JPH10149213A - Industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent interference with a work at the time of teaching, to improve the efficiency of the teaching operation, and to move between teaching points in a short time by moving a movable part along the respective coordinate axes of a three-dimensional orthogonal coordinate system as reference axes for position control over the movable part. SOLUTION: A CPU judges whether or not a move key instructing the movement of a painting gun is pressed (S24) and further judges which of move keys instructing movement along the X, Y, and Z axes the pressed move key is (S25). For example, when the X-axial movement is instructed, the CPU moves the painting gun in a direction of coordinate PgG(x) - current position xc, i.e., toward the coordinate PpG(x) until the current position xc of the painting gun along the X axis becomes equal to the coordinate PpG(x) of a target teaching point PpG specified as a movement destination (S26) so that the absolute value of PpG(x) - xc decreases.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot, and more particularly to an industrial robot that operates a movable part based on data stored in a storage device.

[0002]

2. Description of the Related Art There is a teaching / playback type industrial robot as a kind of an industrial robot that operates a movable part based on data stored in a storage device. In this teaching / playback type industrial robot, when a movable part such as a manipulator is moved between teaching points in order to correct teaching data (data) or the like, the teaching robot is moved by sequentially passing over the teaching points in the order of teaching. Alternatively, the shortest distance from the source teaching point to the destination teaching point, that is, the linear distance between the two teaching points is moved.

[0003]

In the prior art, when the teaching data is corrected by sequentially moving the manipulators in the teaching order, the manipulator may pass over a teaching point irrespective of the teaching data correction. Therefore, it takes time to move to the teaching point to be corrected. In addition, when the manipulator is moved to a teaching point in a distant teaching order, the movement path cannot be selected, so that there is a problem that the manipulator interferes with the work and breaks the work, or the manipulator is damaged.

Further, in the case where the manipulator is to be moved to a distant teaching point, if the movement of the manipulator is controlled only by the teaching point, the manipulator may move to a point different from a point which is truly desired to be corrected. It takes time to correct the teaching data. Also, for example, when correcting the relative positional relationship between two teaching points that are close to each other and that are far apart in the teaching order, the manipulator cannot be directly moved between the teaching points, so that it is difficult to correct the relative position. .

The present invention has been made in view of the above-mentioned problems, and has the following objects. (1) To provide an industrial robot capable of preventing interference with a workpiece during teaching. (2) To provide an industrial robot capable of improving the work efficiency of teaching work. (3) To provide an industrial robot capable of moving between teaching points in a short time.

[0006]

As a first means, in an industrial robot for operating a movable part based on data stored in a storage device, a controller for controlling the movable part has a tip part of the movable part. When moving to the teaching point, means for moving the movable unit along each coordinate axis of the three-dimensional orthogonal coordinate system which is a reference for position control of the movable unit is adopted.

As a second means, in the first means, when the destination of the distal end portion of the movable portion is designated by an approximate distance and direction, the controller indicates based on the distance and direction. Means of moving the tip of the movable part to the teaching point closest to the position is adopted.

[0008] As a third means, in the first or second means, when the controller passes the teaching point during the movement of the movable section, the controller temporarily stops the movable section at the passing teaching point. Is adopted.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the industrial robot of the present invention will be described below with reference to FIGS.
First, the system configuration of the painting robot of the present embodiment will be described with reference to FIG. In this embodiment, a coating gun for spraying paint is mounted on the tip of a manipulator (movable part), and teaching data (data) stored by teaching (teaching) is reproduced (playback). The present invention relates to a teaching / playback type coating robot that moves on a predetermined route to coat a workpiece.

As shown in FIG. 1, the painting robot includes a manipulator 1, a controller 2, an input device (teaching pendant) 3, and the like. The manipulator 1 and the controller 2 are connected by a cable 4, through which various signals are exchanged and power is supplied via the cable 4. The controller 2 and the input device 3 are connected by a cable 5, and various instruction signals input by operating the input device 3 are input to the controller 2 via the cable 5. I have.

The manipulator 1 is fixed to the floor surface by a fixed base 6, and a first motor speed reducer unit 7 in which a drive motor and a speed reducer are integrally formed is mounted on the fixed base 6. . Further, a turning base 8 is mounted on the first motor speed reducer unit 7, and the turning base 8 is connected to the first motor speed reducer unit 7 (more precisely, the first motor speed reducer unit 7). The drive motor is rotated in the direction of arrow θ1, that is, in the horizontal plane. A first arm 10 is connected to the turning base 8 via a second motor speed reducer unit 9, and the first arm 10 is turned in the direction of the arrow θ2, that is, in a vertical plane by the operation of the second motor speed reducer unit 9. It works.

A second arm 12 is connected to a tip of the first arm 10 via a third motor speed reducer unit 11, and the second arm 12 is operated by the operation of the third motor speed reducer unit 11 to generate an arrow θ3. It rotates in a direction, that is, in a vertical plane. A wrist motor speed reducer unit 13 is accommodated in the rear portion of the second arm 12, and the wrist units 14, 15, and
16 is the arrow θ4 direction, the arrow θ5 direction,
It rotates in the direction of the arrow θ6.

A coating gun 18 is attached to the wrist unit 16 via a bracket 17.
Numeral 8 is configured to inject paint supplied from a paint supply unit (not shown) from the front end.

Next, the configuration of the controller 2 will be described with reference to FIG. The controller 2 includes a motor driver 2a, a CPU (Central Processing Unit) 2b and a memory 2d, a serial interface 2c connecting the CPU 2b and the motor driver 2a, and a storage device 2e.
It is composed of

A plurality of motor drivers 2a are provided for each drive motor of each of the above-mentioned motor speed reducer units, and angular velocity detecting means (not shown) attached to each drive motor.
Velocity feedback and serial interface 2
A speed control function is generated based on the angular velocity command input from the CPU 2b via the control signal c, and the operation of the drive motor is controlled as a current command. Further, the motor driver 2a generates angle feedback from the angular velocity feedback, and outputs the angle feedback to the CPU 2b via the serial interface 2c.
Output to

The CPU 2b executes various control processes described below according to a control program stored in the memory 2d. When the operation mode of the painting robot is the teaching mode, the CPU 2b outputs an angular velocity command for instructing the operation of each drive motor to the motor driver 2a based on an instruction signal input from the input device 3 by the operator. At the same time, the drive angle of each drive motor is sampled and stored in the storage device 2e as teaching data. The storage device 2e is, for example, a hard disk device or a floppy disk device.

When the operation mode of the painting robot is the reproduction mode, the CPU 2b reads the teaching data from the storage device 2e to generate a target trajectory for defining a target angle of each drive motor, and outputs the target angle and the angle feedback. And a position control function is generated based on the above, and is output to the motor driver 2a as an angular velocity command.

The operation mode of the painting robot is as follows.
Switching can be performed by operating the input device 3. The input device 3 is provided with various operation keys for manually operating the manipulator 1 and a display unit for displaying an operation state of the manipulator 1.

Next, the teaching data will be described in detail with reference to FIG. FIG. 4 shows a three-dimensional orthogonal coordinate system (consisting of an X-axis, a Y-axis, and a Z-axis) as a reference for position control of the manipulator 1 with respect to a coating object (work) W. FIG. 3 is a diagram shown on a robot-based coordinate system). In addition, the manipulator 1
The first part which is a joint (movable part) of the manipulator 1
This is schematically indicated by the motor speed reducer unit 7, the second motor speed reducer unit 9, the third motor speed reducer unit 11, and the wrist units 14, 15, 16.

Normally, the teaching data is a teaching point P indicated by a black point.
At i (i: an integer from 0 to n, for example, n = 22 in FIG. 4), the angle of each joint when the tip of the coating gun 18 is held in a predetermined posture is stored in the storage device 2e. . This angle is stored with the reproduction order indicated by the numerical value i. For example, for the teaching point P0, the angle of each joint when the tip of the coating gun 18 is held in the direction of arrow b0 is stored as teaching data.

In the present embodiment, the teaching data is stored in the form of a matrix including the coordinate values of the robot base coordinate system and the angles of the joints indicating the attitude of the coating gun 18. When the teaching data stored in this way is reproduced,
The tip of the coating gun 18 sequentially moves from the teaching point P0 to the teaching point P22, and the direction of the coating gun 18 is set in the posture taught at each of the teaching points P0 to P22 to apply the coating to the work W.

Here, in order to correct the teaching data stored in this way, the manipulator 1 is operated to, for example, change the painting gun 1 from the teaching point P21 to the teaching point P3 as shown in the figure.
In the case where the paint gun 18 is to be moved, the painting gun 18 moves in the shortest distance connecting the teaching point P21 and the teaching point P3, that is, linearly as shown by a broken line in the related art, so that the painting gun 18 interferes with the work W. There was a case.

On the other hand, in the present invention, the controller 2 controls the manipulator 1 so as to move the coating gun 18 along arrows A, B, and C as described below. Hereinafter, with reference to FIG. 1 and each processing diagram of FIG. 5 to FIG.
The control process of 2b will be described.

First, with reference to FIG. 5, the designation direction of the teaching point which is the movement destination will be described. If the point number (the numerical value i indicating the reproduction order) of the teaching point that is the movement destination is known, the operator inputs the point number i from the input device 3 and specifies the teaching point of the movement destination. If the point number i is not clear, the operator operates the distance (dx, dy, dz) from the current position of the coating gun 18 in the robot base coordinate system to the destination teaching point.
Is input along with the direction of each coordinate axis, that is, the positive (+) direction or the negative (-) direction for each coordinate axis (step S1).

In response to such an input, the CPU 2b
It is first determined whether or not the point number i has been input (step S2). If it is determined that the point number i has been input, the X-axis, the Y-axis, and the teaching point of the movement destination designated by the point number i are determined. The Z-axis coordinate data is read from the storage device 2e and stored in the memory 2d as a target position (step S3).

On the other hand, when the distances (dx, dy, dz) to the target teaching point are input, the CPU 2
b sequentially executes the processing of the following steps S4 to S12. That is, the current position (xc, yc, z) of the coating gun 18
c) is stored in the memory 2d (step S4), and the tentative target teaching point position (x ', y', z ') of each coordinate axis is obtained by the following equation (step S5). x '= xc + dx (1) y' = yc + dy (2) z '= zc + dz (3)

This temporary target teaching point position (x ', y',
z ′) and the distance (d
The minimum value of (x, dy, dz) is set to ε, and a sufficiently large value is temporarily substituted for the minimum value ε (step S6). And
For all the teaching points Pi taught previously (i = 0 to n) (step S7), the processing of steps S8 to S11 is repeated to search for the teaching point designated by the operator.

That is, first, the provisional target teaching point position (x ',
y ', z') and the position of each teaching point Pi {Pi (x), P
The distance γ from i (y), Pi (z)} is calculated based on the following equation (step S8). γ = [{x′−Pi (x)} ² + {y′−Pi (y)} ² + {Z'-Pi (z)} ² ] ^1/2 (4)

Then, it is determined whether or not the distance γ is smaller than the previously defined minimum value ε (step S9). If the distance γ is determined to be smaller than the minimum value ε, the target teaching point is determined. The number i is input to the number pG of the teaching point to be moved (step S10), and the value of the distance γ at this time is updated as the value of the minimum value ε (step S11).

By executing the processing of steps S8 to S11 for all teaching points Pi (i = 0 to n),
The teaching point Pi closest to the distance (dx, dy, dz) specified by the operator is searched for as the target teaching point PpG. Then, the coordinates of the target teaching point PpG are stored in the memory 2d (step S12).

Next, the moving process of the coating gun 18 will be described with reference to FIG. Here, the CPU 2b determines whether or not the attitude change key for instructing the attitude change of the paint gun 18 is pressed on the input device 3 (step S21), and the paint gun 18 takes the attitude at the teaching point of the movement destination. Until (Step S22), only the posture is changed without changing the tip position of the coating gun 18 (Step S2).
3).

The CPU 2b determines whether or not a movement key for instructing the movement of the coating gun 18 has been pressed (step S24).
It is determined which of the Y-axis and the Z-axis is the movement key for instructing the movement in the direction (step S25).

If it is determined that the movement key for instructing the movement in the X-axis direction has been pressed, the CPU 2b determines that the current position xc of the coating gun 18 in the X-axis direction is the target teaching point PpG designated as the movement destination. Until it becomes equal to the coordinate PpG (x) of the X axis (step S26), the coordinate PpG (x) -current position x
In the direction of c, that is, the direction toward the coordinates PpG (x), the expression (Pp
Paint gun 1 so that the absolute value of G (x) -xc) becomes small.
8 is moved (step S27).

If it is determined in step S25 that the movement key for instructing movement in the Y-axis direction has been pressed, the current position yc of the coating gun 18 in the Y-axis direction is designated as the movement destination. The coordinate PpG on the Y axis of the point PpG
Until it becomes equal to (y) (step S28), the coordinates PpG
(Y) -The painting gun 18 is moved in the direction of the current position yc, that is, in the direction toward the coordinates PpG (y), so that the absolute value of the equation (PpG (y) -yc) becomes smaller (step S29).

Further, when it is determined in step S25 that the movement key for instructing movement in the Z-axis direction has been pressed, the current teaching position zc of the painting gun 18 in the Z-axis direction is designated as the movement destination. PpG Z-axis coordinates PpG
Until it becomes equal to (z) (step S30), the coordinates PpG
(Z) -The coating gun 18 is moved in the direction of the current position zc, that is, in the direction toward the coordinates PpG (z), so that the absolute value of the expression (PpG (z) -zc) becomes smaller (step S31).

For example, as shown in FIG.
When the user tries to move the paint gun 18 from the teaching point P3 to the teaching point P3, the user presses a movement key for instructing movement in the Z-axis direction. The paint gun 18 moves from the point Pa to the point Pb by moving down to Pa and pressing a movement key for instructing movement in the Y-axis direction, and further, a movement key for instructing movement in the X-axis direction is pressed down. By painting gun 18
Moves from the point Pb to the teaching point P3.

Even after the painting gun 18 has been moved to the vicinity of the teaching point to be corrected by operating the input device 3, the processing shown in FIGS. The painting gun 18 can be moved to any teaching point without knowing the number. Also, the coating gun 18 can be moved to an arbitrary teaching point while avoiding interference with the work W only by the processing shown in FIG.

Next, referring to FIG. 6, in the movement of the painting gun 18 based on the movement processing shown in FIG. 1, the CPU 2b is used when the painting gun 18 passes over the teaching point.
Will be described.

In this case, until the correction end key for instructing the end of the correction of the teaching point is pressed and the correction end signal is input from the input device 3 to the CPU 2b (step S4).
1) The processing of steps S42 to S52 described below is executed.

First, the CPU 2b determines whether or not a movement signal instructing the movement of the coating gun 18 has been input from the input device 3 (step S42). If no signal is input, the paint gun 18 is determined based on the processing in steps S43 to S45.
The teaching point Pt closest to the current position (xc, yc, zc) is searched.

That is, a variable dx ⁺ indicating a distance in the positive direction of the X axis, a variable dx ⁻ indicating a distance in the negative direction of the X axis, and a positive value of the Y axis from the current position (xc, yc, zc) of the coating gun 18. A variable dy ⁺ indicating the distance in the direction, a variable dy ⁻ indicating the distance in the negative direction of the Y axis, a variable dz ⁺ , Z indicating the distance in the positive direction of the Z axis.
A variable dz ⁻ indicating the distance in the negative direction of the axis is set as a variable dx ⁺ , dy ⁺ , dz ⁺ indicating the distance in the positive direction, and variables dx ⁻ , dy ⁻ , indicating the distance in the negative direction are temporarily set. dz
^- If set to a sufficiently small value (the step S4
3). Then, the process A is repeated for all the teaching points Pi (i = 0 to n) (step S44), and the process A is executed (step S44).
45).

FIG. 7 is a processing diagram showing the contents of the processing A. In the process A, the CPU 2b first sets the displacement between the current position xc of the coating gun 18 and the x coordinate of the teaching point Pi in the X-axis direction of the robot base coordinate system as dum x (step S451). It is determined whether or not this is the case (step S452). And this displacement du
If mx is equal to or greater than 0, it is determined whether the displacement dumx is smaller than a variable dx ^{+ in} the positive direction of the X-axis (step S4).
53) Only when the judgment is “YES”, the value of the displacement dum x is substituted for the variable dx ⁺ , and the paint gun 18 is moved in the positive direction of the X axis.
The value of the x coordinate of the teaching point closest to the position of
Substituted into ⁺ (step S454).

On the other hand, the CPU 2b proceeds to step S452
Displacement dum when x is determined to be smaller than 0, the negative direction of the variables dx displacement dum x is X-axis in the ^- when it is determined that a smaller (step S455), the variable dx ^- displacement d
um variable the value of the x-coordinate of the closest teaching point to the position of the coating the negative direction of the X-axis gun 18 with substitutes x: nearest x ^-
(Step S456). In this manner, the x of the teaching point closest to the position of the coating gun 18 in the X-axis direction
The value of the coordinate is obtained as the variable nearest x ^- or the variable nearest x ⁺ .

Further, the CPU 2b performs the same processing as described above in the Y-axis direction of the robot base coordinate system. That is, the current position yc of the coating gun 18 and the teaching point Pi
Is set as dummy (step S457), and it is determined whether the displacement dummy is 0 or more (step S458). If the displacement dumy is 0 or more, it is determined whether the displacement dumy is smaller than the variable dy ^{+ in} the positive direction of the Y axis (step S459).
Only in the case of “ES”, the value of the displacement dumy is substituted for the variable dy ^+, and the value of the y coordinate of the teaching point closest to the position of the paint gun 18 in the positive Y-axis direction is substituted for the variable nearest y ⁺ ( Step S4510).

On the other hand, the CPU 2b proceeds to step S458.
Displacement dum when y is determined to be smaller than 0, the displacement dum y is negative variable dy in the Y-axis in the ^- when it is determined that a smaller (step S4511), the variable dy ^- substituting the displacement dum y, Y axis value of y-coordinate of the nearest taught point to the position of the spray gun 18 in the negative direction variable: nearest y ^- is substituted into (step S4512). In this way, the values of y coordinates of the nearest taught point to the position of the spray gun 18 in the Y-axis direction is variable: nearest y ^- is obtained as ⁺ or variables: nearest y.

Further, in the Z-axis direction of the robot base coordinate system, the z coordinate of the teaching point Pt closest to the position of the painting gun 18 is obtained as described above. That is, CPU2
b, the displacement between the current position zc of the coating gun 18 and the z coordinate of the teaching point Pi is set to dum z (step S4513), and the displacement du is set.
It is determined whether or not m.sub.z is 0 or more (step S451).
Four). If the displacement dum z is equal to or larger than 0, it is determined whether the displacement dum z is smaller than the variable dz ^{+ in} the positive direction of the Z axis (step S4515), and the determination is "YES".
Only in the case of, the value of the displacement dum z is substituted for the variable dz ^+, and the value of the z coordinate of the teaching point closest to the position of the paint gun 18 in the positive direction of the Z axis is substituted for the variable nearest z ⁺ (step S4516). ).

In step S4514, the displacement d
If it is determined that um z is smaller than 0, the CPU 2b
The negative direction variable dz displacement dum z is the Z-axis ^- when it is determined that a smaller (step S4517), the variable dz ^- displacement du
substituting m z, position variable the value of the z-coordinate of the closest taught point nearest the spray gun 18 in the negative direction of the Z axis z ^- substituted (step S4518). In this manner, Z-axis value of the z-coordinate of the closest teaching point Pt to the position of the spray gun 18 in the direction variables: nearest z ^- it is obtained as or variables: nearest z ^+.

As described above, when the search for the teaching point Pt closest to the current position (xc, yc, zc) of the coating gun 18 in the processing A, that is, in the X-axis direction, the Y-axis direction, and the Z-axis direction, is completed. Processing for the case where it is determined in step S42 that a movement signal has been input (step S46)
Step S52) is executed.

First, the teaching point P obtained by the process A
A magnitude relationship between the distance between t and the current position (xc, yc, zc) of the coating gun 18 and a threshold value β preset in the moving direction of the coating gun 18 is determined (step S46).
Here, the teaching point Pt and the current position of the coating gun 18 (xc, y
c, zc) is determined to be greater than the threshold value β, the moving speed v in the moving direction is calculated as a value obtained by multiplying the reference speed vf by the threshold value β, and the painting gun 18 It is moved at the speed v (step S47).

If it is determined in step S46 that the distance between the teaching point Pt and the current position (xc, yc, zc) of the painting gun 18 is equal to or smaller than the threshold value β, the teaching point obtained by the processing A is determined. The distance between Pt and the current position (xc, yc, zc) in the moving axis direction is set to d, and the value obtained by multiplying the reference speed vf by the distance d is set to the moving speed v of the coating gun 18 (step S48). In this case, since the painting gun 18 is closer to the teaching point Pt obtained by the process A as compared with the case of step S47, the moving speed of the painting gun 18 is smaller than the moving speed in step S47. Become.

In step S46, the teaching point Pt obtained by the processing A and the current position (x
c, yc, zc), when it is determined that the distance to “0” has been reached, that is, when the paint gun 18 has moved over the teaching point Pt obtained by the processing A, the CPU 2b sets a timer to count time. Is started, and the movement of the coating gun 18 is stopped for a certain period of time to stand by (step S49).

Then, it is determined whether or not the time measured by the timer is equal to or longer than a predetermined time (step S50). If the predetermined time has elapsed, the timer is cleared (step S51), and the process A is executed again. Then, the next teaching point Pt closest to the coating gun 18 is searched (step S52). While the movement signal is being input, the CPU 2b executes step S
Since the process from 46 to S52 will be repeated, paint gun 1
8 is temporarily stopped every time it is located on the teaching point Pi.

The control processing described with reference to FIGS. 6 and 7 is effective when correcting the positional relationship of the teaching data adjacent to the moving path of the coating gun 18. It is conceivable that a section to be temporarily stopped is designated in advance. In this case, the target section of the pause is defined as (1) the range of the teaching point number,
(2) Specify by a spatial range (for example, a range of each axis coordinate value in the robot base coordinate system).

Finally, with reference to FIGS. 8 and 9, a second control method for selecting a position of a teaching point at a remote point to be moved will be described.

In this control method, the input device 3 ambiguously inputs in which direction and how far the point (teaching point) to be moved is from the current position of the coating gun 18.
For example, the direction is selected from 16 directions combining front-back, left-right, top-bottom, and these direction elements, and is input as a general direction (step S61). In response to this ambiguous instruction, the CPU 2b determines a direction vector indicating the moving direction of the coating gun 18 from the current position (Step S62).

The current position of the tip of the coating gun 18 is set to (xc, yc, zc) in the same manner as described above (step S63), and the distance from the current position (xc, yc, zc) to the farthest teaching point is set. Is set to dl, and "0" is substituted for the distance dl (step S64). Hereinafter, all the teaching points Pi (i = 0)
(N) (step S65), the current position (xc, yc, z) of the tip of the coating gun 18 based on the following equation (5).
c) and the position of each teaching point Pi {Pi (x), Pi (y), Pi
(Z) The distance from｝ is calculated as dl ′ (step S)
66). dl '= ^{[{Pi (x) -xc} 2} + {Pi (y) -yc} 2 + {Pi (z) -zc} ² ] ^1/2 (5)

The distance dl ′ is compared with the distance dl, and
It is determined whether or not the conditional expression (dl '<dl) is satisfied (step S67).
If l 'is smaller than the distance dl, the value of the distance dl' is substituted for the value of the distance dl (step S68). That is, the processing of steps S66 to S68 is performed for all the teaching points Pi.
(I = 0 to n), the distance d from the current position (xc, yc, zc) to the farthest teaching point
The value of 1 is determined.

Based on the distance dl obtained in this way, for example, seven distance classifications are set (step S).
69). That is, a distance 6/7 to 1.0 times the distance dl is the farthest distance vf, a distance 5/7 to 6/7 times the distance dl is the far distance f, and 4/7 to 5/5 of the distance dl. The distance seven times is set as a slightly longer distance If, and is 3/7 to 4 / of the distance dl.
The 7 times distance is set to the medium distance m, and 2/7 of the distance dl
A distance 〜3 / 7 times as a slightly closer distance ln, a distance 1/7 to 2/7 times the distance dl as a close distance n, and a distance 0 to 1/7 times the distance dl as a very close distance vn. I do. Then, the CPU 2b executes the process B for all the teaching points Pi (i = 0 to n) (step S70) and selects a teaching point (step S71).

FIG. 9 is a processing diagram showing the contents of the processing B. In the process B, the current position (xc, y
c, zc), the direction vector direction from each teaching point Pi is ((Pi (x) -xc, Pi (y) -yc, Pi (z) -z
c), and it is determined whether or not the direction vector direction is included in the ambiguous direction input in step S61. Then, a specific teaching point Ps
Is determined to be included, the distance distance between the current position (xc, yc, zc) of the painting gun 18 and the teaching point Ps is determined by the direction vector direction.
Is calculated (step S713).

Then, it is determined whether or not the distance "distance" is included in the ambiguous distance inputted in the above step S61.
It is determined by comparison with f, if, m, ln, n, and vn (step S714). As a result, if the distance distance is included in the ambiguous distance, the teaching point number of the teaching point Ps is stored in the memory 2d (step S715).

In the above embodiment, the painting robot has been described. However, the present invention is not limited to this, and may be applied to other industrial robots to which the teaching / playback method is transferred. It is possible.

[0062]

As described above, according to the industrial robot of the present invention, the following effects can be obtained. (1) In an industrial robot that operates a movable part based on data stored in a storage device, a controller that controls the movable part operates to move the tip of the movable part to a certain teaching point. Since the movable portion is moved along each coordinate axis of the three-dimensional orthogonal coordinate system serving as a reference for position control, it does not move linearly between teaching points as in the related art. Therefore, it is possible to prevent the manipulator from interfering with the workpiece when moving,
The production efficiency and safety of industrial robots are improved. (2) Further, when the destination of the tip of the movable part is indicated by the approximate distance and direction, the controller moves the movable part to the teaching point closest to the position indicated based on the distance and direction. Since the distal end is moved, the movable part can be quickly moved to the remote teaching point, and the work efficiency of the teaching operation can be improved. (3) Further, when the controller passes the teaching point during the movement of the movable part, the controller temporarily stops the movable part at the passing teaching point. It is possible to move the movable part with time. Therefore, the teaching data can be easily corrected, the correction time can be shortened, and the production efficiency of the industrial robot can be improved. In addition, it becomes easy to correct the positional relationship between neighboring teaching points on the movement route, and it is possible to improve the coating quality especially when applied to a coating robot.

[Brief description of the drawings]

FIG. 1 is a process diagram showing a control procedure when a coating gun provided at a tip of a manipulator is moved in an embodiment of the industrial robot of the present invention.

FIG. 2 is a diagram showing a system configuration of an embodiment of the industrial robot of the present invention.

FIG. 3 is a block diagram showing a configuration of a controller in the embodiment of the industrial robot of the present invention.

FIG. 4 is an explanatory diagram illustrating teaching data in one embodiment of the industrial robot of the present invention.

FIG. 5 is a process chart showing a procedure for setting a destination of a coating gun in the industrial robot according to the embodiment of the present invention.

FIG. 6 is a second processing diagram showing a control procedure when the coating gun is moved in one embodiment of the industrial robot of the present invention.

FIG. 7 is a processing diagram showing details of processing A in the processing shown in FIG. 6;

FIG. 8 is a second processing diagram showing a procedure for setting a destination of a coating gun in the industrial robot according to the embodiment of the present invention.

FIG. 9 is a processing diagram showing details of a processing B in the processing shown in FIG. 8;

[Explanation of symbols]

1 ... manipulator (movable part), 2 ... controller, 3 ... input device (teaching pendant), 4,
5 ... Cable, 2a ... Motor driver, 2b ... C
PU (central control unit), 2c... Serial interface, 2d... Memory, 2e.

Claims (3)

[Claims] 1. An industrial robot that operates a movable part based on data stored in a storage device, wherein a controller that controls the movable part moves the movable part when the tip of the movable part is moved to a certain teaching point. An industrial robot characterized in that a movable part is moved along each coordinate axis of a three-dimensional orthogonal coordinate system which is a reference for position control of the part. 2. The industrial robot according to claim 1, wherein, when the destination of the tip of the movable portion is indicated by an approximate distance and direction, the controller indicates a position indicated based on the distance and direction. An industrial robot for moving a tip of a movable part to a teaching point closest to a robot. 3. The industrial robot according to claim 1, wherein the controller temporarily stops the movable section at the passing teaching point when the controller passes the teaching point during the movement of the movable section. Industrial robot.