JPH077303B2 - Robot teaching method - Google Patents

Description

The present invention relates to a robot teaching method for teaching a motion program to a robot so as to perform a predetermined work, and in particular, an arc welding robot, a sealing robot, etc. The present invention relates to a robot teaching method capable of teaching.

[Conventional technology]

In arc welding robots, sealing robots, etc., it is necessary to teach the angle and distance of a torch, nozzle, etc. to a work when the robot performs predetermined welding or sealing. These are taught alternately, one is taught, then the other is corrected, and teaching is carried out while balancing the two.

[Problems to be solved by the invention]

However, the task of alternately teaching mutually related matters in this way requires a considerable amount of time and skill, and the teaching time is lengthened and complicated.

An object of the present invention is to solve the above problems and provide a robot teaching method capable of teaching an operation program easily.

[Means for solving problems]

In order to solve the above-described problems, the present invention provides a robot teaching method for teaching a robot an operation program to perform a predetermined work, wherein a range sensor is provided on the arm tip side of the robot, and a tool of the tool at the arm tip is provided. Accurate teaching up to the work measured by using the range sensor while teaching the program for teaching the angle to the work and the approximate distance between the tool and the work at the same time while operating the robot with the teaching program. The robot teaching method is characterized in that the motion program is generated by correcting the approximate distance with a different distance.

[Action]

First, a rough distance is taught as the distance between the tool and the work, and a teaching program is generated with the rough distance. Next, while operating the robot with the teaching program, the distance to the work is measured using the range sensor, and the approximate distance is corrected by the accurate distance. It will be explained based on.

FIG. 1 shows a block diagram of a robot for arc welding according to an embodiment of the present invention. In the figure, reference numeral 1 is a robot controller, which controls the robot 30. Reference numeral 2 denotes a display, which displays various data of the robot 30. Reference numeral 3 is a keyboard, which is used for inputting parameters and the like regarding the robot 30. A teaching box 4 is used to teach the robot 30.

Reference numeral 11 denotes a range sensor control device, which will be described later.
Based on the signal from 41, the distance between the work and the range sensor 41 is calculated and output to the robot controller 1.

Reference numeral 21 denotes a servo unit, which drives a servo motor of the robot 30 according to a command from the robot controller 1 to control the operation of the robot 30.

A torch 40 for welding and a range sensor 41 are attached to the tip of an arm 31 of the robot 30. The range sensor 41 is a measuring device that measures the distance to the work, emits light or laser light to the work, and measures the distance between the range sensor 41 and the work by the reflected light.

Next, FIG. 2 shows a detailed view of the torch 40 and range sensor 41. In the figure, the torch 40 has a vertical mechanism 42 and a knob 43.
The range sensor 41 is attached via. The position of the range sensor 41 can be adjusted by the knob 43 in the direction indicated by the arrow A. First, the angle θ of the torch 40 with respect to the work 50 and the distance r from the torch 40 to the work 50 are adjusted, and then the center line of the torch 40 and the optical axis of the range sensor 41 are on the surface of the work 50. The position of the range sensor 41 is adjusted with the knob 43 so that it intersects at one point P.

Next, the method of this embodiment will be described.

First, the torch 40 is placed at the position shown in FIG. 2, and the angle θ and the distance r with respect to the work 50 are determined.

Correspondingly, the position of the range sensor 41 is adjusted by the knob 43 so that the optical axis of the range sensor 41 and the center line of the torch 40 intersect at the point P on the work 50.

The operator teaches the robot 30 with an approximate value for the distance r while paying attention only to the angle θ. For example, the distance r in the case of arc welding is usually about 15 mm to 20 mm, but the robot 30 has a value having a width of about ± 2 mm with respect to this distance r.
Teach. The width of ± 2 mm is determined according to the detection range of the range sensor 41 and its measurement accuracy, and if a range sensor with a wide detection range and good measurement accuracy is used, a broad teaching range can be set. , And that is how easy it is to use.

While operating the robot 30 with this teaching program,
The range sensor 41 measures the distance from the work 50, and the teaching path is corrected so that this distance becomes a predetermined distance r. When the distance between the range sensor 41 and the work 50 is maintained at r, the distance from the torch 40 to the work 50 is maintained at r due to the mounting positional relationship between the range sensor 41 and the torch 40.

Note that welding operation is not performed when the robot 30 is operating according to this teaching program. By this distance correction, a necessary robot operation program can be obtained.

As described above, the operator need only teach only the angle θ between the workpiece 50 and the torch 40, and the angle θ and the distance r
The teaching can be performed easily without the need to teach the same at the same time and without the need for mutual adjustment.

In the above-mentioned embodiment, the arc welding robot is used for description, but it can be similarly applied to other robots such as a sealing robot.

Although the torch is attached to the tip of the robot, other tools such as nozzles may be attached depending on the application.

〔The invention's effect〕

As described above, in the present invention, since the distance to the work is measured by using the range sensor, it is not necessary to teach both the angle and the distance between the tool and the work at the same time, and the teaching of the robot is easy. Can be done.

[Brief description of drawings]

FIG. 1 is a block diagram of an arc welding robot according to an embodiment of the present invention, and FIG. 2 is a detailed view of a torch and a range sensor. 1 …… Robot control device 4 …… Teaching box 11 …… Range sensor 30 …… Robot 40 …… Torch 41 …… Range sensor

Claims (1)

[Claims] 1. A robot teaching method for teaching a robot an operation program to perform a predetermined work, wherein a range sensor is provided on the arm tip side of the robot, the angle of the tool tip with respect to the work, and the tool. A teaching program is generated by simultaneously teaching a rough distance to the work, and the rough distance is determined by an accurate distance to the work measured using the range sensor while operating the robot with the teaching program. A robot teaching method characterized in that a motion program is generated by making a correction.