown in FIG. To perform the required work. In this case, it is dangerous that the movement of the robot arm 3 is a movement that the operator 1 does not expect.

That is, since the positional relationship between the robot and the operator 1 has not been grasped in the past, it is not known whether the robot arm 3 moves toward the operator 1 or moves away from the operator 1, and the operation of the teaching pendant 2 is performed. The robot arm 3 may suddenly approach or contact the operator 1 due to a mistake or the like.

[0004]

[Problems to be solved by the device]

 In view of the above-mentioned conventional technique, an object of the present invention is to provide a teaching playback type robot teaching device capable of preventing the robot arm from suddenly approaching or contacting the operator even if the operator performs an erroneous operation. It is in.

[0005]

[Means for Solving the Problems]

 A robot teaching device according to a first aspect of the present invention, which achieves the above object, comprises a position calculating device for calculating a position of a teaching pendant of a teaching playback robot from a certain reference point, a position of the teaching pendant, and a robot arm. And the arm position of the robot arm to determine whether the robot arm approaches the teaching pendant within the specified range, and a warning device that issues a warning when it is determined that the robot arm approaches the teaching pendant within the specified range. And is provided.

The robot teaching device according to a second aspect of the present invention includes, instead of the warning device, a deceleration command device that decelerates the robot arm when it is determined that the robot arm approaches the teaching pendant within a predetermined range. It is characterized by doing. Further, the robot teaching device according to the third aspect of the present invention includes, instead of the warning device, a stop command device for stopping the robot arm when it is determined that the robot arm approaches the teaching pendant within a predetermined range. It is what In this case, preferably, as the invention of claim 4, a setting device for variably setting the predetermined range for the approach determination is provided.

A robot teaching device according to a fifth aspect of the present invention includes the position calculation device, the approach determination device, a warning device, a deceleration command device, and a stop command device, and the warning device, the deceleration command device, and the stop device. And a mode selection device for selecting which one of the command devices is to be operated.

[0008]

[Action]

 By calculating the position of the teaching pendant in the invention of claim 1, the position of the operator holding the teaching pendant is known. From this position and the arm position of the robot arm, the distance from the robot arm to the operator can be calculated. If it is determined that the robot arm approaches the teaching pendant within the predetermined range, a warning is issued to notify the operator of the approach of the robot arm in advance. According to the second aspect of the present invention, the speed of the robot arm is decelerated instead of the warning, and the operator has a time margin for approaching the robot arm so that necessary measures (for example, stop and continue) can be taken. In the invention of claim 3, instead of the warning or the deceleration, the robot arm is stopped so that the operator is not approached or contacted any more. According to the invention of claim 4, the operator arbitrarily sets the predetermined range for stopping the robot arm by the setting device. According to the fifth aspect of the invention, the operator selects which of the warning, deceleration, and stop modes for approaching the robot arm to be adopted by the mode selection device.

[0009]

【Example】

 An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows the configuration of a robot teaching apparatus according to an embodiment of the present invention, and FIG. 2 shows its control flow.

In FIG. 1, the position calculation device 5 of the teaching pendant 2 is composed of an acceleration sensor 5 A provided in the teaching pendant 2 and an arithmetic unit 5 B using a CPU, and a part of a CPU 11 provided in the robot controller 10. It consists of a certain computing unit 5C. The acceleration sensor 5A detects the acceleration when the teaching pendant 2 moves by an operator or the like, and the calculator 5B integrates this acceleration twice to calculate the movement amount of the teaching pendent 2. Further, the computing unit 5C calculates the position of the teaching pendant 2 from a certain reference point based on this movement amount. For example, by taking the teaching pendant 2 to this reference point and pressing the reset button 5D, the position calculation is reset.

The teaching pendant 2 includes a warning device 6, a warning predetermined range setting device 7A, a deceleration predetermined range setting device 7B, a stop predetermined range setting device 7C, and a mode selection device. There is 8. On the other hand, the robot controller 10 includes an approach determination device 12, a deceleration command device 13, and a stop command device 14 as part of the CPU 11. The CPU 11 passes the driver 15 from the arm movement command and the arm position obtained from the position sensor 3A of the robot arm 3 so that the robot arm 3 operates according to the arm movement command taught by the teaching pendant 2. It has the original control function of controlling the motor (not shown).

The approach determination device 12 determines the distance between the teaching pendant 2 and the arm position of the robot arm 3 and sets the robot arm 3 in the teaching pendant 2 by the setting device 7A or 7B or 7C. It is determined whether or not to approach within a predetermined range.

The warning device 6 outputs a warning when the approach determination device 12 determines that the robot arm 3 approaches the teaching pendant 2 within the predetermined range set by the setting device 7A when the warning mode is selected. Emit. When the deceleration command device 13 selects the deceleration mode and the approach determination device 12 determines that the robot arm 3 approaches the teaching pendant 2 within the predetermined range set by the setting device 7B, the deceleration command device 13 determines the robot arm 3 Is decelerated to, for example, 1/2 to 1/10. When the stop mode is selected, the stop command device 14 determines when the approach determination device 12 determines that the robot arm 3 approaches the teaching pendant 2 within the predetermined range set by the setting device 7C. To stop.

An operator or the like variably sets each predetermined range for warning, deceleration, and stop in each of the setters 7A, 7B, and 7C by parameters. An operator or the like selects a mode of the mode selection device 8 depending on the parameter, which of the warning device 6, the deceleration command device 13, and the stop command device 14 is to be operated.

Next, the control procedure will be described with reference to FIG. The control amount is calculated from the arm movement command and the arm position, and the robot arm is moved according to the command (steps S1 to S3). On the other hand, the moving amount is calculated from the acceleration twice, and the position of the teaching pendant is calculated from the moving amount (steps S4 to S6). Also, the distance between the robot arm and the teaching pendant is calculated (step S3). Next, the mode is determined, and if it is the warning mode, a warning is issued when it is determined that the robot arm approaches the teaching pendant within a predetermined range. If it is outside the predetermined range, no warning is issued (steps S7 to S10). In the deceleration mode, the robot arm speed is reduced when it is determined that the robot arm approaches the teaching pendant within the predetermined range. If it is outside the predetermined range, it is moved as it is (steps S7, S10 to S12). In the stop mode, the robot arm is stopped when it is determined that the robot arm approaches the teaching pendant within the predetermined range. If it is outside the predetermined range, it is moved as it is (steps S7, S10, S13, S14).

In the above embodiment, the acceleration sensor and the two-time integration are used to calculate the position of the teaching pendant, but the present invention is not limited to this, and other arbitrary means can be used. Further, although the teaching pendant 2 and the robot controller 10 are separated from each other, the way of dividing them is arbitrary, and it is not necessary to separate them.

[0017]

[Effect of device]

 According to the present invention, the robot arm does not suddenly approach or come into contact with the operator even if an operator makes a mistake. That is, a warning is given to the operator holding the teaching pendant when the robot arm approaches, so that the operator can know in advance that the robot arm is approaching. Also, since the speed of the robot arm slows down in advance when the robot arm approaches the operator, the operator can take sufficient measures such as stopping or continuing the robot arm. Also, the operator is always safe because the robot arm stops when it approaches the operator. In addition, the warning, deceleration, and stop modes can be selected as needed.

[Brief description of drawings]

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

FIG. 2 is a diagram showing a control flow.

FIG. 3 is a diagram showing an example of teaching a robot with a teaching pendant.

[Explanation of symbols]

 1 Operator 2 Teaching pendant 3 Robot arm 3A Position sensor 5 Position calculation device 5A Acceleration sensor 5B Movement amount calculation calculator 5C Position calculation calculator 5D Reset button 6 Warning device 7A Warning predetermined range setting device 7B Deceleration predetermined range Setting device 7C Setting device for predetermined range for stop 8 Mode selection device 10 Robot controller 11 CPU 12 Approach determination device 13 Deceleration command device 14 Stop command device 15 Driver

Claims (5)

[Scope of utility model registration request] 1. A position calculation device for calculating a position of a teaching pendant of a teaching playback robot from a reference point, and a robot arm having a predetermined range from the teaching pendant position and the arm position of the robot arm. A teaching device for a robot, comprising: an approach determination device for determining whether or not the robot arm approaches inside, and a warning device for issuing a warning when it is determined that the robot arm approaches the teaching pendant within a predetermined range. 2. The robot according to claim 1, further comprising, instead of the warning device, a deceleration command device that decelerates the robot arm when it is determined that the robot arm approaches a teaching pendant within a predetermined range. Teaching device. 3. The robot according to claim 1, further comprising, instead of the warning device, a stop command device for stopping the robot arm when it is determined that the robot arm approaches a teaching pendant within a predetermined range. Teaching device. 4. The teaching device for a robot according to claim 3, further comprising a setting device that variably sets the predetermined range. 5. A robot arm within a predetermined range of the teaching pendant based on a position calculation device for calculating the position of a teaching pendant of a teaching playback robot from a certain reference point, and the position of the teaching pendant and the arm position of the robot arm. Approaching device that determines whether the robot arm approaches the teaching pendant, a warning device that issues a warning when it determines that the robot arm approaches the teaching pendant within a predetermined range, and a robot arm that determines that the robot arm approaches the teaching pendant within a predetermined range. A deceleration command device for decelerating the robot arm, a stop command device for stopping the robot arm when it is determined that the robot arm approaches the teaching pendant within a predetermined range, the warning device, the deceleration command device, and the stop command device. Which one will work A robot teaching device, comprising: a mode selecting device for performing a selection.