JPH09193064A - Robot teaching device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a burden to teaching work by finding out the teaching data of a dummy tool in a coordinate system from the outputs of attitude detecting means and three-dimensional coordinate position detecting means, and converting it into teaching data in a robot coordinate system in which a robot is arranged. SOLUTION: A dummy tool T is attached to a teaching pen 10, and a sensor detecting attitude is attached to the dummy tool T. When teaching, the teaching pen 10 is held, and the dummy tool T is brought in contact with a workpiece W. The teaching pen 10 and a teaching pendant 81 are held. The dummy tool T is positioned in a deburring position B that one wishes to teach, and a teaching button 82 is pushed. Outputs of a potentiometer and a tilting sensor are inputted to a coordinate transforming device 80. Teaching data of a teaching coordinate system is found out, and a process to convert into teaching data of a robot coordinate system is performed. Therefore, the load of an operator at the time of teaching work can be reduced, and work efficiency can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching device used for teaching a machining position of a tool attached to a robot.

[0002]

2. Description of the Related Art Conventionally, in order for an operator to teach a machining position of a tool (hereinafter, referred to as a teaching point) in this way, a computer is required to perform a three-dimensional shape calculation based on three-dimensional shape data of a target work, a jig and a robot. Offline teaching that determines a teaching point by dimensional simulation, and the operator himself moves the tip of the arm of the robot by hand to change the posture of the tool attached to the tip of this arm by hand. There is direct teaching in which the output of the axis position detector is input to the robot controller by operating the operating box, and the teaching point is obtained and stored from the input output of the axis position detector.

[0003]

However, in the offline teaching, since the teaching point is determined from each three-dimensional data, the teaching point cannot be accurately obtained unless each three-dimensional shape data is sufficient. Further, a system for performing such off-line teaching is expensive because it is required to perform three-dimensional simulation at high speed.

In direct teaching, since the operator teaches the position and posture of the tool by holding the tip of the arm, it is effective in the case of a robot having a relatively lightweight arm, but the vertical articulated type or Since a large robot has a heavy arm weight, it is necessary to add a function of generating an assisting force for moving the arm in a direction in which a worker applies a force to the arm. Even if such a function is added, the robot arm may interfere with the teaching work during the teaching work, and the teaching work in such a state is difficult. Especially, the teaching work of the deburring robot is difficult because the teaching points reach several hundred points.

[0005]

In order to solve the above problems, a robot teaching apparatus of the present invention stores a machining position of a tool attached to the robot, so that the robot teaches the position and orientation of the tool. In the teaching device of, a dummy tool having the same shape as the tool and provided separately from the tool,
Attitude detection means provided on the dummy tool for detecting the attitude of the dummy tool in the three-dimensional direction, a motion transmission member having one end attached to the dummy tool, and the other end of the motion transmission member are connected to the motion transmission member. 3D coordinate position detecting means for detecting the coordinate position of the dummy tool in the 3D space, the posture detecting means, and the 3D From the output of the coordinate position detecting means, the teaching data of the dummy tool in the coordinate system to which the three-dimensional coordinate position detecting means is attached is obtained, and the teaching data is converted into teaching data in the robot coordinate system in which the robot is installed. It is characterized in that means are provided.

According to another aspect of the present invention, the three-dimensional coordinate position detecting means winds up the motion transmitting member, guide means for guiding the movement of the motion transmitting member, and supports and guides the guide means. It is characterized by including an arm member extending in the feed direction of the transmission member. (Operation) In claim 1, when the worker grips the dummy tool and moves it to the processing position, the posture detection means
The three-dimensional orientation of the dummy tool is detected. The dummy tool and the three-dimensional coordinate position detecting means are connected by a motion transmitting member, and when the worker moves the dummy tool, the motion transmitting member moves in the three-dimensional direction in association with the movement of the dummy tool.

The three-dimensional coordinate position detecting means detects the movement of the motion transmitting member in the three-dimensional direction to detect the position of the dummy tool in the three-dimensional space. Since the output of the three-dimensional coordinate position detecting means by the converting means is teaching data (position) of the dummy tool in the coordinate system with the position where the three-dimensional coordinate position detecting means is attached as a reference, the coordinates where the robot is installed are set. The teaching data of the dummy tool in the system is obtained.

In the second aspect, the motion transmitting member can be wound and fed out by the winding means.
The arm member can increase the turning radius of rotation of the three-dimensional coordinate position detecting means, and can generate a large moment force between the movement direction of the motion transmitting member and the arm member. As a result, the three-dimensional coordinate position detecting means can perform detection that follows even a minute movement of the motion transmitting member. Further, the guide means provided on the arm member allows the motion transmitting member to be fed out from the tip of the arm member without bending.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall view of a robot teaching device according to an embodiment of the present invention. In FIG. 1, reference numeral 10 denotes a teaching pen to which a dummy tool T having the same shape as that of a tool used for actual machining is attached. In addition to the dummy tool T, the teaching pen 10 has a posture of the dummy tool T. A sensor, which will be described later, for detecting is attached. When teaching, the operator uses this teaching pen 1
Holding 0, the dummy tool T is brought into contact with the workpiece W to perform teaching work.

A teaching compass 30 detects the coordinate position of the teaching pen 10 in the three-dimensional space, and is connected to the teaching pen 10 by a wire 60. This teaching compass is fixed, for example, on a bed near a table on which a work is placed or at a position above a robot of a protective fence that prevents an operator from entering the work area of the robot.

The details of the teaching pen 10 are shown in FIG. Reference numeral 11 denotes a gripping member that is gripped by an operator. An opening 11 a at one end of the gripping member 11 is
Sensor support member 1 that holds a tilt sensor G inside
3 is supported by bearings 14 attached to the joints of the second and third openings 11b.
It is supported by a bearing 15 attached to the inclination sensor support member 13 via a rotation support member 15 attached to the. Thus, the holding member 11 is supported so as to be rotatable around the rotation axis S1. The relative angle between the gripping member 11 and the tilt sensor support member 13 about the rotation axis S1 can be detected by the potentiometer P1. Further, the inclination sensor G can detect the inclination of the dummy tool T in the LR direction in the figure.

Regarding the angle detection by the potentiometer P1, when the rotation axis of the tool to be used and the rotation axis S1 coincide with each other as shown in FIG.
Rotation of 1 does not change the position of the tool, so that angle detection is not necessary. However, if the rotation axis of the tool to be used and the rotation axis S1 do not match (the rotation axis of the dummy tool T attached to the gripping member 11 does not match the rotation axis S1), rotating the gripping member 11 causes the dummy tool T to rotate. Since the position of the rotation axis also changes, it is necessary to know the position of the dummy tool. In order to grasp this position, it is necessary to detect the angle with the potentiometer P1.

A dummy tool support member 18 having a chuck 17 to which the dummy tool T can be attached and detached is attached to one end of the rotation support member 15. The swivel support member 1
A disk 19 is supported on the shaft 2 via a bearing 20 so as to be rotatable around a rotation axis S2 orthogonal to the rotation axis S1. The disc 19 is connected to the teaching compass 30 and the wire 60. For example, when the gripping member 11 is moved as shown by the dotted line in FIG.
The grip member 11 rotates around the rotation axis S2 in a state in which the wire 9 is pulled by the wire 60 and its rotation is restricted. At this time, the relative angle generated around the rotation axis S2 between the gripping member 11 and the disk 19, that is, the attitude of the dummy tool T can be detected by the potentiometer P2.

Next, details of the teaching compass 30 are shown in FIGS. 31 is a base, this base 3
Numeral 1 is attached above a robot on a protective fence provided to prevent entry into the vicinity of a table on which a work is placed or into a work area. The mounting position is fixed by bolts 32a and 32b at a position where normal work is not hindered.

A rotary table 34 is supported on the base 31 via a bearing 33 so as to be rotatable around a rotation axis S3. The rotation of the turntable 34 is performed by a gear 35 integrally attached to the turntable 34 by bolts (not shown).
The transmission is transmitted to the potentiometer P3 via a gear 36 rotatable about an axis parallel to the gear 35. Thus, the rotation position of the turntable 34 can be detected by the potentiometer P3.

An extension member 37 extending in the direction of the rotation axis S3 of the rotary table 34 is mounted on the rotary table 34 by bolts (not shown). A swivel 38 is attached to the extending member 37 via a bearing 39 so as to be rotatable around a rotation axis S4 orthogonal to the rotation axis S3. The rotation of the swivel 38 is achieved by bolts (not shown).
8 can be detected by a potentiometer P4 via a gear 40 and a gear 41 attached integrally.

On the swivel base 38, the rotation axis S4 is formed.
The shaft portion 42 is fixed by a bolt 43 so as to be concentric with the rotation axis line S5 parallel to. In this shaft portion 42,
Spring storage chamber 44 for storing the spring 43 inside
The take-up reel 45 including the take-up member 45a and the lid member 45b that form the above is rotatably supported by the bearing 46 and the bearing 47 around the rotation axis S5. The spiral spring 4 stored in the spring storage chamber 44.
3 is provided so as to surround the shaft portion 42, one end of which is attached to the shaft portion 42 and the other end of which is attached to the take-up reel 45. With this configuration, when the wire 60 wound around the take-up reel 45 is pulled, the take-up reel 45 rotates in a direction in which the wire 60 is sent out against the force of the spring 43, and the wire 60 is sent from the take-up reel 45. Is done. Also, when the force pulling the wire 60 weakens,
The take-up reel 45 acts so as to be taken up by the force of the spring 43, and the wire 60 is taken up by the take-up reel 45.

The rotation amount of the take-up reel 45 can be detected by the potentiometer P5. The output of the potentiometer P5 is proportional to the length of the wire 60 sent out from the take-up reel 45, and the output of the teaching pen 1 connected to one end of the wire 60 is determined from this output.
The linear distance between 0 and the teaching compass 30 can be obtained.

A wire pressing member 50 is provided on the swivel base 38.
Is provided. One end of the wire pressing member 50 is swingably attached to a swivel shaft 48 provided to project on the swivel table 38, and the other end of the wire pressing member 50 is provided with a roller 49 abutting on a wire 60 wound around the take-up reel 45. Is provided. The pressing force of the wire pressing member 50 can be adjusted by a pressing spring 51.

Further, on the swivel base 38, a pair of left and right guide rollers 5 for guiding the wire 60 by sandwiching the wire 60 from the upper and lower sides and the left and right sides.
An arm member 54 provided with 2a, 52b and vertical guide rollers 53a, 53b is attached with bolts 55, 56. By this arm member 54, the turning radius of the turntable 34 around the rotation axis S3 and the turning radius of the turntable 38 around the rotation axis S5 are set. As a result, even when the wire 60 is pulled with a weak force, the arm member 5
A large moment force can be generated between the wire 4 and the wire 60, and the rotary base 34 and the swivel base 38 can follow a minute movement of the wire 60.

Reference numeral 57 is a balance weight, which is attached to the swivel base 38 by bolts (not shown). The balance weight 57 prevents the wire 60 from being broken due to the center of gravity unbalance torque and eliminates measurement errors,
It is provided to improve the followability of the rotation of the swivel table 38 about the rotation axis S4. Hereinafter, the description will be made again with reference to FIG.

Reference numeral 70 denotes the potentiometers P1 to P
5 and an A / D converter that converts the analog value detected by the tilt sensor G into digital data. This A
The output of the / D converter 70 is input to the coordinate conversion device 80. A teaching pendant 81 is connected to the coordinate transformation device 80, and a teaching button 82 is provided on the teaching pendant 81. When the teaching button 82 is pressed, the outputs of the potentiometers P1 to P5 and the inclination sensor G are sampled by the coordinate conversion device 80 in synchronization with this operation.

When the teaching button 82 is pressed, the coordinate conversion device 80 teaches based on the sampled outputs of the potentiometers P1 to P5 and the tilt sensor G with reference to the position where the teaching compass 30 is installed. A teaching point of the teaching pen 10 in the compass coordinate system (Xt, Yt, Zt) is obtained. Next, this teaching point is converted to a robot coordinate system (X
r, Yr, Zr) by defining the teaching compass coordinate system (Xt, Yt, Zt) as a vector,
The teaching data created based on the teaching compass coordinate system (Xt, Yt, Zt) is transferred to the robot coordinate system (Xr, Yt).
(r, Zr).

After all the teaching points are converted into the robot coordinate system (Xr, Yr, Zr) in this way, they are transferred to the robot controller 90 by operating the coordinate converter 80. It is stored as teaching data. A robot R to be controlled and an operating box (not shown) are connected to the robot control device 90. By operating this operating box, instructions such as input of a program for controlling the robot R and execution of the program can be given.

A case of teaching the deburring position in the above configuration will be described with reference to FIG. First,
The operating box connected to the robot controller 90 is operated to set the teaching mode. Next, the worker attaches the dummy tool T having the same shape as the tool used when deburring the teaching pen 10.

Next, the teaching pen 10 is held by one hand and the teaching pendant 81 is held by the other hand. Then, the teaching pen 10 is operated to position the dummy tool T in a desired posture at the deburring position B on the workpiece to be taught, and then the teaching button 82 is pressed. The outputs of the meters P1 to P5 and the inclination sensor G are output from the A / D converter 70.
Is input to the coordinate conversion device 80 via the. In the coordinate conversion device 80, the input potentiometers P1 to P5
The teaching data of the teaching compass coordinate system (Xt, Yt, Zt) is obtained from the output of the tilt sensor G and the teaching data is converted to the teaching data of the robot coordinate system (Xr, Yr, Zr). The teaching data of the robot coordinate system (Xr, Yr, Zr) converted by this process is stored in a memory (not shown) in the coordinate conversion device 80.

By repeating the above operation, the deburring position B of the robot R is taught. The teaching data of the robot coordinate system stored in this memory is transferred to the robot control device 90 by operating the coordinate conversion device 80 at the time when the teaching of all teaching points is completed, and is set by the operating box. The teaching mode ends automatically.

In this embodiment, an example in which a potentiometer is used to detect each rotational position has been described, but a rotary position detector such as a rotary encoder may be used instead of this potentiometer. Further, although the teaching pen 10 and the teaching compass 30 are connected by the wire 60, a band-shaped wire or chain may be used.

Further, the teaching compass coordinate system (X
The teaching data of (t, Yt, Zt) is transferred to the robot coordinate system (X
The processing of converting the teaching data of (r, Yr, Zr) may be collectively performed after sampling of the potentiometers P1 to P5 and the tilt sensor G at all teaching points is completed. As described above, at the time of teaching, the operator does not have to directly move the arm of the robot with his / her hand, and only the small teaching pen 10 can be held for teaching work. Improve to.

Further, since the arm does not interfere with the teaching work, the dummy tool T can be easily moved to a desired machining position.

[0031]

As described above, according to the present invention, when teaching the machining position, the operator grips the gripping member and does not move the robot arm by directly holding the arm with the dummy tool. Since the teaching work of the machining position can be performed only by positioning the machining position to the machining position, even when the number of teaching points to be taught becomes several hundreds, it is possible to reduce the load of the operator during the teaching work and improve the work efficiency.

[Brief description of the drawings]

FIG. 1 is an overall view illustrating a robot teaching device according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating details of a teaching pen of the present invention.

FIG. 3 is a diagram illustrating a detection angle of the tilt sensor of the present invention.

FIG. 4 is a diagram illustrating details of a teaching compass of the present invention.

5 is a cross-sectional view taken along the line AA of the teaching compass of FIG.

[Explanation of symbols]

 10 teaching pen 30 teaching compass 45 take-up reel 51 spring 54 arm members 52a, 52b left and right guide rollers 53a, 53b up and down guide roller 60 wire 70 A / D converter 80 coordinate converter 81 teaching pendant 82 teach button 90 robot controller R Robot T Dummy tool P1 to P5 Potentiometer G Inclination sensor B Deburring position

Claims (2)

[Claims] 1. A teaching device of a robot for teaching a position and a posture of a tool for storing a machining position of the tool attached to the robot, wherein a dummy having the same shape as the tool and provided separately from the tool. A tool, a posture detection means provided on the dummy tool for detecting the posture of the dummy tool in a three-dimensional direction, a motion transmission member having one end attached to the dummy tool, and the other end of the motion transmission member connected to each other. And a three-dimensional coordinate position detecting means for operating following the movement of the motion transmitting member and detecting the three-dimensional movement of the motion transmitting member to detect the coordinate position of the dummy tool in the three-dimensional space. From the outputs of the posture detecting means and the three-dimensional coordinate position detecting means, teaching data of the dummy tool in the coordinate system to which the three-dimensional coordinate position detecting means is attached is obtained. Teaching apparatus of a robot which is characterized in that a conversion means for converting the teaching data to the teaching data in the robot coordinate system in which the robot is installed. 2. The three-dimensional coordinate position detecting means includes a winding means that winds up the motion transmitting member, a guide means that guides the feeding of the motion transmitting member, and the motion transmitting member while supporting the guide means. 2. The robot teaching apparatus according to claim 1, further comprising an arm member extending in the feeding direction of the robot.