JPH09150382A - Direct teaching device for robot - Google Patents

Direct teaching device for robot

Info

Publication number
JPH09150382A
JPH09150382A JP33596195A JP33596195A JPH09150382A JP H09150382 A JPH09150382 A JP H09150382A JP 33596195 A JP33596195 A JP 33596195A JP 33596195 A JP33596195 A JP 33596195A JP H09150382 A JPH09150382 A JP H09150382A
Authority
JP
Japan
Prior art keywords
teaching
robot
handle
operator
direct
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP33596195A
Other languages
Japanese (ja)
Other versions
JP3632268B2 (en
Inventor
Yasuyuki Inoue
Hideo Nagata
康之 井上
英夫 永田
Original Assignee
Yaskawa Electric Corp
株式会社安川電機
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp, 株式会社安川電機 filed Critical Yaskawa Electric Corp
Priority to JP33596195A priority Critical patent/JP3632268B2/en
Priority claimed from US09/029,856 external-priority patent/US6212443B1/en
Publication of JPH09150382A publication Critical patent/JPH09150382A/en
Application granted granted Critical
Publication of JP3632268B2 publication Critical patent/JP3632268B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Abstract

PROBLEM TO BE SOLVED: To safely perform teaching by an operator, even in the case of causing a temperature drift in a force detector and forgetting of mounting of a teaching handle, causing a contact of a work tool with a workpiece or the like, performing of teaching in a narrow part, and performing of an emergency stop. SOLUTION: This device has a force detector 15, teaching handle 16 fixed to the detector to be gripped by an operator for guiding, motion model arithmetic part which is a means calculating a position or speed command based on force detector information and a motion model, speed position servo system calculating generated torque of a motor based on the position or speed command and a simple teaching device 17. An input switch inputting information related to a position or the like of a robot and a means displaying a condition are provided on the simple teaching device.

Description

【発明の詳細な説明】Detailed Description of the Invention
【0001】[0001]
【発明の属する技術分野】本発明は産業用ロボット等に
作業の教示を行うための直接教示装置に関し、特に安全
性を高めた教示装置に関するものである。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a direct teaching device for teaching work to an industrial robot or the like, and more particularly to a teaching device having improved safety.
【0002】[0002]
【従来の技術】従来の産業用ロボットに対する教示方法
としては、オペレータが力検出器の手動操作部を操作し
た時の力検出器から発生した信号からロボット先端の位
置の指令値と手首の姿勢の指令値に基づいて、各駆動装
置を駆動してロボットの先端の位置と手首姿勢を誘導し
て、この誘導情報を記憶装置に記憶して直接教示する方
法(例えば、特開昭56−85106号参照)がある。
2. Description of the Related Art As a conventional teaching method for an industrial robot, a command value of a position of a robot tip and a posture of a wrist are determined from a signal generated from a force detector when an operator operates a manual operation section of the force detector. A method of driving each drive device based on the command value to guide the position of the tip of the robot and the posture of the wrist, and storing the guidance information in a storage device to directly teach it (for example, JP-A-56-85106). There is).
【0003】[0003]
【発明が解決しようとする課題】しかしながら、従来の
直接教示装置では、温度ドリフトなどで力検出器からの
出力が変動することや、教示用ハンドルが所定の取付位
置に無くて力検出器に外力が印可された場合に、オペレ
ータの意志に反してロボットが動作してしまう危険性が
あった。また、直接教示中に作業ツールをワークや他の
障害物に接触させた場合にも、作業ツールを変形させな
がらロボットは運動を続けてしまう危険性があった。ま
た、ワークの狭隘部の教示を行う場合に作業ツール上の
教示ハンドルが邪魔になり、オペレータの腕がワークに
挟み込まれる危険性があった。加えて、緊急停止時にブ
レーキでロックされ、最悪の場合オペレータが脱出不可
能な状態が維持されるおそれがあった。この発明は上記
の如き事情に鑑みなされたものであって、力検出器の温
度ドリフトや教示用ハンドルの取り付け忘れがあった場
合や、作業ツールをワークなどに接触させた場合や、狭
隘部の教示を行う場合、また緊急停止を行った場合にで
も、オペレータが安全に教示を行うことを可能にする直
接教示装置を提供することを目的とするものである。
However, in the conventional direct teaching device, the output from the force detector fluctuates due to temperature drift and the teaching handle is not in a predetermined mounting position, and the external force is applied to the force detector. When is applied, there is a risk that the robot may operate against the operator's will. Further, even if the work tool is brought into contact with the work or another obstacle during direct teaching, there is a risk that the robot will continue to move while deforming the work tool. Further, when teaching the narrow portion of the work, there is a risk that the teaching handle on the work tool becomes an obstacle and the arm of the operator is caught in the work. In addition, at the time of an emergency stop, the brakes are locked, and in the worst case, the operator may be unable to escape. The present invention has been made in view of the circumstances as described above, and includes the case where the temperature drift of the force detector and the forgetting to attach the teaching handle, the case where the work tool is brought into contact with the work, and the narrow part An object of the present invention is to provide a direct teaching device that enables an operator to safely teach even when teaching is performed or when an emergency stop is performed.
【0004】[0004]
【課題を解決するための手段】上記目的を達成するため
に、図1に示すように本発明の教示装置においては、力
検出器15と、前記検出器に固定されてオペレータが把
持し誘導するための教示用ハンドル16と、前記力検出
器情報と運動モデルに基づいて位置又は速度指令を算出
する手段である図3に示す運動モデル演算部301と、
前記位置又は速度指令に基づいてモータの発生トルクを
算出する速度位置サーボ系302と、簡易教示装置17
を有する。簡易教示装置上にはロボットの位置等に関す
る情報を入力する入力スイッチと状態を表示する手段を
有する。さらに、教示用ハンドルとロボットの先端部ま
たは作業ツール上の所定の教示用ハンドル取付場所の間
にコンプライアンス機構310を有し、前記コンプライ
アンス機構の一定変位動作時に信号を変化する手段31
1と、前記信号によりロボットの動作を停止させる手段
を有する。また、電気的なブレーキによる緊急停止後、
手首3軸ならび重力が作用しない軸に関しては、機械的
なブレーキの作動を行わない構成とする。さらに、教示
用ハンドル上に操作可能ボタン306と、教示用ハンド
ルがロボットの先端部または作業ツール上の所定の場所
に取り付けられたことを認識する手段308と、教示用
ハンドルを前記簡易入力装置上に取り付ける手段307
を有する。また、図2はハンドルをロボットから取り外
して操作する場合の状況を示しており、リモート操作治
具21にも取付認識スイッチを操作可に変化する機構的
構成とする。
In order to achieve the above object, as shown in FIG. 1, in the teaching apparatus of the present invention, the force detector 15 and the operator fixed by the detector and held and guided by the operator. For teaching, and a motion model calculation unit 301 shown in FIG. 3, which is a unit for calculating a position or speed command based on the force detector information and the motion model.
A speed position servo system 302 for calculating a torque generated by the motor based on the position or speed command, and a simple teaching device 17
Have. The simple teaching device has an input switch for inputting information relating to the position of the robot and means for displaying the state. Further, there is a compliance mechanism 310 between the teaching handle and the tip of the robot or a predetermined teaching handle mounting location on the work tool, and means 31 for changing a signal when the compliance mechanism is displaced in a constant manner.
1 and means for stopping the operation of the robot by the signal. Also, after an emergency stop with an electric brake,
The mechanical brake is not operated for the three wrist axes and the axis on which gravity does not act. Further, an operable button 306 on the teaching handle, a means 308 for recognizing that the teaching handle is attached to a tip portion of the robot or a predetermined place on the work tool, and a teaching handle on the simple input device. Means for attaching to 307
Have. Further, FIG. 2 shows a situation in which the handle is detached from the robot and operated, and the remote operation jig 21 also has a mechanical structure in which the attachment recognition switch is changed to be operable.
【0005】[0005]
【発明の実施の形態】以下本発明の実施例を説明する。
先ず、本発明の直接教示に用いる簡易教示装置をリモー
ト操作時に用いる治具にセットされた状況で示した図6
を用いて先に説明しておく。簡易教示装置61は手のひ
らの大きさで、オペレータが片手で持って各スイッチの
操作できるものである(オペレータのもう一方の手は、
後述する教示用ハンドルを把持するため片手で持てる必
要がある)。各スイッチとは、サーボ電源保持スイッチ
64、非常停止ボタン65、入力スイッチ66、記憶情
報編集キー67のことであり、状態表示灯68も設けら
れている。オペレータはサーボ電源保持スイッチ64を
一定力で把持することによってサーボ電源を投入するこ
とができる。教示中はスイッチを把持し続けることでサ
ーボ電源が投入された状態が維持される。また、オペレ
ータは直接教示作業中に危険と判断した場合にはサーボ
電源保持スイッチ64を離すか、非常停止ボタン65を
押すことにより、ロボットの動作を停止させることがで
きる。入力スイッチ66は、それが押された場合のみ、
その時点のロボットの位置をコントローラ側で記憶する
ためのスイッチであり、各教示点での位置を教示するた
びごとこの入力スイッチ66は押されるものである。記
憶情報編集キー67は、記憶情報の追加,変更,消去な
どの編集のためのものである。これにより教示点の編集
等が可能となる。状態表示灯68は、教示中であること
等を表示するランプである。
BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below.
First, FIG. 6 showing a state in which the simple teaching device used for direct teaching of the present invention is set on a jig used for remote operation.
Will be explained first using. The simple teaching device 61 has a size of a palm and can be operated by an operator with one hand (the other hand of the operator is
It is necessary to hold it with one hand to grasp the teaching handle to be described later). The switches are the servo power source holding switch 64, the emergency stop button 65, the input switch 66, and the stored information edit key 67, and the status indicator lamp 68 is also provided. The operator can turn on the servo power by holding the servo power holding switch 64 with a constant force. By continuing to hold the switch during teaching, the servo power is maintained turned on. Further, if the operator judges that it is dangerous during the direct teaching work, the operation of the robot can be stopped by releasing the servo power source holding switch 64 or pressing the emergency stop button 65. The input switch 66 will only activate when it is pressed.
This is a switch for storing the position of the robot at that time on the controller side, and the input switch 66 is pressed every time the position at each teaching point is taught. The stored information edit key 67 is used for editing such as addition, change and deletion of stored information. This makes it possible to edit teaching points and the like. The status display lamp 68 is a lamp that indicates that teaching is in progress.
【0006】上記のように構成された教示装置により、
オペレータが教示用ツールと簡易教示装置を把持し誘導
して作業点の直接教示を行う場合に、教示用ハンドル上
の操作可能ボタンを押さない限りロボットがオペレータ
の意志に反して動作することがない。また、取付認識ス
イッチの信号が入力されていない場合にはロボットが動
作しない。また、コンプライアンス機構に付属した変位
スイッチからの信号が変化した場合にはロボットの動作
を緊急停止させる。さらに、教示用ハンドルを簡易入力
装置に取り付けて、遠隔操作が可能となる。加えて、電
気的ブレーキが作用による緊急停止後、機械的なブレー
キの作用を行わないため、オペレータが挟まれ続けるな
どの危険性がない。
With the teaching device configured as described above,
When the operator grips and guides the teaching tool and the simple teaching device to directly teach the work point, the robot does not operate against the operator's intention unless the operable button on the teaching handle is pressed. . The robot does not operate when the signal from the attachment recognition switch is not input. When the signal from the displacement switch attached to the compliance mechanism changes, the robot operation is stopped urgently. Further, the teaching handle can be attached to the simple input device to enable remote control. In addition, since the electric brake does not apply the mechanical brake after the emergency stop due to the operation, there is no danger that the operator is continuously caught.
【0007】次に本発明の直接教示に用いる教示用ハン
ドルを再度図3を用いて説明する。教示用ハンドルは手
にしっかり握ることが可能な形状で、握り部分に操作可
能ボタンがあり、オペレータがこの操作可能ボタンを押
すことでロボットの動作が可能になる。また、ハンドル
取付治具部分には、教示用ハンドルが取り付けられた場
合にのみ信号の認識が可能なハンドル取付認識スイッチ
がある。
Next, the teaching handle used for the direct teaching of the present invention will be described again with reference to FIG. The teaching handle has a shape that can be firmly gripped by the hand, and has an operable button at the grip portion, and the operator can operate the robot by pressing the operable button. Further, the handle attachment jig portion has a handle attachment recognition switch capable of recognizing a signal only when the teaching handle is attached.
【0008】次に本発明の直接教示に用いるコンプライ
アンス機構を説明する。コンプライアンス機構は教示用
ハンドルとロボットの先端部との間、または教示用ハン
ドルが取り付けられた作業ツールとロボットの先端部と
の間に配置される。コンプライアンス機構の一定動作時
の信号の変化でロボットの動作を停止させる。
The compliance mechanism used in the direct teachings of the present invention will now be described. The compliance mechanism is disposed between the teaching handle and the tip of the robot, or between the work tool to which the teaching handle is attached and the tip of the robot. The robot operation is stopped by the change of the signal during the constant operation of the compliance mechanism.
【0009】次に本発明の直接教示に用いるリモート操
作治具を図6を用いて説明する。リモート操作治具は簡
易入力装置と教示用ハンドルが取り付けられる構造であ
り、オペレータが片方の手で容易に簡易入力装置を把持
しながら、もう一方の手によりハンドルを用いてロボッ
トを遠隔操作することが可能な構成となっている。
Next, a remote operation jig used for direct teaching of the present invention will be described with reference to FIG. The remote operation jig has a structure in which a simple input device and a teaching handle are attached. An operator can easily hold the simple input device with one hand while remotely operating the robot using the handle with the other hand. Is possible.
【00010】図3は本発明の制御系を示すブロック線
図である。実施例としての制御方法を以下で説明する。
オペレータが把持した教示用ハンドル306の誘導力を
力検出器309で検出し、この力検出器情報と仮想の慣
性と粘性による運動モデルに基づいた運動モデル演算部
301で直交座標系での位置指令を算出する。この位置
指令を関節座標系に逆変換し、各関節の関節角度指令を
求める。この関節角度指令とロボットの各駆動部分又は
各関節部分に設けられた関節角度検出器305により検
出された関節角度及び関節速度に基づいて位置速度サー
ボ系302内でモータの発生トルクを算出し、サーボア
ンプによりロボットのサーボモータが駆動される。オペ
レータは作業対象物の作業点にロボットのツール部分を
誘導し、簡易教示装置上に設けられた入力スイッチを押
すことで、作業対象物に対する作業点の教示が行われ
る。
FIG. 3 is a block diagram showing the control system of the present invention. A control method as an example will be described below.
The force detector 309 detects the inductive force of the teaching handle 306 gripped by the operator, and the motion model calculation unit 301 based on this force detector information and the motion model based on virtual inertia and viscosity gives a position command in the orthogonal coordinate system. To calculate. This position command is inversely transformed into the joint coordinate system to obtain the joint angle command for each joint. Based on this joint angle command and the joint angle and joint velocity detected by the joint angle detector 305 provided in each drive portion or each joint portion of the robot, the torque generated by the motor in the position / speed servo system 302 is calculated, The servo amplifier drives the robot servo motor. The operator guides the tool portion of the robot to the work point of the work target and pushes the input switch provided on the simple teaching device to teach the work point to the work target.
【00011】図4及び図5は本発明のロボットの直接
教示方法の溶接作業の実施例を示す。オペレータ41は
ロボット42の手首部分の溶接トーチ上その他に教示用
ハンドル43を取り付け固定した後、簡易教示装置44
上のサーボ電源保持スイッチ(図6では64)を把持し
サーボ電源を投入する。この時、ハンドル認識スイッチ
による信号の変化がない場合には、サーボ電源が投入さ
れない。オペレータは図4に示すように力検出器に固定
された教示用ハンドルを把持し操作可能ボタンを押すこ
とで、ロボットを任意の方向に誘導して溶接を行う作業
対象物45のポイントの教示を行う。この時、溶接トー
チや教示用ハンドルを作業対象物などに接触させた場合
には、ロボットの手首部分と溶接トーチとの間に配置さ
れたコンプライアンス機構が変形することで、溶接トー
チや教示用ハンドルの変形を防ぐことができ、同時にコ
ンプライアンス機構が一定量動作することで出力される
信号により、ロボットの動作を停止させる。また、対象
物の形状が複雑で溶接トーチ上に教示用ハンドルを取り
付けたまま教示を行うとオペレータの腕が接触する危険
性がある場合には、教示用ハンドルを溶接トーチ上のハ
ンドル取付治具から外し、簡易入力装置と共にリモート
操作治具に取り付ける(図5)。オペレータは片方の手
でリモート操作治具上の簡易入力装置を持ち、反対側の
手で教示用ハンドルを把持し遠隔操作を行うことで、ロ
ボットを誘導して作業点の教示を行う。なお、力検出器
51からの情報、簡易教示装置52からの指令、ロボッ
ト53の各駆動軸に取り付けられた関節角度検出器から
の情報は、ロボット制御装置54に取り込まれ、そこで
演算処理され、ロボットを駆動する。
FIG. 4 and FIG. 5 show an embodiment of welding work of the direct teaching method for a robot of the present invention. The operator 41 attaches and fixes the teaching handle 43 on the welding torch of the wrist portion of the robot 42 or the like, and thereafter, the simple teaching device 44.
The upper servo power holding switch (64 in FIG. 6) is gripped and the servo power is turned on. At this time, if there is no change in the signal by the handle recognition switch, the servo power is not turned on. As shown in FIG. 4, the operator holds the teaching handle fixed to the force detector and pushes the operation enable button to guide the robot in an arbitrary direction to teach the point of the work object 45 to be welded. To do. At this time, when the welding torch or the teaching handle is brought into contact with the work object, the compliance mechanism arranged between the wrist portion of the robot and the welding torch is deformed, and the welding torch or the teaching handle is deformed. The deformation of the robot can be prevented, and at the same time, the operation of the robot is stopped by the signal output when the compliance mechanism operates by a certain amount. In addition, if the shape of the object is complicated and there is a risk that the operator's arm will come into contact if teaching is performed with the teaching handle attached on the welding torch, the teaching handle is attached to the handle mounting jig on the welding torch. And attach it to the remote operation jig together with the simple input device (Fig. 5). The operator holds the simple input device on the remote operation jig with one hand and holds the teaching handle with the other hand to perform remote operation, thereby guiding the robot to teach the work point. Note that the information from the force detector 51, the command from the simple teaching device 52, and the information from the joint angle detector attached to each drive axis of the robot 53 are fetched into the robot control device 54 and processed there. Drive the robot.
【0012】[0012]
【発明の効果】以上述べたように、本発明によれば、オ
ペレータが教示用ツールと簡易教示装置を把持し誘導し
て作業点の直接教示を行う場合に、力検出器に出力が生
じても教示用ハンドル上の操作可能ボタンを押さない限
りロボットがオペレータの意志に反して動作することが
ない。また、教示用ハンドルの取り付け忘れがあった場
合でも、取付認識スイッチの信号が入力されていない場
合にはロボットが動作しない。また、ハンドルや作業ツ
ールをワークなどに接触させた場合にでも、コンプライ
アンス機構部のスイッチからの信号が入力されロボット
の動作が緊急停止する。さらに、狭隘部の教示を行う場
合にでも、教示用ハンドルを簡易入力装置に取り付ける
ことで、遠隔操作が可能となる。また、緊急停止時にオ
ペレータがロボットに挟み込まれるという最悪の状況が
生じても機械的ブレーキを作動させないことにより、脱
出が可能になる。したがって、オペレータがきわめて安
全に直接教示を行うことができるという効果を奏する。
As described above, according to the present invention, when the operator grips and guides the teaching tool and the simple teaching device to directly teach the working point, an output is generated in the force detector. However, the robot does not operate against the operator's will unless the operable button on the teaching handle is pressed. Further, even if the user forgets to attach the teaching handle, the robot does not operate unless the signal from the attachment recognition switch is input. Further, even when the handle or the work tool is brought into contact with the work or the like, the signal from the switch of the compliance mechanism unit is input and the operation of the robot is stopped urgently. Further, even when teaching the narrow portion, by attaching the teaching handle to the simple input device, remote operation becomes possible. Further, even if the worst situation occurs in which the operator is caught in the robot at the time of emergency stop, the escape can be performed by not operating the mechanical brake. Therefore, there is an effect that the operator can directly teach very safely.
【図面の簡単な説明】[Brief description of the drawings]
【図1】本発明の基本的構成を示す斜視図FIG. 1 is a perspective view showing a basic configuration of the present invention.
【図2】本発明のリモート操作を示す斜視図FIG. 2 is a perspective view showing a remote operation of the present invention.
【図3】本発明の制御系の構成を示すブロック図FIG. 3 is a block diagram showing a configuration of a control system of the present invention.
【図4】本発明の一実施例を示す溶接作業の斜視図FIG. 4 is a perspective view of a welding operation showing an embodiment of the present invention.
【図5】本発明の別の実施例を示す溶接作業の斜視図FIG. 5 is a perspective view of a welding operation showing another embodiment of the present invention.
【図6】本発明の一実施例を示す簡易教示装置とリモー
ト操作治具の図
FIG. 6 is a diagram of a simple teaching device and a remote operation jig showing an embodiment of the present invention.
【符号の説明】[Explanation of symbols]
11…オペレータ 12…ロボット 13…コントローラ 14…教示用ハンドル 15…力検出器 16…ハンドル部 17…簡易教示装置 18…コンプライアンス機構 19…コンプライアンス部変位時動作スイッチ 21…リモート教示治具 301…運動モデル演算部 302…位置速度サーボ系 303…サーボアンプ 304…モータ 305…関節角度検出器 306…操作可能ボタン 307…ハンドル取付治具 308…ハンドル取付認識スイッチ 309…力センサ 310…コンプライアンス機構 311…コンプライアンス部変位時動作スイッチ 41…オペレータ 42…ロボット 43…教示用ハンドル 44…簡易教示装置 45…溶接作業対象物 51…力検出器 52…簡易教示装置 53…ロボット 54…コントローラ 61…簡易教示装置 62…簡易教示装置取付治具 63…教示用ハンドル 64…サーボ電源保持スイッチ 65…非常停止ボタン 66…入力スイッチ 67…記憶情報編集キー 68…状態表示灯 11 ... Operator 12 ... Robot 13 ... Controller 14 ... Teaching handle 15 ... Force detector 16 ... Handle unit 17 ... Simple teaching device 18 ... Compliance mechanism 19 ... Compliance part displacement operation switch 21 ... Remote teaching jig 301 ... Motion model Computation unit 302 ... Position / speed servo system 303 ... Servo amplifier 304 ... Motor 305 ... Joint angle detector 306 ... Operable button 307 ... Handle attachment jig 308 ... Handle attachment recognition switch 309 ... Force sensor 310 ... Compliance mechanism 311 ... Compliance unit Displacement operation switch 41 ... Operator 42 ... Robot 43 ... Teaching handle 44 ... Simple teaching device 45 ... Welding work object 51 ... Force detector 52 ... Simple teaching device 53 ... Robot 54 ... Controller 61 ... Simple teaching device 62 ... Simple teaching device mounting jig 63 ... Teaching handle 64 ... Servo power supply holding switch 65 ... Emergency stop button 66 ... Input switch 67 ... Stored information edit key 68 ... Status indicator lamp

Claims (6)

    【特許請求の範囲】[Claims]
  1. 【請求項1】 ロボットの直接教示装置において、 力検出器と前記力検出器に固定されてオペレータが把持
    し誘導するための教示用ハンドルと、 前記力検出器情報と運動モデルに基づいて位置又は速度
    指令を算出する手段と、 前記位置又は速度指令に基づいて前記ロボットを駆動す
    るモータの発生トルクを算出する手段と、 前記教示用ハンドルとロボットの先端部または作業ツー
    ル上の所定の教示用ハンドル取付場所の間に設けたコン
    プライアンス機構と、 前記コンプライアンス機構の一定変位動作時に信号を変
    化させる手段と、 前記信号によりロボットの動作を停止させる手段と、を
    備えることを特徴とするロボットの直接教示装置。
    1. In a direct teaching device for a robot, a force detector and a teaching handle fixed to the force detector for being grasped and guided by an operator, and a position or position based on the force detector information and a motion model. Means for calculating a speed command, means for calculating a torque generated by a motor for driving the robot based on the position or speed command, the teaching handle and a predetermined teaching handle on the tip of the robot or a work tool A direct teaching device for a robot, comprising: a compliance mechanism provided between mounting locations; a means for changing a signal when the compliance mechanism is in a constant displacement operation; and a means for stopping the operation of the robot by the signal. .
  2. 【請求項2】 前記ロボットの動作を停止させる手段
    は、電気的なブレーキによる緊急停止後、手首3軸なら
    び重力が作用しない軸に関しては、機械的なブレーキの
    作動を行わないようにしたものである請求項1記載のロ
    ボットの直接教示装置。
    2. The means for stopping the operation of the robot is such that, after an emergency stop by an electric brake, mechanical braking is not performed on the wrist 3 axis and the axis on which gravity does not act. A direct teaching apparatus for a robot according to claim 1.
  3. 【請求項3】 前記教示用ハンドル上に、オペレータが
    ロボットの動作を許可する操作可能ボタンを備えたこと
    を特徴とする請求項1または2記載のロボットの直接教
    示装置。
    3. The direct teaching apparatus for a robot according to claim 1, further comprising an operable button on the teaching handle for allowing an operator to operate the robot.
  4. 【請求項4】 前記教示用ハンドルがロボットの先端部
    または作業ツール上の所定の場所に取り付けられたこと
    を認識する手段を備えることを特徴とする請求項1、2
    又は3記載のロボットの直接教示装置。
    4. A means for recognizing that the teaching handle is attached to a front end portion of a robot or a predetermined position on a work tool.
    Alternatively, the robot direct teaching device according to the item 3).
  5. 【請求項5】 前記ロボットの位置等に関する情報を入
    力する入力スイッチと状態を表示する手段を有する簡易
    教示装置とを備えたことを特徴とする請求項1、2、
    3、または4記載のロボットの直接教示装置。
    5. A simple teaching device having an input switch for inputting information relating to the position of the robot and the like and a simple teaching device having means for displaying a state.
    The robot direct teaching device according to 3 or 4.
  6. 【請求項6】 前記教示用ハンドルを前記簡易入力装置
    とともに一体に取り付ける手段を有し、狭隘部の教示を
    行う際に教示用ハンドルの遠隔操作で行うことを特徴と
    する請求項1、2、3、4、または5記載のロボットの
    直接教示装置。
    6. The teaching handle according to claim 1, further comprising means for integrally mounting the teaching handle together with the simple input device, wherein the teaching handle is remotely operated when teaching the narrow portion. A direct teaching device for a robot according to 3, 4, or 5.
JP33596195A 1995-11-29 1995-11-29 Robot direct teaching device Expired - Fee Related JP3632268B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP33596195A JP3632268B2 (en) 1995-11-29 1995-11-29 Robot direct teaching device

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
JP33596195A JP3632268B2 (en) 1995-11-29 1995-11-29 Robot direct teaching device
US09/029,856 US6212443B1 (en) 1995-09-14 1996-09-13 Teaching unit for robots
KR10-1998-0701841A KR100449429B1 (en) 1995-09-14 1996-09-13 Robot teaching device
PCT/JP1996/002638 WO1997010080A1 (en) 1995-09-14 1996-09-13 Teaching unit for robots
DE1996622572 DE69622572T2 (en) 1995-09-14 1996-09-13 TEACHING DEVICE FOR ROBOTS
EP19960930403 EP0850730B1 (en) 1995-09-14 1996-09-13 Teaching unit for robots
CN96197944A CN1060715C (en) 1995-09-14 1996-09-13 Teaching unit for robots

Publications (2)

Publication Number Publication Date
JPH09150382A true JPH09150382A (en) 1997-06-10
JP3632268B2 JP3632268B2 (en) 2005-03-23

Family

ID=18294267

Family Applications (1)

Application Number Title Priority Date Filing Date
JP33596195A Expired - Fee Related JP3632268B2 (en) 1995-11-29 1995-11-29 Robot direct teaching device

Country Status (1)

Country Link
JP (1) JP3632268B2 (en)

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