JPS60164811A - Robot teaching device - Google Patents

Abstract

PURPOSE:To operate efficiently teaching of a robot by providing a memory, where the same position and attitude as preceding are stored as new information, without allowing a robot to take the same position and attitude when the position and the attitude which are tought to the robot once are tought again. CONSTITUTION:A push button ''teaching 1'' on a teaching box 4 is used in case that positions and attitudes of the front end of the robot are recorded; and if data recorded by the use of this button should be used again, a push button ''teaching 2'' is depressed after said button and a push button ''recording'' are depressed. In this case, an indicator 6 is lit while this data is stored. Thereafter, if the push button 5 is depressed again when this data should be used again, the same position and attitude as preceding are recorded as a new step though the robot does not take prescribed position and attitude. Consequently, it is possible that the end point of the same position and attitude as the start point is taught to the front end of the robot.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention is a robot teaching device relating to teaching from a teaching box, which is one of the programming methods for industrial robots.

[Prior art]

Conventional robot teaching devices of this type include those shown in FIGS. 1 and 2. In Figures 1 and 2, (1
) is the robot body that performs the actual work, (2) is the control device that controls the movement of the robot, and (3) is the man-machine that starts the robot and reads out the data stored in the control device (2). The operation board (4) provides an interface and is a teaching box that manually moves the robot and stores work procedures.

To teach the robot a working action, press any switch from 10 to ±06 on the teaching box (4) to move the robot to the desired position and determine the position and posture of the robot's tip. Once the position and posture of the robot tip are determined, next press the record/teach switch on the teaching box (4), and the position and posture of the robot tip based on the data in step A1 are stored in the control device (2). Ru. Next, the data of step 2 is also stored in the same manner. By repeating these actions, you can create a series of pro-game shots.

Conventional teaching pendants have the above-mentioned configuration and are convenient for teaching closed figures, but they are useful for teaching closed polygons,
When teaching a closed figure such as a perfect circle or an ellipse where the starting point and the ending point coincide, it is difficult to teach the ending point the same position and orientation as the starting point.

[Summary of the invention]

The present invention aims to eliminate the drawbacks of the conventional ones as described above, and to provide a robot teaching device that can teach the same position and posture to the end point as the starting point, and can efficiently operate the teaching of the robot. This is the purpose.

That is, the present invention includes a robot body, a control device that controls the movement of the robot, an operation board that performs a man-machine interface that starts the robot and reads data stored in the control device, and a control device that controls the robot manually. In a robot teaching device equipped with a robot that is moved by a robot and a teaching box that stores work procedures,
When the information on the position and posture of the tip of the robot that has been taught once is to be taught again This is a robot teaching device characterized by the following.

[Embodiments of the invention]

Embodiments of the present invention will be described below based on the drawings.

5 and 4 show embodiments of the present invention.
) is a teaching 2 push button that temporarily stores the position and orientation of the robot tip, and is attached to the teaching box (4). (6) is a display indicating that the data is being temporarily stored, and is provided on the teaching box (4). The teaching box (4) uses the teach 1 push button when recording the position and orientation of the robot tip as in the past, but when you want to reuse the data obtained by using the teach 1 push button, you use the teach 1 push button. After pressing the record button, press the teach 2 push button (5). In this case, the indicator (6) is lit while the data is being stored. If you want to use the data again after several steps, press the teach 2 button once, and even if the robot is not in the predetermined position or posture, the same position and posture as before will be used as a new step. recorded. (1)
is the robot body, (2) is the control device, and (3) is the operation board.゛The above embodiment shows a case where there are two push buttons for temporarily storing the position and orientation of the i-bot tip, but if necessary, the number of push buttons and indicators can be increased to store data from multiple points. It is also possible.

In this paper, we presented a method to input information without actually moving the robot, but in the second teaching step 2, the robot is moved and its position and posture are memorized by pressing the teaching button. Nourishing too.

[Effect of Issuing] ′ The present invention is advantageous in that when the information on the position and posture of the tip of the robot tip that has been once taught as described above is taught again, it is possible to teach the robot tip with new information without having the robot assume the same position and posture as before. Since the teaching box is provided with a temporary storage memory for this purpose, it is possible to teach the end point the same position and attitude as the starting point of the robot tip, which has the effect of efficiently operating the robot's teaching. are doing.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing a conventional robot teaching device, and FIG. 2 is an enlarged view of a teaching box of a conventional six-point teaching device. FIG. 3 is an explanatory diagram showing an embodiment of the present invention, and FIG. 4 is an enlarged view of the teaching box of the embodiment of the present invention. 1... Robot body, 2... Control device, 3...''
Operation board, 4... Teaching box, 5...
Push button for teaching 2, 6...display. In the drawings, the same reference numerals indicate the same or Buddhist parts. Agent Patent Attorney Sanro Kimura

Claims (1)

[Scope of Claims] A robot body, a control device that controls the movement of the robot, an operation board that performs a man-machine interface that starts the robot, reads data stored in the control device, and controls the robot. In a robot teaching device equipped with a teaching box that can be moved manually or memorized work procedures, when the information on the position and orientation of the tip of the robot that has been previously taught is to be taught again, the same position and orientation as before can be used. A robot teaching device characterized in that the teaching box is provided with a partial memory for storing new information without having the robot read the information.