JPH0736532A - Production of teaching data for industrial robot - Google Patents

Abstract

PURPOSE:To shorten the time needed for production of a work program by producing the same teaching data in both forward and reverse units when the teaching data are produced and by arraying the produced teaching data in the order of going/returning paths. CONSTITUTION:A robot arm is moved to a position P1 by means of a teaching device, and the teaching data on positions P1 and P1' are produced in two units (step a). Then the robot arm is moved to a position P2, and the teaching data on positions P2 and P2' are produced at the position P2 and between both positions P1 and P1' (step b). The robot arm is moved to a position P3, and the teaching data on positions P3 and P3' are produced at the position P3 and between both positions P2 and P2' (step c). Then the robot arm is moved to a position P4, and the teaching data on positions P4 and P4' are produced at the position P4 and between both positions P3 and P3' (step d). The teaching data on a working subject work are produced between both positions P4 and P4' (step e). Thus a work program is produced for the work of the robot arm, and a teaching job can be omitted for a returning action path. Then the working efficiency of an industrial robot is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for creating teaching data for an industrial robot that efficiently creates teaching data for the industrial robot.

[0002]

2. Description of the Related Art A problem in creating a work program for a teaching playback type industrial robot is that it takes a very long time to create the work program. Conventionally, a work program for causing an industrial robot to work is to move the industrial robot, actually move the industrial robot to a work position using a teaching device that can write the work content in a memory, and then move the industrial robot to that position. It was created by performing the work of registering operation commands and position data as teaching data at all work positions. In particular, when the robot arm is moved to a location where the robot arm operation area is narrow due to the arrangement of peripheral jigs and workpieces, and the instruction to return to the original position from that location is taught, move the robot arm to the narrow location. It is necessary to register the path of the robot arm as teaching data while paying attention to the interference of the work, etc. in both the movements at the time of returning and returning, and the work of creating such teaching data requires a lot of time. It was

[0003]

As described above, the robot arm is moved to a place where the operable area of the robot arm is narrow due to the arrangement of peripheral jigs, works, etc. in the industrial robot, and the original position is restored from that place. When teaching a motion to return to a position, it takes a lot of time to create a work program for performing the work.

The present invention solves these problems, and an object of the present invention is to provide a teaching data creation method for an industrial robot that simplifies the procedure for creating a work program and shortens the time for creating the work program. And

[0005]

In order to achieve the above object, the teaching data creating method of the present invention is such that when the teaching data is created in the teaching mode, the teaching data is created by the teaching method of creating the same teaching data in units of two. However, when the next teaching data is created, two pieces of the same teaching data are created between the two created teaching data, and further the next teaching data is created sequentially between the two created teaching data. The teaching data of the robot arm is created by the method described above.

[0006]

With the above configuration, when teaching data is created in the teaching mode, the same teaching data is created in units of two, and when the next teaching data is created, the same teaching data is created between the two created teaching data. 2 are created, and when the next teach data is created, the same teach data is created sequentially between the two created teach data, so that the teaching data of the robot arm is created, When teaching the operation to move the robot arm to a place where the robot arm's operable area is narrow due to the placement of jigs, workpieces, etc. and to return to that position from that place, provide the teaching data to move the robot arm to the narrow place. At the time of creation, teaching data for the return motion is also created, so there is no need to teach the path for the robot arm's return motion while paying attention to interference with the work. , It is possible to shorten the work program creation time.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows a schematic configuration of an industrial robot used in one embodiment of the present invention. In FIG. 1, 1 is a robot arm, 2 is a control device, 3 is a teaching device, 4 is a position detector, and 5
Is a memory for storing teaching contents, 6 is a work for limiting the operation area of the robot, and 7 is a work target work. In such an industrial robot, the operation mode of the control device 2 for controlling the position of the robot arm by a command is composed of a teaching mode and an operation mode, and in the teaching mode, the robot arm necessary for the work of the work 7 by the teaching device 3 is performed. The teaching content of No. 1 is written in the memory 5, and the work program written in the memory 5 is executed in the operation mode. The position of the robot arm 1 during execution of the work program is obtained by the position detector 4.

FIG. 2 shows an embodiment of concrete teaching data of the present invention, and shows an operation path for the work 6 that limits the operation area of the robot. P1 in FIG.
To P4 and P4 'to P1' are teaching data for teaching a path for operating the inside of the workpiece 6 of the robot arm 1. FIG. 3 shows the teaching data stored when the teaching data creation method of the industrial robot is executed according to the teaching position shown in FIG. 2, and the hatched teaching data is the teaching data stored in each step. Is.

The stored contents of the teaching data will be described below with reference to FIG. In the teaching mode, the robot arm 1 is moved to P1 by using the teaching device 3 to the position where the operation is first started, and when the teaching data is registered by the operation of creating the teaching data in units of two at the position of P1, the teaching data becomes P1. The teaching data of P1 'is stored in the memory 5 (step a). Next, the robot arm 1 is moved to P2 using the teaching device 3.
When the teaching data is registered by the operation of moving up to P2 and creating two teaching data at the position of P2, P
The teaching data of 2 and P2 'are stored in the memory 5 (step b). Next, the robot arm 1 is moved to P3 by using the teaching device 3, and the teaching data is registered by the operation of creating two teaching data at the position of P3. When the teaching data is registered between P2 and P2 ', the teaching data of P3 and P3' Is stored in the memory 5 (step c). Next, the robot arm 1 is moved to P4 using the teaching device 3, and the teaching data is registered by the operation of creating two teaching data at the position of P4.
During 3 ', teaching data of P4 and P4' are stored in the memory 5 (step d). Next, when the work for the work target work 7 is registered by a method in which teaching data is created in units of one, the teach data for the work target work 7 is stored in the memory 5 between P4 and P4 '(step e). Thus, a work program for the work 7 to be worked by the robot arm 1 is created.

As can be seen from the above-mentioned state of creating the teaching data, the teaching data of the paths P4 'to P1' through which the robot arm 1 exits from the work 6 for limiting the operation area of the robot is generated by the robot using the teaching device 3. Since the work of moving the arm 1 to the teaching position to create the teaching data is unnecessary, the work program creation time is shortened.

[0011]

As described above, according to the teaching data creating method for the industrial robot of the present invention, the robot arm is moved to a place where the operable area of the robot arm is narrow due to the arrangement of peripheral jigs, works and the like. When teaching the operation of returning from that position to the original position, the same teaching data is created in units of two, and the teaching data creation method is used. Since the same teaching data is created between the teaching data of 1 and the teaching data of the robot arm is created by a method in which the next teaching data is created sequentially between the teaching data created above, It is also possible to create teaching data for the return movement when creating the teaching data for moving the robot arm to a location, and to specify the route for the robot arm's return movement while paying attention to interference such as work.示作 industry to shorten the work program creation time eliminates the need is realized.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an industrial robot applied to a teaching data creating method for an industrial robot according to an embodiment of the present invention.

FIG. 2 is a view for explaining a motion path of a robot in a work in which the motion area of the robot is restricted in the teaching data creation method for the industrial robot of the embodiment.

FIG. 3 is a layout diagram of teaching data in a memory in the teaching data creating method of the industrial robot of the embodiment.

[Explanation of symbols]

 1 Robot Arm 2 Control Device 3 Teaching Device 4 Position Detector 5 Memory 6 Work that Limits Robot Motion Area 7 Work Target Work

Claims (1)

[Claims] 1. A robot arm comprising at least one rotary or linear axis and a position detector for the axis and a rewritable memory, and an operation mode for controlling the position of the robot arm by a command is taught. In an industrial robot that consists of a control device that is divided into operating mode and operating mode, teaches the position and operation command of the robot arm in the teaching mode, and executes the contents taught in the teaching mode in the operating mode, the teaching mode is the teaching mode. There is a teaching method in which data is stored in the memory in units of one to create data and a teaching method in which the same teaching data is stored in units of two in the memory to create data, and the same teaching data is created in units of two. In the teaching method created in step 2, after the teaching data is created, the next teaching data is created by creating two identical teaching data between the two created teaching data. And the next teaching data is 2
A method for creating teaching data for an industrial robot, characterized in that teaching data for a robot arm is created by a method of sequentially creating individual teaching data.