JPH07241789A - Robot teaching device - Google Patents

Abstract

PURPOSE:To shorten the teaching action time of a teaching playback robot. CONSTITUTION:As a teaching position is commanded by a teaching pendant 30, the servo motor 3 of a robot is actuated by a controller 10, and a robot arm moves. The position P of the robot arm is detected by a position detecting sensor 4 and taken into a CPU 12. In the CPU 12, an alarm position is set in a software state in a position short of an action limit range, and when the detected robot arm position P reaches the alarm position, a buzzer 40 is sounded and an alarm lamp is blinked by the control of the CPU 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot teaching device, which is devised so that the time for teaching a robot of a teaching / playback system can be shortened.

[0002]

2. Description of the Related Art Most of current industrial robots employ a teaching / playback method as a teaching method. In the teaching / playback method, the tip of the robot arm is aligned with a large number of teaching points on the teaching route one after another by operating the teaching pendant (teaching box) during teaching (in teaching mode). When the position of the tip of the arm and the teaching point match, the robot position information at that time is stored in the memory in the controller. And during playback (playback mode),
The position information in the memory is read out in a predetermined order, servo control is performed so that the tip position of the robot arm matches the position indicated by the position information, and automatic operation is performed.

FIG. 4 shows a structural example of an industrial robot.
FIG. 5 shows its function. The industrial robot shown in both figures comprises a robot 1, a robot controller 10 and a teaching pendant 30. A drive servomotor 3 and a position detection sensor 4 for detecting the arm position are built in each joint of the robot arm 2 of the robot 1. The robot controller 10 includes an operation unit 11 and CP
It has a U12, a teaching pendant interface 13, an operation unit interface 14, a memory 15, a servo interface 16, a servo amplifier 17, and a sensor interface 18. Then, in the teaching mode, the position P detected by the position detection sensor 4 is stored in the memory 15. Further, the servo amplifier 17 operates the robot 1 by sending electric power from the servo power source to the servo motor 3 according to a controller command. The teaching pendant 30 mainly teaches a position and sets / references data related to the position. On the other hand, the operation unit (operation panel) 11 performs operations such as power ON / OFF, selection of a program (job number) created in the teaching mode, and execution start.

In the CPU 12, an operation limit range A _L of the robot arm 2 is set by software, and the position P of the robot arm 2 and the operation limit range A _L are constantly monitored.

[0005]

When the position P of the robot arm 2 exceeds the movement limit range A _L , but the position P is mistakenly stored as a teaching position in the memory 15. The teaching pendant 30
The position P that has been erroneously stored must be reset with the reset button of the or operation unit 11, and the teaching operation must be redone by aligning the robot arm 2 with the correct position again. Therefore, the teaching time is long.

As described above, in the prior art, even if the robot arm position P exceeds the movement limit range A _L , the operator may not notice this, and the above-mentioned problems occur.

In view of the above-mentioned conventional technique, it is an object of the present invention to provide a robot teaching apparatus which issues an alarm when the robot arm position approaches the movement limit range in the teaching mode.

[0008]

The structure of the present invention which solves the above-mentioned problems includes a command section for issuing a command for teaching the operation of a teaching / playback type robot, and position detection for detecting the position of a robot arm. A sensor, an abnormality warning section, and actuating the robot according to the command,
When the robot movement limit range and the alarm position before this movement limit range are set, and the position of the robot arm detected by the position detection sensor is input, and the position of the robot arm reaches the alarm position, the abnormality warning unit is activated. And a control unit to be operated.

[0009]

In the present invention, since the alarm position is set before the motion limit position of the robot, an alarm is issued when the robot arm position exceeds the alarm position before the motion limit position.

[0010]

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

FIG. 1 shows a structural example of an industrial robot according to an embodiment of the present invention, and FIG. 2 shows its function. The industrial robot shown in both figures comprises a robot 1, a robot controller 10, a teaching pendant 30 and a buzzer 40. The teaching pen 30 is equipped with an alarm lamp 30a.

A drive servomotor 3 and a position detection sensor 4 for detecting arm position are built in each joint of the robot arm 2 of the robot 1. The robot controller 10 includes an operation unit 11, a CPU 12, a teaching pendant interface 13, an operation unit interface 14,
It has a memory 15, a servo interface 16, a servo amplifier 17, a sensor interface 18, and a buzzer interface 19. Then, in the teaching mode, the position P detected by the position detection sensor 4 is stored in the memory 15. Further, the servo amplifier 17 supplies electric power from the servo power source to the servo motor 3 according to the controller command.
To operate the robot 1.

Further, in the internal memory 12a of the CPU 12,
As shown in FIG. 3, the operation limit range A _LIn front of
Alarm position P_aIs set by software. Na
In Figure 3, M_sIs the mechanical stopper position.
This arm M is in this position M_sWhen reaching the
Controlled.

In the teaching mode, the CPU 12
Current position P of bot arm 2 and alarm position P_aAnd
It is being monitored and position P is alarm position P_aWhen you reach
Buzzer 40 sounds and alarm lamp 30a blinks
Let For this reason, the operator must be alerted to the buzzer 40
The position P is in the operation limit range A due to the blinking of the lamp 30a. _L
You can know that you are approaching. Therefore, the operating limit range
Box A_LIt is not possible to memorize the position beyond the point as a teaching point.
The reset operation becomes unnecessary. Therefore teaching time
It gets shorter.

The alarm position P _a can be reset according to the parameter.

[0016]

As described above in detail with the embodiments, according to the present invention, a warning is issued when the robot arm position approaches the operation limit range in the teaching mode. It is less likely to mistakenly set the teaching point, and the teaching time can be shortened and the efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of the present invention.

FIG. 2 is a block diagram showing an embodiment.

FIG. 3 is an explanatory diagram showing a data setting state in the embodiment.

FIG. 4 is a configuration diagram showing a conventional teaching / playback robot.

FIG. 5 is a block diagram showing a conventional technique.

[Explanation of symbols]

 1 Robot 2 Robot Arm 4 Position Detection Sensor 10 Robot Controller 11 Operation Unit 12 CPU 12a Internal Memory 15 Memory 30 Teaching Pendant 30a Alarm Lamp 40 Buzzer

Claims (1)

[Claims] 1. A command unit for issuing a command for teaching the operation of a teaching / playback type robot, a position detection sensor for detecting the position of a robot arm, an abnormality warning unit, and a robot for responding to the command. When the robot is operated, the operation limit range of the robot and the alarm position before the operation limit range are set, and the position of the robot arm detected by the position detection sensor is input. When the position of the robot arm reaches the alarm position, A robot teaching device, comprising: a control unit that operates an abnormality warning unit.