JPS59205610A - Robot teaching method using trigonometric equifigure - Google Patents

Abstract

PURPOSE:To perform the robot teaching in a simple, safe and accurate way by displaying the 3-dimensional distribution of peripheral devices of a work subject on a CRT screen in the form of >=2 plane figures and designating the 3-dimensional position of fingers of a robot on the CRT screen to store the designated coordinates to a memory. CONSTITUTION:The peripheral device (pender 1) of a work subject is displayed on a CRT screen in the form of plane figures A-C by a drafting practice. A memory 73 of a memory map obtains the information on the XY value from the figure A and the XZ value from the figure B. The memory 73 arranges these information and then replaces the value of the information to a memory 75 in the form of XYZ value. This value is stored in a memory 79 as the teaching data together with a memory 77 which stores data with other parameters. This teaching data is loaded to a work area 81 together with the instruction information of an RAM of a computer. Thus the working of a robot is possible.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot teaching method that can be carried out extremely easily, in which a layout diagram of surrounding objects related to robot work is displayed on a CRT screen, and a desired movement point is displayed on a CRT screen.
The present invention relates to a self-pot teaching method using a graphic that allows a designated point on a T screen to be immediately stored in a robot storage device as teaching data.

Traditionally, robot teaching methods include direct teaching and indirect teaching.

In direct teaching, the robot arm is moved manually, for example, and a memory button on a control panel is operated at each desired position to obtain teaching data. This has the advantage that even those who do not know detailed programming techniques can perform precise positioning. but,
If a heavy workpiece is gripped by the tip finger of the robot arm, it will be quite hard work, and the production line where the robot is intervening will have to be stopped for a while during this teaching work. , 1, there are inconveniences such as lQ.

-7'J', indirect teaching is 1'') J to Mining Technique Buddha,
b's (, 1 to 1 is 1-1 bo 1-2 r ahead position; 3
Specify the next 44th position i-t) (J) -L” +3
Riri, lLt"L line can be 11 ruru (always ¥ shi F-Yu is L). However, the higher level 1
"Gramming 1 branch removed ij7 j, stone C4I: If this teaching is fj/-c-(.\4, history,
Using 3D measuring instruments etc.
I thought; 7 or l\ while pu [1 cramming U must be L ino (-1-circulation) 11 equivalent Φ 〃 Tsuji 1 + catsuk.

King 1' [Machine+, l Work Supply - Hiss 4 Ru Industrial [1
When the first movement 1' [4.] begins, the workpiece comes out of the rack 1! (Ruru 1, For these series of 1'i operations, teach other parameters of each movement Q, movement speed ++'i, , 7'-ri. Rie (written by Koha T) Relationship with Biki 1 Reel thread with Nork, relationship with other models, father, environment (for example, between divisions 4
I was taught carefully about the existence of objects (1), etc. 4I:L
"There is no 4C. In addition, it is desirable to teach the line 11-11 times in order to improve production (11-11 times, and teaching is not accurate in order to improve product viscosity). It is very difficult to receive appropriate instruction for these tasks (only direct and indirect teaching methods as described in Section 11).

This invention improves the shortcomings of the prior art described fx, and it is possible to accurately [□2, safely and
1"Bot 1- is working on something else ("Even if there is a line 41").

Aru [1 bot teaching fj method -4
-0ru.

The features of this invention that enable us to achieve the above goal are as follows (3L, [-1 Bot 1 - Circumference of work object) η Cubic j+1 arrangement of objects! Totsuzu ic At least according to IC/
J2 flat figures, CC [:, displayed on the king screen, keyboard toy () figure human powered device, etc. P toy 3: designation (1
(Specify the three-dimensional position of the 11th point 1st point in the CF It is important to store the numerical values in the device.

In the following, 1. Examples will be explained (2. The invention will be made clearer.

FIG. 1 shows an example of 1-bottom 1 to 5 for the Rayhack-type midwifery system in which Vesida 1 (this 1 no 93'7) is supplied = Hiss is i-1. Ben Ri1's limit 1-switch f-7 to f no, /33 ahead*; hit 11 (-shows the situation,
-4.h shows the 21st bib l-evening 9th formation-]E]tsuk diagram (jf tl c).

Positioning of limit gauge 7 -shi~riM + and 1q
'111 top and bottom! 8J48I Hon #1 “[Sat-ta M2
TJ, 11'1 = machine control device 13 control (a[1 s 4
′(ru,.

1-1 Bot 5 is f+;
I-7, 2nd i'-mu 10, hand 21, Noisica 2
J'I (j, respectively -f' main rotation 11'fl 2
5, j'ri)' r I-Evening 27 no Okijuku 1, 2 J niri e
', 2 J'-mu'1 (3 at the same %lUc(l11
12(), Hunt 1iilfJJIIih, “31
, / Into Mlhri'III c) 3 i intermediary device (Jare (there. this ill (") keep soak 3 horizontal, t soak 3 to penta 1's F'A? 35's weighted b i; 1 and Hei 1-jIJ, Hashi 1 part 21 is small IL
ζ1 Go) C, twin horns 2J3 are placed horizontally. 1 U1 small piece 1-V5 h rotation of rotation axis 15, 1 time t) J
l1112! 3 rotation, Akuday 7Y-Ta 27 no Oki I
I; 1, simultaneous movement of the hand rotation axis 31, Flunger rotation axis 33
Rotation etc. of all C controllers 7-ta 9J, support of R: jG,
Accordingly, multiple f-no 71, Shi-ta M-'C'' are activated.Also, to Liho-7-ta M's production weight 1+N, Song is ■-n-1
- detected by a detector such as a tachometer or tachogenerator, and fed back to the detector.

]Nhibicota 9.1 Memory Collateral Ma 0M37.1 A I
V+39 to the right and controlled by CP LJ 41. j-1
Sanhole T! Connect to the bus/15 via the interface 43 for G3L j-'7. Assemble the mold. Bubble power set
-1; Ink no. 41 connected to the bus via the chair 49 and connected to the CP tJ 41 respectively. Ru. Further, it is also possible to provide other input/output related devices via the bus/15 as appropriate.

01 to T 53 and keyboard 55 to CI to 1-]nt [
] - contact C bus 45 via Shira 5. Graphical input device 59 communicates with bus 45 via graphical input device interface 61 . CRT controller 57 has C inside.
Although it has a fairly complicated structure including PU, the plane coordinates XY -
I) Since it is widely practiced to refer to the coordinate point as a bright spot, the details of this internal structure (is Fl;
Omit the light and write ff8.

Due to the above configuration, the operation for 1 item 1 will be explained next. First, the information is read from the computer or the like through the interface, and a series of information is stored in the RAM.
Store it in 39.

This information consists of teaching data relating to moving points, intermediate positions, parameters of each song, etc., and is taught in advance.

They are rearranged as appropriate according to the instructions in the storage device ROM 37, loaded into the main storage device, and executed. In the playback type robot, these teaching data are structured in the form of J, which can be used directly for teaching. cpt) 41, n(
nf7! The hyperactivity data is distributed to the distribution section 63 and output to each amplifier 657c.
5 is sent to a small motor lvl to operate each axis of robots 1 to 5. The memory map shown in FIG. 7 will be described in detail later.

The teaching method according to the present invention is possible regardless of whether the robot 5 is in operation or not. In FIG. 2, a CRT controller 1 is installed via a roller 57! 53 and keyboard 5
5 shows a perspective view of 5. FIG. 3 is a partially enlarged view of the flat panel 67 of the keyboard 55. Figure 4 shows CRT
53 and a graphic input device 59 provided via a graphic input device interface 61. Figures 5 and 6
The figure shows an enlarged view of the screen of the CRT 53, with -C not shown. First, we will explain how to display peripheral objects.

As shown in FIG. 5, only the bender 1 is shown in this example among the surrounding stationary objects representing the robot work 3J.

) is displayed on a CRT screen as a planar figure according to a drafting method (for example, trigonometry). In this example, the plan view Δ, the front view B,
Three views of the right side view C are shown.

The three-dimensional coordinates XYZ can be determined, and the two drawings C are also good,
It is also good to prepare two CRTs and display Figure A or Figure B separately. In addition, in order to express this more accurately, it is also possible to enlarge the map and show it in C. It is also possible to draw a drawing using a device.Furthermore, since this display is for li to know the positional relationship, it may be an appropriate abbreviated drawing, expressed only by frame lines, or visible through. Alternatively, an ordinary drawing drawn on transparent paper and aligned with the CRT screen may be attached.Thus, displaying these is extremely easy.

The situation is different when it comes to a single moving object such as the 0bot itself, a penta mold, or a workpiece held by the 11bots 1 to 1. Programs related to these operations are required for these displays. Robot 1- (For the second part, the data for each axis of robot 1~ is stored in the storage device ROM 37, so this data is used.As for the vendor's upper mold, it moves up and down at 41 timing as appropriate.) The motion of the workpiece is a three-dimensional motion and is somewhat complicated [However, it is possible to define it uniquely. In this case, ¥S1
The operation is extremely simple as long as it is held horizontally as shown in the figure.

Next, the teaching method will be explained.The reference point of the robot's hand is defined as the midpoint P of the hand 21 shown in FIG. 1, and it is assumed that P is at point 21 in FIG. .

In this state, A, B, CI;! Pr points can be expressed in J as a score. Cursor movement keys 67a, 67b on the flat panel 67 on the keyboard 55 in FIG.
, 67c and 67d, place the bright spot on both sides of the CRT at the desired position P2 on the bottom left and right sides. When the storage command key is pressed, the coordinate values corresponding to the cursor position are stored in the storage device. At the same time, the point P of the robot hand, which has been made into a figure, moves 4 times to P2.

The above teaching method will be explained in detail. Referring to the memory map shown in FIG. 7, write C@device (1!!Wl!).

For example, XY value from Figure 5 A, X Z ljQ from Figure B
The memory 73 that has obtained the information organizes the information and then replaces the values in the memory 75 as XYZ values.

In Figure 5 (Figure 13, Figure B, and Figure 0), when obtaining the average value of the two 7 values using a helmet, it is stored after performing the appropriate calculation.Data is stored using other parameters described later. The teaching data is stored in the memory 79 together with the memory 77.
13) 7 no 1 old man b'i? f; Tongue and combination Ll-
Made by Sotoiha Φ114. Real t-i iiJ Nodoriru, 1 Figure 5 A')' FN2 +:, specify 9, 1, next (
1 dog figure C same (11) Specify 2 points lJ1 mouth f , 11
．． u I= l'l''CP 2 points P1・(desired
Repeat ``1'' and get ``J''< rJ cm, L: From M, the desired teaching 1j ko 1 ro)) is obtained.

Fig. 4 11"Me 11 horn IL placed in +r months) Old C:
1ll1 mouth (1t) vice) and 5c so-called shoes (tablel) 50k small 1'
L, 9 fl/ b no l'c sign @ CR-1-
Image 1fii IM-displayed (i) A in Figure 53 above
Figures and [-3 or 0 '1. ;1) Core +! −
(i13 comes, XY then X/'!!M is Y I
'A Squillus 71 L, L Red 1.,) is created by fusing AScf Nos. 7-1 to the coordinate plane and creating +/- data for movement.' 4i wave I ζ cow (by () 4 small, Taffle 1 inside (3 field Yo ^ 6 Takanami 11 point J, c) WJE #['a if! II fixed J
Runi Chrono 1\n installed I +-,y It(there,
,, You can also use the method of taking out 111 from the two corners of the F 17 target and taking the navy blue unrolled cloth of -] -] Tari 1 - C 1 - Ta, etc. - C'. From J let - 5 Stylus 71
Read the position of the CPU 4.1 on the CR1 screen and read the position of the robot in sequence from which timer to the meter 75 in Figure 7. For interrupt processing such as a ring system (immediately for memory rehabilitation), it is also possible to use a separate CPU from U 41 (C1, which controls all operations).
] Cellino g) :i[C, instead i! L! IQ device J! , ((, Separate ■ ^ l Doshi Doku ☆ shi), 2 jli %+,
and 1-1(γ!l, , , jll-5, is C
Sa-ru.

1 to 1\tsu 1- (bi-motor position l! parameter of 1, example λ
can move to 3181 and record the output data of any person between 1111 and 1111 in the same lk'i.

Figure 7 shows the manual method 1i (1,, e.g. C; -yo- [some parts of 53 Quick command (device V, 11)
゛I command position 1-1 human power life (1'/box IN, output command (1°I; old (') 111-1f other command tVl
Move the device to
By pressing the 0 key 1' and the - key 551-, the vl value applied to the parameter can be entered as appropriate.

Figure 2 - N - Elementary School 1.55 and F) Figure (2i1
Rita 1 noh! '; 9roi) l t! (-Use A) (In other words, in CF, set the parameter position PASS (move command) to -cursor movement at 11 both sides 53, and press Start N--1. Fltjj 1, then (Sunono (2) No. 71 (・Move (1'! Instruct the position. History (, 2, keep the 11th position of parameter V (renmaro). -”: indicates,
Press 11) on Number Counter -1- to specify 1, number of boats (), 1
3J, -) ([1 small piece] -work, ll, ',, -:,
Nine [) is the first effect of the word i, and the j that rises to the top is IU ('-2C/)
lFf 4, 1, move...(-1, lJ oh, already IZ I'l F 戊
,\ti, /, 711 Horn 7)/,
←: R-1-1"!! 5 for l c, l +, 26±ne (,71, f l-1 gura l\; mountain climbing (hyperactivity 0
1-4εmi(, straight if @ IJIIλ ruku2 and b −
+iJ ff: し(There is. That is, (I' box 1- must be 4
Regarding Sadahito moving to C, the relevant moving point is newly specified (instruction using this 3-1-1 teaching method (-7, if the previous -7-1 is corrected).

J, Tsu (,11・Totsutoi'15, CR-1 screen at the scene (,-Table 4, this uA j",'jξ)11・l"
4i'i to designate the team mark and put the designated white in the teaching node 11 (92) ) Simple 1i 1; 2, +F
KB tThis, moreover, it is also possible to safely do the work of another f' toy.

[Brief explanation of the drawing]

Figure 1 is an explanatory diagram of the bender (J-work mooring Leahyszuru 11/Top 1-) (with f-bracket [Figure 170] is shown; Figure 2 is a perspective view of CR1- and the key hoard, The figure is a partially enlarged explanatory view of the keyboard in Figure 2, and Figure 4 is a C[ri1-
and a perspective view of the taglet, No. 5U21, and Fig. 6 is CR'T.
- An enlarged front view of the screen, Fig. 7 is an explanatory view of the memory tube, and Fig. 418 is a sized perspective view of the CR'T and tablet.

Claims (1)

[Scope of Claims] (1) The three-dimensional arrangement of peripheral objects to be worked by the robot is displayed on a CRT screen as at least two planar figures according to a drafting method, and a coordinate specifying mechanism such as a keyboard or a figure input device is used as a r: iyi A robot teaching method using graphics such as trigonometry, characterized by specifying the dimensional position of the robo robot hand on the CRT screen, and storing the specified coordinates of the specified position in the robot storage device as teaching data. (2) The coordinate designation mechanism is a keyboard, and the three-dimensional position of the robot hand is designated by a Notzuru movement key (provided on the keyboard), using the trigonometry or other figures set forth in Claim 11r4. robot teaching method. (3) The trigonometry etc. graphic system according to claim 1, wherein the coordinate specifying mechanism is a graphic human input device, and the three-dimensional position of the robot hand is specified by instructions from a stylus of the graphic input device. A robot teaching method using