JPS60108908A - Industrial robot device - Google Patents

Abstract

PURPOSE:To instruct operation efficiently by allowing a simple teaching arm to execute prescribed operation, storing tis positional information in a control device and forming an operation program of a robot body. CONSTITUTION:The leading end of the simple teaching arm 20 is formed as a handle 20a and the operator grasps the handle 20a part to execute the required operation. The arm 20 and the robot body 1 are connected to a control device 3. The arm 20 is provided with 6 joints for a waist rotating theta1 axis, shoulder rotating theta2 axis, an elbow rotating theta3 axis, a wrist twisting theta4 axis, a wrist bending theta5 axis, a finger rotating theta6 axis to allow the handle 20a to have an optional posture at an optional point in space. The rotational positions of these joints can be detected by a rotational position detector and the positional coordinates of the leading end of the teaching arm are converted into a robot coordinate system to make the robot execute required operation through a servo driving system.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an industrial robot device, and particularly to an industrial robot device with an improved teaching method.

[Technical background of the invention and its problems]

FIG. 1 shows a structural diagram of an industrial robot. Figure (a) shows a horizontal articulated robot, with θ, axis and θ
The structure allows the first and second arms to rotate around two axes, and by adding the three axes of rotation θ of the two hands and the two vertical axes, it is possible to position the robot at any position or posture in space. can. Figure (b) shows a cylindrical coordinate robot, which has a total of 5 degrees of freedom of movement: the rotation θ1 axis of the waist, the vertical Z axis of the arm, the R axis of arm extension and contraction, the torsion θ axis of the arm, and the θ3 axis of wrist bending. have a part.

In addition, the same figure (C) shows a Cartesian coordinate robot, with a gate-shaped
A Y-axis arm is mounted on the axis arm, a Z-axis arm is attached to this, and a wrist having a bending θX axis and a torsion θ2 axis is attached to the tip of the two-axis arm. Figure (d) is a vertically articulated robot, with the waist rotation θ1 axis and the shoulder rotation θ
It has 6 degrees of freedom: 2 axes, elbow rotation θ, axis, wrist twist θ 4 axes, wrist bend θ, axis, hand rotation θ 6 axes, and moves the workpiece to any point in space in any posture. can be done.

In order to have such an industrial robot perform work, it is usually necessary to create a work program l in advance and store it in a storage device that constitutes a control device.

This work is called "teaching," and the operation of the industrial robot according to the program contents of the storage device is called "playback."

By the way, the teaching operation method for industrial robots is generally divided into two types: two-indirect teaching type and direct teaching type. An indirect teaching type industrial robot device will be explained with reference to Fig. 2. This main type does not operate the robot body 1 continuously, but uses the point teaching device 2 to teach important points (
PO to P7), and the position information of that point is stored in the control device 3 (varnished).Furthermore, the sequence information of the program is taught by the program input device 4. During playback, ζ2 moves between the taught points in a straight line or circular arc It is possible to perform a continuous path movement by interpolating with .With this method, during teaching, all movements are made by push button operation, and the robot body 1) moves, so the effort of the teacher is small. It is very difficult to teach subtle movements such as making a snap.
Two difficult.

FIG. 3 shows a block diagram of the control device of the industrial robot described above. Servo drive device 17
are connected via an input/output bus.

Further, this servo drive device 17, a servo motor 18 built into the robot body 1, and a rotation sensor 19 are as follows:
Each is connected in parallel.

Next, FIG. 4 shows a direct teaching type industrial robot device. In this system, a handle 1a is attached to the tip of the wrist of the robot body 1, and the user grasps this part to perform a desired operation manually, and the control device 3 stores momentary position information during this time. At the time of reproduction, by directly reproducing the position information, it becomes possible to reproduce the taught route as it is.

This method requires considerable effort because the operator must manually move the heavy robot body 1 directly. For this reason, it is currently used only in some parts, such as painting robots.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an industrial robot device that can easily teach delicate movements.

[Summary of the invention]

In order to achieve such an objective, the present invention includes a robot body,
In this industrial robot device comprising a control device having a function of teaching and reproducing the motion of the robot body, when teaching the motion of the robot body, a predetermined motion is performed and the position information is stored in the control device. The present invention is characterized by comprising a simple teaching arm for creating an operation program for the robot body.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to FIGS. 5 to 7. In FIG. 5, the same reference numerals as in FIG. 4 indicate the same components. □ In the figure, the tip of the newly provided simple teaching arm 20 is configured as a handle 20a.

The operator grasps this part to perform a desired operation.

The robot main body 1 and the simple teaching arm 20 are connected to a control device @3. FIG. 6 shows a detailed view of this simple teaching arm 20. In the same figure, the simple teaching arm 20 is configured to rotate the waist around the θ1 axis, the shoulder around the θ axis, the elbow rotate around the θ axis, the wrist twist around the θ4 axis, the wrist bend around the θ axis, and the hand rotate around the θ6 axis. It has six joints, and the teaching nondle 20g can be made to take any posture at any point in space. Moreover, the rotational position of each joint can be detected by the rotational position detectors 21 to 26 built into the arm. As this rotational position detector, for example, a rotary encoder or a position meter can be used.

Here, each joint angle of the teaching arm 20 is (θTt rθT
itθT s pθT4. θ1. θT6), the coordinates of the tip of the teaching hand, I+/20a (xT, YT, zT
) and posture ('Tlβy, rT) are generally expressed by equation (1).

(7) Coordinate system CXBt yR, zB,
αB, β8°rB) and the simple teaching arm coordinate system (XT
, YT, ZT, zT.

The coordinate transformation matrix (translation and rotation) with (M
), the coordinates and orientation of the tip of the teaching arm are:
It is expressed as equation (2) in the robot's coordinate system.

The robot tells Sarah that the work point (XB * YB y zR
lα几.

β8. Each joint angle (θR++θR21
0RsjθR, +082. zR6) is expressed by formula (3).

During teaching, rotational position signals (θT1 to θT6) of each joint axis are output according to the movement of the teaching arm, which is input to the control device, and the position of the tip of the teaching arm (XT#YT, ZT) is determined by equation (1). Appearance m CaTtβTe 1
T) 'r: Calculate. Furthermore, the position and orientation of the tip of the teaching arm are converted to the robot coordinate system using equation (2) (XB
, Y.B.

zR2αR2βR9γB), each joint angle of the robot (08□~θ几.) is calculated from the equation (3), and these values are stored in the control device in chronological order.

During playback, each joint angle (θR6 to θR6) of the robot stored in the control device is retrieved one after another at a predetermined timing, and the servo drive device controls the servo motor based on this value to drive the robot to the desired position. can be made to work.

In addition, in this example, the explanation was given assuming that the configurations of the robot body and the simple teaching arm are similar, but this is not necessary and for convenience of teaching work, the teaching arm can be used with an appropriate configuration and dimensions. can do.

FIG. 7 shows a block configuration diagram of a control device for an industrial robot device according to the present invention, and the central processing unit 11 has input/output devices such as a storage device i12, an operation panel 15, an external storage device 16, and a servo drive device 17. connected via bus. The servo drive device 17 supplies power to a servo motor 18 built into the robot body 1, and drives the rotor sensor 1.
The rotation angle signal from the servo motor 18 is taken in from the servo motor 18.
is controlled by feedback. Furthermore, a rotational position detector 2 incorporated inside the simple teaching arm 20
Signals from 1 to 26 are input to the central processing unit 11 via the input/output bus.

〔Effect of the invention〕

As is clear from the above explanation, according to the present invention,
Without moving the actual robot, the operator uses another easy-to-move simple teaching arm to perform the desired movement manually, and the position information of the simple teaching arm during that time is captured in the control device, and based on this information. By operating an industrial robot, it is possible to easily teach delicate movements such as a snap of the wrist. can provide a robot device for

[Brief explanation of drawings]

Figure 1 ('') r (b) * (') s (') is a structural diagram of various industrial robots, Figure 2 is a diagram explaining an indirect teaching type industrial robot device, and Figure 3 is an industrial robot. A configuration diagram of a robot control device, FIG. 4 is a diagram for explaining a direct teaching type industrial robot device, FIG. 5 is a diagram for explaining an industrial robot device according to an embodiment of the present invention, and FIG. 6 is a diagram for explaining a direct teaching type industrial robot device. FIG. 7 is a configuration diagram of a teaching arm according to an embodiment of the present invention, and FIG. 7 is a configuration diagram of a control device of an industrial robot device according to an embodiment of the present invention. 1. Robot main body 3. ...Control device 20...Simple teaching arm agent Patent attorney Kensuke Chika (and one other person) 1st (α) (C) (b) Fig. 2 Fig. 3/) Fig. 4 Figure 5 Figure 7

Claims (1)

[Claims] In an industrial robot device comprising a robot body and a control device having a function of teaching and reproducing the motion of the robot body, the robot body performs a predetermined motion and transmits position information to the control device in order to teach the motion of the robot body. An industrial robot device comprising a simple teaching arm that stores and creates an operation program for the robot body.