JPS59165108A - Industrial robot - Google Patents

Abstract

PURPOSE:To teach a robot operation in a short time with high fidelity by converting a figure and others into an image signal wholly by an image pickup device, and processing the image signal and obtaining data for teaching by a CPU. CONSTITUTION:The whole of a necessary figure or planar product is shot by a TV camera 1. Its image signal is inputted to an image processor 2 and converted by an image binary-coding circuit 7 into a binary-coded signal. The image simplified by the binary-coding processing is stored in a video memory 8 and this is inputted to a CPU9. The CPU9 performs processing for converting the signal into data on teaching according to a flow of a program and the processed data signal is inputted to the CPU10 of a servo controller 5. The CPU10 drives the motor 4 of the robot 3 on the basis of the data through an interpolation calculating circuit 11 and a servomechanism 12 to operate the robot along necessary paths.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an industrial robot, and an object of the present invention is to make it possible to teach operations to an industrial robot in a short period of time and with high fidelity.

Various methods have already been adopted for teaching (data input) industrial robots, but these methods require a lot of effort and have problems such as reduced fidelity. For example, there is a method of inputting the necessary position information by manually operating the servo system to follow the same route as when it is actually in effect, but this method has the disadvantage that it is necessary to stop the robot,
The problem is that it takes a considerable amount of time to actually make it work. Another problem is that the fidelity of one teaching decreases when the servo system is actually moved along the pattern. Another method is to input the coordinates of multiple representative points of a pattern, but this method also requires a considerable amount of effort.
There is a problem with low fidelity. Another method that has been adopted is to digitize the pattern in advance and input it as data, but this method requires a lot of effort to digitize the pattern and has drawbacks such as difficulty in teaching free curves. .

The present invention makes it possible to teach movements to a robot in a short time and with high fidelity by converting a figure or product into an image signal and converting it into data. an imaging device that converts the image signal into an image signal via the image sensor; a binarization circuit that binarizes the image based on the image signal; a central processing unit that converts the binarized image signal into teaching data; The robot is equipped with a central processing unit that receives data and applies signals to a servo mechanism that drives the robot's motors based on the data.

The robot of the present invention will be explained with reference to the embodiments shown in the drawings.
This robot has an imaging device (1) that converts the image into an electrical signal through an optical system, and an image processing device (2) that processes the image signal. Based on the processed data the robot (
Servo controller (5) that drives the motor (4) of
).

The image processing device (2) includes a video monitor (6) on which image signals from a television camera (1) are manually input, an image binarization circuit (7) for simplifying images, and a binarized Image memory (8) for storing images - Image memory (
a central processing unit (9) having a program configured to process the image signals stored in (8) into data for teaching;
) (hereinafter referred to as CPU).

The servo controller (5) is the C of the image processing device (2).
A CPU (10) having a program configured to receive the output data of the PU (9) and output a signal based on the data, and an interpolation calculation circuit (11) that operates with the output signal of the CPU (10+). and a servo mechanism (12) that drives a motor (4+) in response to its output signal.

To teach the robot how to operate, the entire required figure or flat product shown on paper or the like is photographed using a television camera (υ).The image signal is sent to the image processing device (2).
An image binarization circuit (7) binarizes the image. In other words, the image is captured by a television camera and processed by a processing device (
By binarizing the image based on the manually input image signal in 2), a simple image that faithfully reproduces the shape to be taught is obtained.

This image is also input to the video monitor (6), and the binarization of figures etc. can be visually confirmed, but the video monitor (6) can be omitted. The image simplified by the binarization process is stored in the image memory (8), or the CPU (
9) is input as a signal. The CPU (9) that receives the signal from the image memory (8) processes the signal to turn it into teaching data according to the flow of the program, and sends the processed data signal to the servo controller ( Input into C' P U (10) of 5). The C P TJ (101) that obtained the data in this way uses the interpolation calculation circuit (11) and the servo mechanism (101) based on the data.
12), the motor (4) of the robot (3) is driven to operate the 10 robots along the required path.

As described above, the teaching device for the robot of the present invention converts the entire figure and other objects into an image signal using an imaging device such as a television camera (υ), and converts the image signal into data using the CPtJ (9). It is used to obtain data for use.

Based on the data obtained in this way, CPU (10
) to operate the servo mechanism (121).

Therefore, it is possible to access the teaching data almost instantaneously, and the problems that conventionally occur when obtaining the teaching data can be changed almost instantaneously.
It is possible to solve most of the various problems that require a lot of effort.

Then, the shape of the figure or product is converted into an image signal via the optical system, and the signal is converted into teaching data by the CPU (9). Regardless of the complexity of the pattern,
This can be converted into data with high fidelity at all times, making it possible to operate the robot along a precise path. In addition, the image obtained through the optical system is first processed by a binarization circuit (
By performing binarization in step 7), it is possible to accurately grasp the shape to be taught and further improve the fidelity of the teaching data obtained by the CPU (9).

[Brief explanation of drawings]

The drawing is a block diagram showing an embodiment of the invention. (υ: TV camera, (2): m image processing device, (3
): Robot, (4): Motor, (5): Servo controller, (6) Video monitor, (7): Image binarization circuit, (8): Image memory, (9)/(101: CP
U, (Ill: Interpolation calculation circuit, (12): Servo mechanism.

Claims (1)

[Claims] An imaging device that converts a figure or product into an image signal via an optical system, a binarization circuit that binarizes an image based on the image signal, and a central processing unit that converts the binarized image signal into teaching data. and an industrial robot comprising a central processing unit that receives data from the central processing unit and applies a signal to a servo mechanism that drives a motor of the robot F based on the data.