JPH09174468A - Robot teaching device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obviate the need to determine a corresponding relation between a position on a screen and a position at a robot coordinate system each time a camera is moved, in a robot teaching device to teach a robot operation point by using a work image photographed by a camera. SOLUTION: A camera 2 is fixed at an arm 1, and offset amounts of a camera 2 and a hand 3 are stored at an offset amount containing part 15. The position of the hand 3 detected by a position detector 5 is stored in a robot position storing part 13. A work photographed by the camera 2 is displayed at a display part 7 and a robot operation point is indicated by a user by means of a touch panel 8. An indication data calculating part 9 determined a distance to a robot operation point, indicated by the camera 2, based on the position of a point indicated by a touch panel. A computing part 16 determines robot operation point data based on the contents of the robot position containing part 13, an indication data containing part 14, and the offset amount containing part 15.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot teaching device capable of easily teaching a robot operating point in a planar motion robot.

[0002]

2. Description of the Related Art Conventionally, when teaching a robot operating point, a robot arm is moved to a robot operating point by an instruction from a teaching box, or an arm is directly moved to a robot operating point by a human hand.
A method of storing the position as a robot operating point has been generally adopted. However, this method has the drawbacks that the operation is troublesome, the operation requires a great deal of trouble and time, and that it involves danger.

[0003] Therefore, a TV camera is arranged at a predetermined position to capture an image of a workpiece, the captured workpiece graphic is displayed on a CRT monitor, and a point to be taught on the CRT monitor is indicated using a light pen or the like. A method has been proposed in which a computer calculates robot operating point data based on the designated points (for example, Japanese Patent Application Laid-Open No. 61-279480).

[0004]

By the way, the work is
When the image is picked up by the V camera, if the work is large, the entire work cannot be displayed on the screen unless the TV camera is moved away from the work. But if you do so,
This is not possible because the accuracy when indicating the robot operating point on the screen is poor.

[0005] Therefore, when the work is large, it is necessary to take an image of the work divided into several parts and to teach each part. In other words, when the teaching of a certain part of the work is completed, it is necessary to repeat the operation of moving the TV camera to capture an image of the next part and teaching the part. Further, in order to calculate the robot operating point data by the computer based on the designated point on the screen, it is necessary to give the computer a correspondence between the position on the screen and the position in the robot coordinate system. However, since the correspondence changes every time the TV camera is moved, it is necessary to obtain a new correspondence based on the position of the TV camera or the like every time the TV camera is moved and to provide the new correspondence to the computer. However, in the above-described conventional technology, there is no means for obtaining the position of the TV camera or the like.
It is necessary to measure the position of the V camera, etc., and find the correspondence between the position on the screen and the position in the robot coordinate system.
There was a problem that the user was burdened.

Accordingly, an object of the present invention is to move the image pickup means even when it is necessary to take an image of the work in several parts and to teach the robot operating point data for each part. It is an object of the present invention to provide a robot teaching device that does not need to find the correspondence between the position on the screen and the position in the robot coordinate system each time the operation is performed.

[0007]

In order to achieve the above object, the present invention has an image pickup means fixed to an arm of a planar motion type robot, a display section for displaying a work imaged by the image pickup means, and the work piece. From the robot operating point in the robot coordinate system to the image capturing means based on the pointing means for pointing a point to be the robot operating point on the display part where is displayed, and the position of the point designated by the pointing means. An instruction data calculation unit that calculates instruction data indicating the distance, a position detector that detects the hand position of the arm, an offset amount storage that stores an offset amount between the hand of the planar motion robot and the imaging unit. Unit, the offset amount stored in the offset amount storage unit, the position detection result of the position detector, and the instruction data calculation unit. It is obtained by an arithmetic unit for calculating a robot operating point data based on the instruction data.

In the above arrangement, the position of the imaging means always corresponds to a specific point on the display. Therefore, even if the imaging means is moved, the instruction data indicating the distance from the robot operating point to the imaging means is calculated based on the position of the point that should be the robot operating point on the display unit, which is instructed by the pointing means. be able to. Further, since the imaging unit and the hand are fixed to the arm of the planar motion robot, the offset amount between the hand and the imaging unit is always constant even if the position of the imaging unit is moved by moving the arm. Therefore, no matter what position the imaging unit is moved, the calculation is performed based on the offset amount between the arm and the imaging unit, the position detection result of the position detector, and the instruction data calculated by the instruction data calculation unit. Section can obtain the robot operating point data.

[0009]

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

FIG. 1 is a block diagram of an embodiment of the present invention. The arm 1, a camera 2, a hand 3, a work 4, a position detector 5, a teaching device 6,
Storage control unit 10, keyboard 11, data storage unit 1
2, a calculation unit 16, and a robot operating point data storage unit 17
It is composed of

A camera 2 for picking up an image of a workpiece 4 is fixed near the tip of the arm 1 of the planar motion robot. The arm 1 can be moved in the X and Y planes by driving means such as a motor (not shown). Also, arm 1
Has a hand 3 attached thereto.

The position detector 5 has a function of detecting X and Y coordinate values of the hand 3 in the robot coordinate system.

The teaching device 6 includes a display unit 7 for displaying the work 4 imaged by the camera 2, a touch panel 8 for indicating a point on the display unit 7, and a point indicated by the touch panel 8. An instruction data calculation unit 9 is provided for calculating instruction data indicating the distance between the camera 2 and the robot operating point in the X and Y axes in the robot coordinate system.

The storage control unit 10 converts the X and Y coordinate values in the robot coordinate system of the hand 3 detected by the position detector 5 when the robot position storage instruction is input from the keyboard 11 into the robot position. A function of storing the instruction data calculated by the instruction data calculation unit 9 in the instruction data storage unit 14; a function of storing the camera 2 and the hand 3 input from the keyboard 11;
And a function of storing the offset amounts in the X and Y axis directions in the robot coordinate system in the offset amount storage unit 15.

The calculation unit 16 stores the detection result of the position detector 5 stored in the robot position storage unit 13, the instruction data stored in the instruction data storage unit 14, and the offset amount storage unit 15. The robot operation point data is calculated based on the offset amount and the robot operation point data that is the calculation result is stored in the robot operation point data storage unit 17.

FIG. 2 is a flowchart showing an example of the operation of the present embodiment, and FIG. 3 is a diagram showing the relationship among robot position data, instruction data, and robot operating point data. The operation of the embodiment will be described.

Referring to FIG. 2, first, a user mounts a camera 2 for picking up an image of a work 4 near a tip of an arm 1 of a planar motion robot (S1).

Thereafter, the user makes an X, Y motion in the robot coordinate system between the hand 3 and the camera 2 of the planar motion type robot.
The offset amount (Xoff, Yoff) in the axial direction is obtained by measurement, and the obtained offset amount (Xoff, Yoff) is obtained.
Is input from the keyboard 11 (S2). This allows
The storage control unit 10 determines whether the input offset amount (Xof
f, Yoff) is stored in the offset amount storage unit 15.

Thereafter, the user moves the camera 2 by moving the arm 1 of the operating point plane operation type robot while watching the display on the display unit 7 so that the work 4 is displayed on the display unit 7. (S3). At this time, when the work 4 is large and the entire work cannot be displayed on the display unit 7, a part of the work 4 including a point to be the first robot operating point on the work 4 is displayed on the display unit 7. The camera 2 is moved to a position as displayed.

Thereafter, the user inputs a robot position storage instruction from the keyboard 11 (S4). This allows
The storage control unit 10 stores the X and Y coordinate values (Xrcp, Yrcp) in the robot coordinate system of the hand 3 detected by the position detector 5 at that time in the robot position storage unit 13 as robot position data. I do.

Thereafter, the user looks at the work image displayed on the display unit 7 and designates a point to be the first robot operating point from the touch panel 8 (S5).

When a point to be set as a robot operating point is indicated from the touch panel 8, the instruction data calculating unit 9 determines X, the distance from the camera 2 to the robot operating point in the robot coordinate system.
The distance (Xci, Yci) in the Y-axis direction is calculated and passed to the storage control unit 10 as instruction data. Storage control unit 10
Is the instruction data (Xc) passed from the instruction data calculation unit 9.
i, Yci) in the instruction data storage unit 14 (S
6). Here, in the display unit 7, the position of the camera 2 always corresponds to a specific point (for example, the center of the display unit 7). The difference between the value and the coordinate value of the point designated from the touch panel 8 in the X and Y axis directions is calculated, and the ratio of the unit length in the display unit 7 and the unit length in the robot coordinate system ( By multiplying by (magnification), the distance (Xci, Yci) in the X and Y-axis directions from the camera 2 to the robot operating point in the robot coordinate system can be calculated.

When instruction data (Xci, Yci) indicating the distance between the camera 2 and the robot operating point in the X and Y axes directions is stored in the instruction data storage unit 14 by the storage control unit 10, the arithmetic unit 16 Since the relationship among the robot position data, the instruction data, and the robot operating point data is as shown in FIG. 3, the X and Y coordinate values in the robot coordinate system of the hand 3 stored in the robot position storage unit 13 are shown. (Xrcp, Yrcp), the current instruction data (Xci, Yci) stored in the instruction data storage unit 14, and the offset amount (X
off, Yoff), the following equations (1), (2)
The robot operation point data (Xi, Yi) is obtained by performing the calculation shown in (1), and the obtained robot operation point data (Xi, Yi) is stored in the robot operation point data storage unit 17 (S8).

Xi = Xrcp + Xoff + Xci (1) Yi = Yrcp + Yoff + Yci (2)

Thereafter, when a point on the workpiece 4 to be the next robot operating point is displayed on the display unit 7 (NO in S9 and S10), the user indicates the robot operating point from the touch panel 8. (S5).

In the case where a point on the work 4 to be the next robot operating point is not displayed on the display unit 7 and another part of the work needs to be imaged by the camera 2 (YES at S9). In step (3), the camera 2 is moved so that a point on the workpiece 4 which is the next robot operating point is displayed on the display unit 7 (S3). Thereafter, the user inputs a robot position storage instruction from the keyboard 11 in the same manner as described above, and the X, X in the robot coordinate system of the hand 3 at that time.
The Y coordinate value is stored in the robot position storage unit 13 (S
4). Thereafter, when the user designates the robot operating point using the touch panel 8, the instruction data calculation unit 9 calculates the instruction data in the same manner as described above, and the calculation unit 16 also calculates the equation (1), The operation shown in (2) is performed to obtain the robot operating point data.

[0027]

As described above, according to the present invention, the image pickup means is fixed to the arm of the plane motion type robot, and the position detector for detecting the hand position of the arm and the point indicated by the pointing means such as the touch panel are provided. An instruction data calculation unit that calculates instruction data that indicates the distance between the camera and the robot operating point based on the position, an offset amount storage unit that stores the offset amount between the hand and the imaging unit, the offset amount, and the instruction data. Also, since the robot is provided with a computing unit that computes the robot operation data based on the detection result of the position detector, the workpiece is divided into several parts to be imaged as in the case of a large work, and the robot is divided into parts. Even when it is necessary to teach motion data, the position on the screen and the position in the robot coordinate system are changed each time the imaging means is moved. Correspondence without be obtained, thus even if the workpiece is large, it is possible to easily teach the robot operating point data.

[Brief description of the drawings]

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

FIG. 2 is a flowchart illustrating an example of the operation of the present embodiment.

FIG. 3 is a diagram showing a relationship among robot position data, instruction data, and robot operating point data.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Arm 2 ... Camera 3 ... Hand 4 ... Work 5 ... Position detector 6 ... Teaching device 7 ... Display part 8 ... Touch panel 9 ... Instruction data calculation part 10 ... Storage control part 11 ... Keyboard 12 ... Data storage part 13 ... Robot Position storage unit 14 ... Instruction data storage unit 15 ... Offset amount storage unit 16 ... Calculation unit 17 ... Robot operating point data storage unit

Claims (3)

[Claims] 1. An imaging means fixed to an arm of a planar motion type robot, a display section for displaying a work imaged by the imaging means, and a robot operating point on the display section on which the work is displayed. A pointing means for indicating a point, and an instruction data calculation section for calculating instruction data indicating a distance from the robot operating point in the robot coordinate system to the image pickup means based on the position of the point indicated by the pointing means. A position detector that detects a hand position of the arm, an offset amount storage unit that stores an offset amount between the hand of the planar motion robot and the imaging unit, and an offset amount stored in the offset amount storage unit When,
A robot teaching device comprising: a calculation unit that calculates robot operating point data based on the position detection result of the position detector and the instruction data calculated by the instruction data calculation unit. 2. The instruction data calculation unit is based on a distance from a point indicated by the pointing unit on the display unit to a predetermined point corresponding to the position of the image pickup unit on the display unit. The robot teaching apparatus according to claim 1, further comprising a configuration for calculating the instruction data. 3. The robot teaching device according to claim 2, wherein said pointing means is a touch panel.