JPH07308878A - Teaching device for robot - Google Patents

Abstract

PURPOSE:To provide a teaching device for a robot by which the teaching of the robot can be carried out on a computer without using an expensive software, and also without requiring skill. CONSTITUTION:When the plane images of works 4 are picked up by a videocamera 6, the plane images are displayed on a display unit 10. When an operator assigns an arbitrary point to a touch panel sensor by means of a finger or an input pen, the coordinates of the assigned point are taken in a control unit 7 as the data indicating the operational orbit, and are converted into the teaching data of the robot and stored.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art Generally, as a method of teaching a teaching playback (teaching reproduction system) type robot, there is known a technique of digitizing an operation command and inputting it into a computer. In particular, creation of workpiece shape data, CAD data input, robot trajectory and trajectory point teaching,
Also, software has been developed that enables a computer to simulate a robot trajectory.

[0003]

By the way, when the above-mentioned software is used, an enormous number of man-hours are required for teaching work such as creating the shape data of the work, and the structure of the teaching device is used. There is a problem that skill is required for teaching work due to reasons such as complicated teaching procedures and teaching work, and a specialized worker must be arranged only for teaching work, resulting in poor work efficiency. In addition, teaching a work position is the most time-consuming task for a person who has no experience of operating a robot. Particularly, in the conventional direct teach and remote teach, operations such as operating a robot and inputting coordinate axes are required, and thus inexperienced people are shunned. Further, there is a problem that the software for teaching the robot and the hardware for executing the software are expensive.

The present invention has been made under such a background, and is an inexpensive software and hardware,
It is an object of the present invention to provide a robot teaching device that does not require any skill and can easily teach a robot to anyone without making a mistake.

[0005]

A robot teaching device according to a first aspect of the invention is a robot teaching device for creating teaching data of a robot for performing work with a work tool on a work arranged on a work surface. In the above, an image input device for taking in image data representing a plane image of a work on the work surface, a display unit for displaying a plane image represented by the image data, and a plane image displayed on the display unit. Input means for designating an arbitrary location, and control means for taking in the coordinates of the location designated by the input means as data indicating the work trajectory of the work implement, converting the data into teaching data of the robot, and storing the data. It is characterized by having.

A robot teaching apparatus according to a second aspect of the present invention is the robot teaching apparatus according to the first aspect, wherein the input means includes a finger and an input pen, and the display means senses a touch by the input means. The control means has a touch panel sensor for detecting the coordinates of the sensed portion, and the control means takes in the coordinates detected by the touch panel sensor as data indicating a work trajectory of the work implement.

A robot teaching apparatus according to a third aspect of the present invention is the robot teaching apparatus according to the first aspect, wherein the input means is a mouse, and the display means displays a portion designated by the operation of the mouse. The control means takes in the coordinates of a portion designated by the operation of the mouse as data indicating the work trajectory of the work implement.

According to a fourth aspect of the teaching device of the present invention, in the teaching device of the robot that creates teaching data of a robot that works on a work placed on a work surface with a work tool, an input pen makes contact. A tablet for detecting the coordinates of the portion to be touched, a display means for taking in the coordinates detected by the tablet and displaying an image represented by the coordinates, and a control for storing the coordinates as data indicating the work trajectory of the work implement. And means.

A robot teaching device according to a fifth aspect of the present invention is a robot teaching device for creating teaching data of a robot for performing work with a work tool on a work arranged on the work surface, Or by moving above it, input means for designating an arbitrary location on the work surface and the coordinates of the location designated by the input means are taken in as data indicating the work trajectory of the work implement, and the data is stored. And a control unit for converting the teaching data of the robot and storing it.

A robot teaching apparatus according to a sixth aspect of the present invention is the robot teaching apparatus according to the fifth aspect, wherein light reflectors or light absorbers are provided in a grid pattern on the work surface, and the input means is A light emitting element, a light receiving element, and a moving direction data output means for outputting data regarding a moving direction of the input means, and the light is emitted from the light emitting element by moving the work surface above the work surface, and on the work surface. It is characterized in that the light reflected by the reflector or the light absorber provided in is received by the light receiving element and a light reception signal is output.

A robot teaching device according to a seventh aspect of the present invention is the robot teaching device according to the fifth aspect, characterized in that the input means is a mouse.

[0012]

According to the first aspect of the invention, the image data representing the plane image of the work on the work surface is read by the image input device and displayed on the display means. When the operator uses the input means to specify an arbitrary location on the plane image displayed on the display means, the coordinates of the designated location are taken into the control means as data indicating the work trajectory of the work implement, and the robot teaching is performed. It is converted into data and stored.

According to the second aspect of the invention, when the operator brings the finger and the input means including the input pen into contact with an arbitrary portion of the plane image displayed on the display means, the touch panel provided on the display means. The sensor senses the touch and detects the coordinates of the sensed portion. These coordinates are fetched by the control means as data indicating the work trajectory of the work implement.

According to the third aspect of the present invention, when the operator operates the mouse to designate an arbitrary location, the designated location is displayed on the display means, and the coordinates thereof are data indicating the work locus of the work implement. Captured by the control means.

According to the fourth aspect of the invention, when the operator touches the tablet with the input pen, the coordinates of the touched portion are detected, and the image represented by the detected coordinates is displayed on the display means. At the same time, the coordinates are stored in the control means as data indicating the work trajectory of the work implement.

According to the fifth aspect of the present invention, the operator moves the input means on or above the work surface to specify an arbitrary position on the work surface. The control means takes in the coordinates designated by the input means as data indicating the work trajectory of the work implement, converts the data into teaching data for the robot, and stores the data.

According to the sixth aspect of the invention, the operator grips the input means and moves the work locus of the work implement on or above the work surface. At this time, the input means emits a light beam from the light emitting element toward the work surface, and the reflected light is received by the light receiving element. Then, the movement direction data output means of the input means outputs the light reception signal. The control means converts the received light signal into teaching data of the robot and stores it.

According to the invention described in claim 7, the operator moves the mouse on the work surface to designate an arbitrary position on the work surface. The control means takes in the coordinates of the location designated by the mouse as data indicating the work trajectory of the work implement and stores the data as teaching data for the robot.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. First embodiment §1. Structure of Industrial Robot FIG. 1 is a perspective view showing the structure of an industrial robot to which a teaching device according to a first embodiment of the present invention is applied. In this figure, 1 is an articulated robot main body for performing work,
The arm 1a is provided. At a predetermined position in front of the arm 1a, a support base 3 provided with a wire net 2 on the upper part is installed, and on this support base 3, works 4, 4, ... There is. Further, a coating gun 5 which is a working tool is fixed to the tip of the arm 1a. The coating gun 5 is moved within a predetermined range so that the work 4, 4,
Paint on ... Further, a video camera 6 is provided in the vicinity of the coating gun 5, and takes in image data of the shapes and arrangements of the works 4, 4, ...

Reference numeral 7 is a control device for controlling the operation of the robot body 1, and is provided with an operation panel 8 for the operator to instruct the operation. Further, 9 is a teaching device that teaches the robot body 1, and has a display 10. The display 10 displays various data by the teaching device 9 and image data captured by the video camera 6. Further, the display 10 is provided with a touch panel sensor 11, and when an operator touches the display 10 with a finger or an input pen, the coordinates of the touched portion are detected. Further, the display 10 displays the portion touched by the operator based on the coordinates detected by the touch panel sensor 11.

FIG. 2 is a block diagram showing the configuration of the above-described control device 7 and the relationship with other elements. In this figure, reference numeral 12 is a motor driver, and the robot body 1
Control the drive of. An i / o interface 13 controls on / off of the coating gun 5. A central processing unit 14 is a CPU 15 and R for storing programs.
OM16 and RAM1 for storing flags, data, etc.
7 and 7. The central processing unit 14 controls the motor driver 12 and the i / o interface 13 and takes in image data from the video camera 6. Further, the central processing unit 14 also exchanges data with the teaching device 9.

§2. Operation of Teaching Device of Robot Here, before describing the operation of the teaching device, the teaching operation by the operator will be described with reference to FIG.
First, in step S1, the operator determines whether or not the entire arrangement of the works 4, 4, ... Is displayed on the display 10. If the result of this determination is "NO", then the operation proceeds to step S2, and by operating a movement key (not shown) of the operation panel 8, the arm 1a of the robot body 1 is operated.
To move. Then, the process returns to step S1 again, and when the same determination is made and it is determined that the entire arrangement of the works 4, 4, ... Is displayed on the display 10, the process proceeds to step S3. An example of the image on the display 10 at this time is shown in FIG. Next, in step S3, the operator operates a transfer key (not shown) provided in the teaching device 9 so as to transfer the image data displayed on the display 10 to the teaching device 9.

Next, in step S4, the scale of the image data displayed on the display 10 is input by operating a predetermined key of the teaching device 9. Then, in step S5, the reference position of the robot body 1 for painting is taught and input to the teaching device 9. After that, the process proceeds to step S6, and a trajectory for coating the upper surfaces of the works 4, 4, ... (Hereinafter, referred to as top coating) is taught. An example of the image on the display 10 at this time is shown in FIG.
Shown in. When the operator touches the touch panel sensor 11 with a finger or an input pen to input the work trajectory of the coating gun 5, the line L1 is displayed accordingly. Then, the operator finishes the input of the line L1 by touching a location (not shown) displayed on the display 10 and designating the termination.

Next, in step S7, the work 4,
Teach the trajectory for painting the side surfaces of 4, ... (Hereinafter referred to as diagonal painting). Display 10 at this time
An example of the image of is shown in FIG. The operator first inputs the center (line L2) of the works 4, 4, ... And then the orbit of the coating gun 5 (line L3) by using a finger or an input pen as in the case of the top coating. Thereby, the line L2 and the line L3 are displayed on the display 10. Then, the operator finishes inputting the lines L2 and L3 by touching a place (not shown) displayed on the display 10 and designating the end.

As described above, when the teaching of the top coating and the diagonal coating is completed, the process proceeds to step S8, and it is confirmed whether or not the teaching is properly performed. As a result of this confirmation, if the teaching is not performed correctly, the process proceeds to step S9 to erase the taught data, and the process returns to step S6 to perform the teaching again. On the other hand, as a result of the confirmation in step S8, when it is determined that the teaching is performed correctly, the process proceeds to step S10, the teaching data is stored in the teaching device 9 by operating the operation unit (not shown), and the teaching operation is performed. finish.

Next, the operation of the teaching device for the robot will be described with reference to FIGS. Here, each flag used for controlling the operation will be described. Each of these flags is set in a predetermined storage area of the RAM 17. Teaching end flag endflag: Turns on when teaching is completed. End flag flag1: Turns "ON" at the end of the teaching of the topcoat trajectory. End flag flag2: “ON” at the end of the diagonal painting teaching. End flag flag3: "ON" at the end of the diagonal painting direction teaching
Becomes End flag flag4: "ON" at the end of the diagonal painting trajectory teaching
Becomes

7 to 13 show the central control unit 1 shown in FIG.
FIG. 6 is a PAD diagram showing a process executed by the CPU 15 of No. 4;
First, the CPU 15 performs the processing shown in FIG. 7 when the power is turned on. In step S11 of the figure, it is determined whether or not the power is turned on, and the following processing is executed while the power is turned on. In step S12, it is determined whether the operator has set the data creation mode, the reproduction mode, or the end by the predetermined operation means of the operation panel 8. If the data creation mode is set, step S13
Then, the data creation process shown in FIGS. 8 to 13 is executed. If the reproduction mode is set, the process proceeds to step S14, and the robot body 1 is caused to perform the painting operation based on the data created in step S13. Further, when the end is set, the process is ended.

<Data Creation Process> Next, the data creation process executed in step S13 described above will be described with reference to P in FIG.
This will be described with reference to the AD diagram. In step S16 of the figure, it is determined whether or not the above-described transfer key is operated by the operator, and the following processing is executed while the transfer key is not operated. First, when it is detected that the move key is operated (step S2 in FIG. 3), the process proceeds to step S17, and it is determined which direction is specified by the move key. As a result, when it is determined that the designated direction is “upward”, the process proceeds to step S18, and the arm 1a is moved via the motor driver 12 so that the video camera 6 moves upward. When it is determined that “downward” is designated, the process proceeds to step S19, the arm 1a is moved so that the video camera 6 moves downward, and similarly, “rightward”, “leftward”, “forward”, Alternatively, when it is determined that “rear” is designated, step S20,
In S21, S22, or S23, the arm 1a is moved so that the video camera 6 moves in each direction.

Then, in step S16, the transfer key is operated by the operator (step S in FIG. 3).
If it is determined to be 3), the image data of the image displayed on the display 10 at that time is transferred to the teaching device 9. Next, in step S24, it is determined whether or not a scale is input to the teaching device 9. If not entered,
The process proceeds to step S25 and waits for input. When it is determined that the scale has been input by the operator (step S4 in FIG. 3), the process proceeds to step S26, and it is determined whether the reference position has been input. If not, it proceeds to step S27 and waits until it is input.

In step S26, when it is detected that the reference position is input by the operator (step S5 in FIG. 3), the process proceeds to step S28 and the teaching end flag en
Set dflag to "off". Then, the process proceeds to step S29, it is determined whether or not the teaching end flag endflag is off, and while it is off, the following processing is performed. First, in step S30, the overcoating teaching module described later is executed. Then, the process proceeds to step S31 to execute a diagonal painting teaching module described later. Then, step S32
Then, it is determined whether or not to save the teaching data. If the operator has not instructed to save the teaching data, the processes of steps S30 and S31 are repeated.

<Process of Topcoat Trajectory Teaching Module> Next, the process of the topcoat trajectory teaching module executed in step S30 of FIG. 8 will be described with reference to the PAD diagram of FIG. First, in step S36, the end flag flag1 is set to "off", and the process proceeds to step S37.
"0" is set to the counter i. Next, step S38.
Then, the reception of a timer interrupt signal from a timer (not shown) is started. Then, the process proceeds to step S39, it is determined whether or not the end flag flag1 is "ON",
If it is not “on”, step S4 is executed during that time.
At 0, the overpainting trajectory teaching process is executed at each sampling time of the timer interrupt signal.

FIG. 10 shows the above-mentioned teaching process for the top-coating trajectory. First, in step S42, the detection of the touch panel sensor 11 is monitored. Then, in step S43, it is determined whether or not the touch panel sensor 11 has detected contact with the operator's finger or the input pen. When the operator is inputting data to the touch panel sensor 11, the result of this determination is “YES”,
It proceeds to step S44. Then, in step S44, it is determined from the coordinates detected by the touch panel sensor 11 whether or not the operator is touching a location designating the end, and if the result of this determination is "NO", that is, the operator inputs the topcoat trajectory teaching data. If so, the process proceeds to step S46.

Then, in step S46, the coordinates detected by the touch panel sensor 11 are set in the topcoat trajectory teaching data Xui, Yui, respectively. Here, assuming that the x-axis and the y-axis of the image displayed on the display 10 are set as shown in FIG. 5, as the operator inputs the line L1, x, y Set the y coordinate. Then, it progresses to step S47 and increments the value of the counter i.

Next, returning to step S42, the detection of the touch panel sensor 11 is monitored, and the above processing is repeated until the operator gives an instruction to finish. Then, when the operator touches the touch panel sensor 11 to instruct the end, the determination result in step S44 becomes “YES”, and the process proceeds to step S45. Then, in step S45, the end flag flag1 is set to "ON". As a result, in the overpainting trajectory teaching process shown in FIG. 9, the result of the determination in step S39 is "YES", the process proceeds to step S41, and the acceptance of the overpainting trajectory teaching timer interrupt is ended.

<Processing of Oblique Painting Teaching Module> Next,
The processing of the diagonal coating teaching module executed in step S31 of FIG. 8 will be described with reference to the PAD diagram of FIG. First, in step S48, an end flag
Set flag2 to "off". Then, in step S49, it is determined whether or not the end flag flag2 is "ON", and while it is not "ON", step S50
The following processing is performed.

First, in step S50, the end flag flag3 is set to "OFF", the flow proceeds to step S51, and "0" is set in the counter i. Next, in step S52, acceptance of a timer interrupt signal from a timer (not shown) is started. Then, the process proceeds to step S53, it is determined whether or not the end flag flag3 is "ON", and while it is not "ON", the oblique painting direction teaching process is performed at each sampling time of the timer interrupt signal in step S54. To execute.

Here, the diagonal painting direction teaching process executed in step S54 will be described with reference to FIG. First, in step S66, the detection of the touch panel sensor 11 is monitored. Then, in step S67, it is determined whether or not the touch panel sensor 11 has detected the input of the operator. When the operator is inputting data to the touch panel sensor 11 with a finger or an input pen, the determination result is "YES", and the process proceeds to step S68. Then, in step S68, it is determined from the coordinates detected by the touch panel sensor 11 whether or not the operator's input is an instruction to finish,
If this determination result is "NO", that is, if the operator is inputting the diagonal painting direction teaching data, the process proceeds to step S71.

Then, in step S71, the coordinates obtained from the detection of the touch panel sensor 11 are set to the diagonal painting direction teaching data Xpi and Ypi, respectively. That is,
If the operator inputs the line L2 as shown in FIG. 6, the x and y coordinates of each point are set accordingly. Then, it progresses to step S72 and increments the value of the counter i.

Next, returning to step S66, the detection of the touch panel sensor 11 is monitored, and the above processing is repeated until the operator gives an instruction to finish. Then, when the operator touches the touch panel sensor 11 to instruct the end, the determination result in step S68 becomes “YES”, and the process proceeds to step S69. Then, in step S69, the end flag flag3 is set to "ON", and the step S
In step 70, the value of the counter i is set in the variable k. In this way, when the end flag flag3 is turned “on”, in the diagonal painting teaching process shown in FIG. 11, the process proceeds to step S55, and acceptance of the diagonal painting direction teaching timer interrupt is finished.

Next, in FIG. 11, the process proceeds to step S56, the end flag flag4 is set to "OFF", and step S57 is performed.
Then, the counter i is set to "0". Then, the process proceeds to step S58 to start accepting a timer interrupt signal from a timer (not shown). Then, the process proceeds to step S59, it is determined whether or not the end flag flag4 is "ON", and if it is not "ON", the diagonal painting trajectory teaching process is performed at each sampling time of the timer interrupt signal in step S60. Run.

Here, the diagonally painted trajectory teaching processing executed in step S60 will be described with reference to FIG. First, in S73, the touch panel sensor 11
Monitor the detection of. Then, in step S74,
It is determined whether the touch panel sensor 11 has detected an operator input. Operator touch panel sensor 1
When data is input to 1 with a finger or an input pen, the result of this determination is "YES", and the flow proceeds to step S75.

Then, in step S75, it is judged from the coordinates detected by the touch panel sensor 11 whether or not the operator's input is instructing the end, and if the result of this judgment is "NO", that is, the operator teaches the oblique coating trajectory. If data has been entered, the process proceeds to step S77,
Set the maximum value to the minimum value min. Here, the maximum value is
It is the maximum possible value of the distance between the diagonal painting direction teaching data and the diagonal painting trajectory teaching data described later.

Next, in step S78, the coordinates obtained from the sensitivity of the touch panel sensor 11 are set to the diagonal painting trajectory teaching data Xgi and Ygi, respectively. That is, FIG.
When the operator inputs the line L3 as shown in (4), the x and y coordinates of each point are set accordingly.
Then, the process proceeds to step S79, "0" is set to the counter j, and the processes from step S80 onward are performed while the counter j is "0" to "k". Here, as described above, in step S79 of FIG. 12, the variable k is set to the number of data when the oblique painting direction is taught.

Therefore, in step S80 and subsequent steps, an operation for calculating the diagonal painting direction teaching data Xpj, Ypj that has the shortest distance from the coordinates indicated by the current diagonal painting trajectory teaching data Xgi, Ygi is performed. That is, as shown below,
The distance between Xgi, Ygi and Xpj, Ypj is calculated and set in the variable t. t = √ {(Xgi-Xpj) 2+ (Ygi-Ypj) 2} After that, the process proceeds to step S81, it is determined whether or not the value of the minimum value min is larger than the value of the variable t, and this determination result is " If YES, the process proceeds to step S82. Then, in step S82, the value of the variable t is set to the minimum value min, the flow proceeds to step S83, and the value of the counter j is set to the variable n in order to store the oblique painting direction teaching data at that time. Then, after the processing of step S83 is completed, or the determination result of step S81 is “N
If it is “O”, the process returns to step S80 again to perform the calculation.

Next, when the value of the counter j becomes equal to the value of the variable k, the process proceeds to step S84, and the diagonal painting trajectory teaching data Xgi, Ygi and the diagonal painting direction teaching data Xpn, Y are obtained.
Straight line connecting pn and diagonal painting direction teaching data Xpn, Y
The angle Zgi formed by a straight line passing through pn and parallel to the x-axis is calculated by the following formula. Zgi = tan-1 {(Ygi-Ypn) / (Xgi-Xpn)} For example, the coordinates indicated by the diagonal painting trajectory teaching data Xgi, Ygi and the diagonal painting direction teaching data Xpn, Ypn are points shown in FIG. Then, the angle Zgi, that is, the angle of the coating gun 5 with respect to the work 4 is obtained.

Then, in step S85, the value of the counter i is incremented. After that, the process returns to step S73, the detection of the touch panel sensor 11 is monitored, and the above process is repeated until the operator instructs the end. Then, when the operator touches the touch panel sensor 11 to instruct the end, the determination result in step S75 becomes “YES”, and the process proceeds to step S76. Then, in step S76, the end flag flag4 is set to "ON".

When the end flag flag4 is turned on in this way, in the diagonal painting teaching process shown in FIG. 11, the process proceeds to step S61, and the acceptance of the diagonal painting trajectory teaching timer interrupt is finished. Next, in step S62,
It is determined whether or not there is a key input for instructing the next process. If there is no key input, the process proceeds to step S63 and stands by. Then, when it is determined that the operator has input a key, the process proceeds to step S64, and it is determined whether the input key is a key for instructing termination. If the result of this determination is "NO", that is, if teaching is in progress, the process returns to step S50 and steps S51-64 are performed again.
Process. If the input key is a key for instructing the end, the process proceeds to step S65 and the end flag
Set flag2 to "on". Thereby, step S49
In, it is determined that the end flag flag2 is "on",
The diagonal painting instruction processing is ended.

When the diagonal coating teaching process is completed as described above, the process proceeds to step S32 shown in FIG. Then, the operator gives a save instruction (step S in FIG. 3).
10), the process proceeds to step S33, and the teaching end flag endf
Turn on lag. Then, in step S34, the teaching data is converted into trajectory data of the robot, and in step S35, the trajectory data is stored in a predetermined storage unit of the teaching device 9. Here, since the teaching end flag endflag is turned on, the determination result in step S29 is "NO", and the data creation mode is ended.

Second Embodiment FIG. 14 is a diagram showing a robot teaching device according to a second embodiment of the present invention. To the teaching device 9 shown in this figure, a mouse 31 is connected as an input means instead of the touch panel sensor 11. The operator uses this mouse 3
Data is input by operating 1 to move the cursor displayed on the display 10, and the trajectory of the coating gun 5 is taught in the same processing procedure as in the first embodiment. A digitizer may be used instead of the mouse 31.

Third Embodiment FIG. 15 is a diagram showing the structure of a robot teaching apparatus according to a third embodiment of the present invention. In the third embodiment, FIG.
As shown in (a), a camera 32 is attached to the tip of the arm 1a instead of the video camera 6. Then, the camera 32 photographs the shapes of the works 4, 4, ... And the arrangement on the wire net 2. A photograph 33 taken by the camera 32 is transferred to the teaching device 9 via an image input device (scanner) 34 as shown in FIG.
And is displayed on the display 10. In addition,
The image data read by the image input device 34 is Photo 3
The data is not limited to 3 and may be data representing the shape and arrangement of the workpieces 4, 4, ... Created in advance.

Fourth Embodiment FIG. 16 is a diagram showing the input means of the robot teaching apparatus according to the fourth embodiment of the present invention. In the fourth embodiment, the teaching device 9 is provided with a tablet 35 as an input means. Then, the operator inputs the image data of the shapes and arrangements of the works 4, 4, ... By handwriting using the input pen 36.

FIG. 17 shows an operation procedure of the teaching device for the robot according to the fourth embodiment. First, in step S101, the operator inputs data by drawing a sketch of the shapes and arrangements of the works 4, 4, ... On the tablet 35 using the input pen 36. Then, the process proceeds to step S102, and it is confirmed whether or not the data input is completed. If not completed, the process returns to step S101 to continue the data input. If it is confirmed that the process is completed, the process proceeds to step S103, and the scale for the shape and arrangement of the created work is set. Then, step S10
4 and teaches the reference position of the robot body 1.

Next, in step S105, a trajectory for top coating of the works 4, 4, ... Is taught, and then in step S106, a trajectory for oblique coating of the works 4, 4, ... Is taught. . Then, the process proceeds to step S107, and it is confirmed whether or not the teaching is properly performed. As a result of this confirmation, if the teaching is not performed correctly, the process proceeds to step S108, the taught data is erased, and the step S
Return to 105 and teach again. On the other hand, step S10
When it is determined that the teaching is performed correctly as a result of the confirmation in step 7, the process proceeds to step S109, and the teaching data is taught by operating the operating unit (not shown).
Save in and finish teaching.

Fifth Embodiment §1. Structure of Industrial Robot FIG. 18 is a perspective view showing the structure of an industrial robot to which the teaching device for a robot according to the fifth embodiment of the present invention is applied. In this figure, a robot main body 100 is a multi-joint type robot that performs painting work, and includes an arm 100a driven by a drive device (not shown). A paint gun 50 for spraying paint is attached to the tip of the arm 100a. Arm 10 of robot body 100
A wire net 60 is placed on a work table (not shown) below 0a. In the wire net 60, the wire is formed in the shape of a grid, and the rectangular parallelepiped workpiece 40 to be painted is placed on the wire net 60. The controller 70 controls each device, and is installed near the robot body 100. Further, an operation panel 80 used when operating the robot body 100 and an input device 90 for reading the coordinates of the installation position of the work 40 are connected to the controller 70.

FIG. 19 is an enlarged front view showing an example of the external configuration of the operation panel 80 described above. In this figure, the operation panel 80 has a teaching key Kk for instructing various processes of the controller 70 and a reproduction key. Various keys such as a key Ks, a stop key Kt, and a numeric keypad are provided. On the key tops of the teaching key Kk, the reproduction key Ks, and the stop key Kt, “teaching” and “reproduction” are respectively made so that the operator can easily understand.
And the words "stop" are shown in large letters. In addition,
Various processes of the controller 70 will be described later. Further, the operation panel 80 is provided with a display 80a for displaying operation contents and a speaker (not shown) for notifying an operator of an operation error with an alarm sound.

FIG. 20 is a partially cutaway enlarged perspective view showing an example of the configuration of the above-mentioned input device 90. In this figure, 90a has a substantially hollow cylindrical shape which is gradually narrowed toward its tip. It is the main body. The main body 90a is provided with a power switch 94 for turning on / off a power source on its upper side surface, and has a vertical / horizontal switch 91a and a +
-The switches 91b are mounted side by side. The vertical / horizontal switch 91a and the +/- switch 91b have the characters "vertical", "horizontal", "+", and "-" written on both ends thereof, respectively, as shown in the circle in FIG. It is turned on by pressing. Vertical / horizontal switch 91a
Is used to read the ordinate and abscissa of the work 40 (see FIG. 18). The- + switch 12b is used at the same time as the vertical / horizontal switch 91a and sets the directions of the vertical and horizontal coordinates (positive and negative). An LED (light emitting diode) 130 used when creating teaching data, which will be described later, and a light receiving sensor 93 are attached to the lower portion of the inner surface of the main body 90a. The LED 92 emits a light beam toward the wire netting 60 when the operator holds it over the wire netting 60.

FIG. 21 shows the controller 7 shown in FIG.
19 is a block diagram showing an example of an electrical connection state between 0 and each device connected to the controller 70. In this figure, parts corresponding to parts in FIG. Omit it. The controller 70 includes a storage device 160 and a control unit 150.

The storage device 160 includes the robot body 100.
The position command data and the speed command data at the time of the operation, the data for creating the trajectory data of the coating gun 50 at the time of coating the work 40, and the like are stored. The data is
For example, the type of coating gun, the orbital pitch at the time of coating, the discharge amount of the coating, and the operating speed of the arm 100a. The storage device 160 also stores operation command data for operating the arm 100a when the reproduction key Ks of the operation panel 80 is pressed. As a result, the robot body 100
Is always ready for operation.

The operation panel 80 has a teach signal Sk when the operator presses the teach key Kk (see FIG. 19), a play signal Sk when the play key Ks is pressed, and a stop signal St when the stop key Kt is pressed. Are output to the control unit 150, respectively.

When various signals are input from the operation panel 80, the control unit 150 reads out various data stored in the storage device 160 and controls each device. The control unit 1
Details of the operation of 50 will be described later.

In the input device 90, the light receiving sensor 93 is
When the reflected light from the wire net 60 is received, the received light signal Sj is
Output to the control unit 150. In addition, the control unit 150 outputs a signal indicating the on / off state of the vertical / horizontal switch 91a, the +/- switch 91b, and the power switch 94 of the input device 90. That is, the vertical / horizontal switch 91a outputs the vertical / horizontal switch signal Sa, and the +-switch the + -switch signal Sb
The power switch 94 outputs a power switch signal Sd.

§2. Operation of Robot Teaching Device FIG. 22 is a PAD diagram showing the operation of the operator and the overall processing of the control unit 150. In this figure, in step SA1, the operator initializes the system of the industrial robot.

Next, in step SA2, the control unit 1
The process proceeds to step SA3 while the operator does not input the end code for ending the industrial robot system, and when the end code is input, the entire process ends. Here, it is assumed that the end code has not been input, and the control unit 150 proceeds to step SA3.

At step SA3, the controller 150
Waits until various signals (teaching signal Sk, reproduction signal Ss, stop signal St, etc.) are input from the operation panel 80, and when the various signals are input, the process proceeds to step SA4.

In step SA4, the controller 150
Goes to any of steps SA5 to 7 corresponding to various signals input from the operation panel 80. That is, the control unit 1
When the teaching signal Sk is input from the operation panel 80, the process proceeds to step SA5 and executes the teaching process. The teaching process of step SA5 will be described later. Further, when the reproduction signal Ss is input, the control unit 150 proceeds to step SA6, and in SA6, the control unit 150 reads out trajectory data, paint discharge amount data, speed command data, etc. from the storage device 160. Then, the control unit 150
Based on the trajectory data described later, the arm 100a of the robot body 100 is operated at a predetermined speed, and the coating gun 50 sprays the coating material at a predetermined discharge amount. As a result, the coating gun 50 of the robot body 100 moves while spraying paint onto the work 40.

Subsequently, the operator confirms that the painting work is completed, and then presses the stop key Kt of the operation panel 80. At this time, the input device 90 outputs the stop signal St to the control unit 150. As a result, the control unit 150 proceeds to step SA7 and stops the operation of the robot.

Next, the teaching process of step SA5 described above will be described with reference to the PAD diagram of the teaching process shown in FIG. In step SA5 of FIG. 23, the control unit 150 proceeds to step SA8.

<Teaching Start Processing> Next, in step SA8 (see FIG. 23) described above, the teaching start processing executed by the controller 150 and the operation of the operator will be described with reference to FIG.
4 and the PAD diagram of the teaching start process shown in FIG.
This will be described with reference to FIG.

First, the operator holds the input device 90 and positions it on the origin O on the wire net 60 near the lower left of the work 40 shown in FIG. Then, when the operator turns on the power switch 94 of the input device 90, the input device 90
Outputs to the control unit 150 a power switch signal Sd indicating that the power switch 94 is on. This allows
The control unit 150 proceeds to step SA10.

At step SA10, the controller 150
When the power switch signal Sd described above is input, after recognizing the position where the power switch 94 of the input device 90 is turned on (origin O in FIG. 25) as the origin, the step SA11
Go to.

At step SA11, the controller 150
After clearing the previous work installation position data stored in the storage device 160, proceeds to step SA12.
The work installation position data here refers to coordinate data on which the work 40 is installed, as will be described later.

At step SA12, the controller 150
Proceeds to step SA13 while the power switch 94 of the input device 90 (see FIG. 20) is not turned off.

At step SA13, the controller 150
Waits until the vertical / horizontal switch 91a and the + -switch 91b of the input device 90 are turned on, that is, until the vertical-horizontal switch signal Sb and the + -switch signal Sb are input. If the operator turns on the vertical / horizontal switch 91a and the +/- switch 91b of the input device 90, the process proceeds to step SA14.

At step SA14, the controller 150
Is the vertical and horizontal switch signals Sa and + -from the input device 90
After confirming the input of the switch signal Sb, the process proceeds to step SA15.

At step SA15, the controller 150
Goes to any one of steps SA16 to 19 corresponding to the combination of the switch states of the vertical / horizontal switch 91a and the + -switch 91b of the input device 90 described above.

Before explaining the processing of steps SA16 to 19, the work setting position data created in each step will be described with reference to FIG. Work installation position data is UP data, DOWN data, RIG
It consists of HT data and LEFT data, and the meaning of each data is as follows. UP data: The input device 90 is moved in the depth direction Y + of the work 40.
Data that holds the amount of movement when moved to the DOWN data: Data that holds the amount of movement when the input device 90 is moved in the front direction Y- of the work 40 RIGHT data: Right direction of the work 40 Data that holds the amount of movement when moved to X + LEFT data: Input device 90 moves to the left X of workpiece 40
-Data that holds the amount of movement when moved to

Next, the operator pushes the "vertical" switch of the vertical / horizontal switch 91a of the input device 90 and the "+" switch of the +/- switch 91b with the input device 90 positioned on the origin O (see FIG. 25). At this time, the input device 90 outputs the vertical / horizontal switch signal Sa and the + -switch signal Sb, which indicate the ON state of each switch, to the control unit 150. Then, the operator, as shown in FIG.
Is moved in the depth direction Y + from the origin O to the point A along the locus of the line L1. At this time, the input device 90 detects that the LED 9
Light rays are emitted from 2 toward the wire net 60, and the light receiving sensor 93 receives the light reflected from the wire of the wire net 60. Then, the input device 90 outputs the light reception signal Sj to the control unit 150 each time the reflected light is received. That is, the input device 90 reads the number of wires of the wire net 60 from the origin O to the point A. As a result, the control unit 150 proceeds to step SA16 (see FIG. 24).

At step SA16, the controller 150
Each time the light receiving signal Sj is input from the input device 90,
The value U of the counter U is incremented. The value U of the counter U is the UP data described above.

Then, the operator, as shown in FIG. 27, moves the vertical / horizontal switch 91 of the input device 90 on the point A.
"a" is changed from "vertical" to "horizontal", and the + -switch 91b keeps "+" pressed. At this time, the input device 90 outputs the vertical / horizontal switch signal Sa and the +/- switch signal Sb, which indicate the ON state of each switch, to the control unit 150. Then, the operator moves the input device 90 in the right direction X + from the point A to the point B along the locus of the line L2. At this time, the input device 90 causes the received light signal Sj described above.
Is output to the control unit 150. As a result, the control unit 150
Proceeds to step SA18.

At step SA18, the controller 150
Each time the light receiving signal Sj is input from the input device 90,
The value R of the counter R is incremented. The value R of the counter R is the RIGHT data described above.

Then, the operator operates the vertical / horizontal switch 91a of the input device 90 at the point B as shown in FIG.
"Horizontal" → "vertical", + -switch 91b "+" →
Replace with "-". At this time, the input device 90 outputs the vertical / horizontal switch signal Sa and the + -switch signal Sb, which indicate the ON state of each switch, to the control unit 150.
Then, the operator moves the input device 90 to the front direction Y-
Move from point B to point C along the locus of line L3. At this time, the input device 90 sends the received light signal Sj to the control unit 150.
Output to. As a result, the control unit 150 causes the step S
Go to A17.

At step SA17, the controller 150
Each time the light receiving signal Sj is input from the input device 90,
The value D of the counter D is incremented. The value D of the counter D is the DOWN data described above.

Then, the operator operates the vertical / horizontal switch 91a of the input device 90 at the point C as shown in FIG.
Is changed from "vertical" to "horizontal", and the + -switch 91b is kept pressed to "-". At this time, the input device 90 outputs the vertical / horizontal switch signal Sa and the + -switch signal Sb indicating the ON state of each switch to the control unit 150. Then, the operator moves the input device 90 in the left direction X- from the point C to the origin O along the locus of the line L4. At this time, the input device 90 outputs the light reception signal Sj to the control unit 150, as described above. As a result, the control unit 150 proceeds to step SA19.

At step SA19, the controller 150
Each time the light receiving signal Sj is input from the input device 90,
The value L of the counter L is incremented. The value L of the counter L is the LEFT data described above.

Subsequently, when the input device 90 returns to near the origin O, that is, the operator moves the input device 90 along the locus of line L1 → line L2 → line L3 → line L4 (see FIG. 27). When I went around,
The power switch 94 of the input device 90 is turned off. At this time, the input device 90 outputs the power switch signal Sd indicating that the power switch 94 is off to the control unit 150. As a result, the control unit 150 proceeds to step SA20.

At step SA20, the controller 150
Determines that the input device 90 has returned to the origin O due to the input of the power switch signal Sd. After that, the control unit 150 proceeds to step SA21.

<Calculation of Work Installation Position> Next, the work installation position calculation process executed by the controller 150 in step SA21 will be described with reference to FIG. In step SA22 of the figure, the control unit 150 determines whether or not the UP data, which is the value of the counters U and D, is larger than the DOWN data. This judgment result is "YE
In the case of “S”, the control unit 150 proceeds to step SA23. Now, it is assumed that the UP data is larger than the DOWN data.

At step SA23, the controller 150
After the UP data is the ordinate in rectangular coordinates,
It proceeds to step SA25. On the other hand, step SA22
If the result of the determination is “NO”, the control unit 150 proceeds to step SA24 and sets the DOWN data as the ordinate in the rectangular coordinates.

At step SA25, the controller 150
Determines whether the RIGHT data, which is the value of the counters R and L, is larger than the LEFT data. When this determination result is “YES”, the control unit 150 proceeds to step SA26. Right now, RIGHT data is LEFT
It should be larger than the data.

At step SA26, the controller 150
Represents the RIGHT data as the abscissa in rectangular coordinates. On the other hand, the determination result of step SA25 is "NO".
In the case of, the control unit 150 proceeds to step SA27 and L
Let the EFT data be the abscissa in the rectangular coordinates. The teaching start processing of step SA8 shown in FIG. 24 is completed by the processing so far, and the control unit 150 proceeds to step SA9 shown in FIG.

<Trajectory Creation> Next, step SA in FIG.
9, the trajectory creation processing executed by the control unit 150 is
This will be described with reference to the PAD diagram in FIG. In step SA28 of the figure, the control unit 150 determines in step SA21.
Among the work installation position data calculated in the work installation position calculation process (see FIG. 29), the abscissa (in this case, RIGHT data) and the trajectory pitch data stored in the storage device 160 are read. The orbital pitch data mentioned here refers to data of a constant (orbital pitch P) for dividing the work installation position data into a predetermined size. Then, the control unit 150 divides the RIGHT data by the track pitch data to divide the RIGHT data. That is, as shown in FIG. 28, the step SA28 divides the line L2 (RIGHT data), which is the abscissa, at points a1, a2, ..., A5 at intervals of the track pitch P. Processing. After that, the control unit 150
Go to step SA29.

At step SA29 shown in FIG. 30,
As shown in FIG. 28, the control unit 150 controls each point (a1, a2, ..., A5) of the divided line L2 and each point (a′1) of the line L4 corresponding to each point of the line L2. , A'2, ..., a '
5) and a'1 point (origin O) → a1 point (A point) → a2
After creating trajectory data composed of a locus (line L0) of points → a′2 points → ... → a5 points → a6 points → a′6 points → C points → B points, the process proceeds to step SA30.

At step SA30, the controller 150
Stores the created trajectory data in the storage device 160 in step SA29. As a result, the trajectory creation process of step SA9 ends.

As described above, according to the robot teaching apparatus of the fifth embodiment, the operator inputs the input device 90.
The trajectory data of the coating gun 50 can be created by simply grasping and tracing the outer periphery of the work 40. As a result, the usability is improved, and the setup time, which usually causes a problem, can be greatly shortened.

The embodiments of the present invention have been described in detail above with reference to the drawings. However, the specific configuration is not limited to these embodiments, and the design can be changed without departing from the gist of the present invention. Etc. are included in the present invention.

For example, in the fifth embodiment, the wire mesh 6
Although an example using 0 has been shown, any element that reflects light may be used. On the contrary, it may be replaced with one that absorbs light. For example, a synthetic resin net or a reflective (absorption) tape may be attached on a support in the shape of a grid. In addition, in the fifth embodiment described above, the work 40
Although an example in which the input device 90 is used to read the coordinates of the installation position of (see FIG. 18) is shown, the work 40 is placed directly on the above-mentioned support table to which the reflection tape is attached, and the mouse is also used. May be moved onto the support table, and the movement amount may be used as the work installation position data described above, and trajectory data may be created in the same manner. Further, in the fifth embodiment, the coordinates of the workpiece installation position are identified by the vertical and horizontal switches 91a and the + -switches 91b of the input device 90, but a gyro or the like is used instead of both switches to further improve the usability. May be. Further, in the fifth embodiment, an example in which the abscissa (RIGHT data or LEFT data) is divided by the division data is shown, but the ordinate (UP data or DOWN data) is divided and the trajectory data is similarly created. May be.

[0097]

As described above, according to the inventions described in claims 1 to 4, there is an effect that teaching can be performed without using expensive software. In addition, a plane image of the work placed on the work surface is displayed on the display means,
Since the data is input to the displayed plane image, the teaching data of the robot can be visually created.

According to the second to fourth aspects of the invention, since the work locus of the work implement is input with a finger, an input pen, a mouse, or the like, it is possible to easily teach even an unskilled person. The effect is that you can do it.

According to the fifth or sixth aspect of the present invention, the teaching data can be created only by the operator holding the input means and moving it directly on the work surface. As a result, the usability is improved, and the setup time, which usually causes a problem, can be greatly shortened.

According to the invention of claim 7, in addition to the effect of the invention of claim 5 or 6, there is an effect that the usability for the operator is further improved.

[Brief description of drawings]

FIG. 1 is a perspective view showing a configuration of an industrial robot to which a robot teaching device according to a first embodiment of the present invention is applied.

FIG. 2 is a block diagram showing a configuration of a control device 7 and a relationship with other elements in the embodiment.

FIG. 3 is a flowchart showing a procedure of a teaching operation by an operator in the embodiment.

FIG. 4 is a diagram showing a display example of a display 10 in the embodiment.

FIG. 5 is a diagram showing a display example of a display 10 when teaching a top-coating trajectory in the same embodiment.

FIG. 6 is a diagonal coating teaching display 1 in the same embodiment.
It is a figure which shows the example of a display of 0.

FIG. 7 is a PA showing the processing of the CPU 15 in the embodiment.
FIG.

FIG. 8 is a PAD diagram showing a data creation mode of the CPU 15 in the embodiment.

FIG. 9 is a PAD diagram showing a topcoating teaching process of the CPU 15 in the embodiment.

FIG. 10 is a PAD diagram showing an overpainting trajectory teaching timer interrupt process of the CPU 15 in the embodiment.

FIG. 11 is a PAD diagram showing a diagonal coating teaching process of the CPU 15 in the embodiment.

FIG. 12 is a PAD diagram showing an oblique painting direction teaching timer interrupt process of the CPU 15 in the embodiment.

FIG. 13 is a PAD diagram showing an oblique painting trajectory teaching timer interrupt process of the CPU 15 in the embodiment.

FIG. 14 is a front view showing a robot teaching apparatus according to a second embodiment of the present invention.

15 (a) is a perspective view and FIG. 15 (b) is a front view showing the configuration of a robot teaching apparatus according to a third embodiment of the present invention.

FIG. 16 is a perspective view showing the configuration of a teaching device for a robot according to a fourth exemplary embodiment of the present invention.

FIG. 17 is a flowchart showing a procedure of a teaching operation by an operator in the embodiment.

FIG. 18 is a perspective view showing the configuration of an industrial robot to which the robot teaching device according to the fifth embodiment of the present invention is applied.

19 is an enlarged front view showing an example of the configuration of the operation panel 80 shown in FIG.

20 is a partially cutaway enlarged perspective view showing an example of the configuration of the input device 90 shown in FIG.

21 is a block diagram showing an example of an electrical connection state between the controller 70 shown in FIG. 18 and each device connected to the controller 70. FIG.

FIG. 22 is a PAD diagram showing the operation of the operator and the overall processing of the control unit 150 according to the fifth embodiment of the present invention.

FIG. 23 is a PAD diagram showing a teaching process of a control unit 150 according to the embodiment.

FIG. 24 is a PAD diagram showing a teaching start process of the control unit 150 according to the embodiment.

FIG. 25 is a diagram illustrating a teaching process according to the same embodiment.

FIG. 26 is a diagram illustrating teaching processing according to the embodiment.

FIG. 27 is a diagram illustrating teaching processing according to the embodiment.

FIG. 28 is a diagram illustrating a trajectory creation process according to the embodiment.

FIG. 29 is a PAD diagram showing a work installation position calculation process of the control unit 150 according to the embodiment.

FIG. 30 is a PAD diagram showing a trajectory creating process of the control unit 150 according to the embodiment.

[Explanation of symbols]

 1 Robot Body 1a Arm 2 Wire Mesh 4 Work 5 Painting Gun 6 Video Camera 7 Control Device 9 Teaching Device 10 Display 11 Touch Panel Sensor 15 CPU 31 Mouse 32 Camera 33 Photo 34 Image Input Device 35 Tablet 36 Input Pen

Claims (7)

[Claims] 1. A robot teaching device for creating teaching data of a robot for performing work with a work tool on a work arranged on a work surface, wherein image data representing a plane image of the work on the work surface is generated. An image input device for capturing, display means for displaying a plane image represented by the image data, input means for designating an arbitrary position on the plane image displayed on the display means, and designated by the input means. A teaching device for a robot, comprising: a control unit that takes in coordinates of a point as data indicating a work trajectory of the work implement, converts the data into teaching data of the robot, and stores the teaching data. 2. The input unit includes a finger and an input pen, the display unit includes a touch panel sensor that detects a touch by the input unit, and detects a coordinate of a sensed portion, and the control unit includes: The robot teaching apparatus according to claim 1, wherein the coordinates detected by the touch panel sensor are fetched as data indicating a work trajectory of the work implement. 3. The input means is a mouse, the display means displays a location specified by the operation of the mouse, and the control means displays the coordinates of the location specified by the operation of the mouse. The robot teaching device according to claim 1, wherein the teaching device is loaded as data indicating a work locus of the work implement. 4. A tablet teaching device for creating teaching data of a robot for performing work on a work arranged on a work surface with a work tool, wherein the tablet detects coordinates of a portion touched by an input pen, A robot comprising: a display unit that takes in coordinates detected by the tablet and displays an image represented by the coordinates; and a control unit that stores the coordinates as data indicating a work trajectory of the work implement. Teaching device. 5. A robot teaching apparatus for creating teaching data of a robot for performing work on a work arranged on a work surface with a work tool, wherein the work is performed by moving on or above the work surface. Input means for designating an arbitrary location on the surface and coordinates of the location designated by the input means are fetched as data indicating a work trajectory of the work implement, and the data is converted into teaching data of the robot and stored. A robot teaching apparatus comprising: a control unit. 6. A light reflector or a light absorber is provided on the work surface in a grid pattern, and the input means is a light emitting element, a light receiving element, and a movement direction for outputting data regarding a movement direction of the input means. By having a data output means and moving above the work surface,
The robot according to claim 5, wherein the light emitted from the light emitting element and reflected by a reflector or a light absorber provided on the work surface is received by the light receiving element and a light reception signal is output. Teaching device. 7. The robot teaching apparatus according to claim 5, wherein the input means is a mouse.