JPS60164813A - Teaching method of working robot - Google Patents

Abstract

PURPOSE:To obtain a working robot having a high teaching speed by moving an arm only for teaching along the same course as an actual work of the working robot and storing the movement of this arm and reproducing the movement on the basis of this stored signal. CONSTITUTION:In case of teaching, a handle 31 is grasped and is moved in the same manner as actual painting to operate the teaching arm. That is, shafts 32 and 33, an arm 34, a turntable 36, and a link 37 of the teaching arm are turned in directions of arrows alpha1, beta1, phi1, psi1, and theta1 respectively in accordance with push and pull of the handle 31. Their rotation angles are detected independently of one another by potentiometers 42, 43, 48, 49, and 51. Detected signals are stored in a storage reproducing command device. After teaching, the stored turning angle of each movable member is read out and is used as a command value to allow the robot body to perform an unattended work in the reproducing mode.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a teaching method for a playback type working robot.

In a playback type robot, a human first manually operates the work tools to create a model.

At the same time, various types of information are stored in the robot, and the robot then plays back the stored information to perform unmanned work.However, conventionally, the robot itself is manually operated to perform model work (hereinafter referred to as "teaching"). ), there were the following drawbacks. In other words, the movable parts that make up the robot can be operated with limited human power by overcoming their inertial resistance or the frictional resistance of each part.

Teaching speed was slow and work efficiency was low.

Furthermore, in order to facilitate teaching by human power, the structure became complicated due to the addition of a balancing member, and there were various restrictions on the mounting posture of the robot.

The disadvantages of the conventional apparatus will be explained with respect to a painting robot, which is a typical example of a playback type robot.

In FIG. 1 and FIG. 2, the painting gun O1 is.

It is attached to the arm 04 via rotating cylinders 02 and 08 and rotates in the horizontal and vertical planes. The arm 04 is a rotary table 0 rotatably supported by a base 05.
6 via link 07. The arm 04 and the link 07 are swung in the vertical plane (angle φ direction, angle ψ direction) by the drive cylinder 08.09, and the rotation table 06
rotates around a vertical axis. Therefore, the tip of the coating gun 01 can move arbitrarily in eight-dimensional directions. Teaching is performed by one operator who attaches a teaching handle O1O, grips the teaching handle 010, and directs the tip of the painting gun 01 toward the object to be coated (workpiece). As can be easily understood from the above description and drawings, during teaching, one operator operates the painting gun 019 rotating cylinder 02.08. Arm 04. Link 079 Turntable 06 and drive cylinder 08
．． The movable members such as the piston 09 must be manually driven, and the operation speed of the coating gun O1 is extremely low due to their inertial resistance or frictional resistance.

Furthermore, if a gravity balance cylinder is added to alleviate the above-mentioned drawbacks, the mounting position will be restricted, or the teaching handle 010 will be located near the painting gun O1, which will limit the working space and may cause parts that cannot be painted depending on the shape of the workpiece. There was a drawback that this occurred.

The present invention has been made in view of the drawbacks of the conventional devices described above, and an object of the present invention is to provide a working robot with a high teaching speed.

Next, nine embodiments of the present invention will be described based on the drawings. 8th
In the figures and FIG. 4, the coating gun 1 is supported on a horizontal arm 4 via nine rotating cylinders 2 and 8. The rotation axis of the rotating cylinder 2 extends in the vertical direction,
Further, the rotation axis of the rotation cylinder 8 extends in the horizontal direction. The rotary cylinders 2 and 8 are connected to a conventional hydraulic system (not shown). A rotary table 6 is rotatably supported on the pace 5, the lower end of a link 7 is pivotally attached to the upper end of the rotary table 6, and the arm 4 is pivotally attached to the upper end of the link 7.

A drive cylinder 8 is interposed between the arm 4 and the rotary table 6, and a drive cylinder 9 is interposed between the bracket extending laterally of the link 7 and the rotary table 6. An arm 10 is locked to the lower end of a shaft extending downward of the rotary table 6, and a drive cylinder 11 is interposed horizontally between the arm 10 and the pace 5.

Like the rotary cylinder 2.8, the drive cylinders 8, 9.11 are also connected to a conventional hydraulic system (not shown).

Potentiometers 12 and 18 are mounted on the rotating shafts of the rotating cylinders 2 and 8, respectively. Botensilometer 12.
18 will be described later. A drive cylinder 8 is connected between the arm 4 and the rotary table 6. Ejai.

In addition, a position detector 14 is provided which exhibits an amount of expansion and contraction equal to that of the drive cylinder 8. FIG. 5 shows details of the 9-position detector 14, in which a rod 15 is connected to the arm 4 and has a rack at its tip, and a main body 16 is connected to the 9-turn table 6 and has the rod 16 inserted therein. It is formed by a gear 17 that is pivotally supported within the main body 16 and meshes with the rack, and a potentiometer 18 that is mounted on the main body 16 and is pivotally fixed to the gear 17. Simultaneously with the expansion and contraction of the drive cylinder 8, the position detector 14 expands and contracts by an equal amount, and the amount of expansion and contraction is the same as that of the rod 1.
5 and the gear 17, the potentiometer 1
It is converted into a rotation amount of 8. A potentiometer 19 is connected to a shaft that pivotally supports the rotary table 6 and the link 7 via a gear train (not shown), and the potentiometer 19 detects the rotation angle of the link 7.

A belt pulley 20 is attached to a shaft extending downward of the rotary table 6, and a belt 22 is stretched between the belt pulley 20 and a potentiometer 21 attached to the pace 6.

The above is the configuration of the robot body.

FIGS. 6 and 7 are a plan view and a side view showing the memory operating device, that is, the teaching arm.

A handle 81 corresponding to said paint gun 1 is fixed to a shaft 82 corresponding to one rotation cylinder 2, and the same shaft 82 is connected to an incremental position detector or potentiometer fixed to a shaft 88 corresponding to said rotation cylinder 8. 42.

The potentiometer 42 is similar to the potentiometer 12.
It corresponds to

The shaft 88 passes through the arm 34 corresponding to the arm 4 of the robot body, is pivotally supported by the arm 34, and is coupled to the shaft of a potentiometer 43, which is an incremental position detector fixed to the arm 84.

A rotary table 36 corresponding to the 1-rotary table 6 is rotatably supported on a base 35 corresponding to the base 5 of the robot body, and an arm 34 is swingably connected to the rotary table 3 via a link 37.
It is connected to 6. A position detector 44 corresponding to the position detector 14 of the robot body is interposed between the rotating table 36 and the arm 34. Similar to the position detector 14 shown in FIG. 5, the same position detector 44 has a main body 46. which is engaged with the arm 34, has a rack formed at the other end, and is engaged with the nine rod 452 and the rotary table 36. It is comprised of a gear (not shown) mounted within the main body 46 and an incremental position detector or potentiometer 48 mounted within the main body 46.

The rod 451 main body 46. The gear and potentiometer 48 are connected to the rod 159 body 16 of the position detector 14.
．． They correspond to the gear 17 and the potentiometer 18, respectively.

A shaft (not shown) that connects the link 37 and the rotary table 36
is fixed to link 37, and the coaxial shaft communicates with the input shaft of an incremental position detector or potentiometer 49 via a pair of gear trains, also not shown. The same potentiometer 49 is.

It corresponds to the potentiometer 19 of the robot body.

At the lower end of the shaft extending downward of the rotary table 86.

A belt pulley 50 is fitted, and the belt pulley 50 is attached to the base 3.
It communicates by a belt 52 with an incremental position sensor or potentiometer 51 mounted at 5. The belt wheel 50. The potentiometer 51 and belt 52 correspond to the belt pulley 20° potentiometer 21 and belt 22 of the robot body, respectively.

FIG. 8 is a block diagram of the control system of the ninth embodiment. The control system includes movable members of the robot 7), that is, the rotary cylinders 2, 3. It consists of a number of independent systems corresponding to each of the arm 4° link 7 and rotating table 6. Since each component is the same, only the control system of the rotary cylinder 2 will be explained.

A drive system 53 including a rotating cylinder 2 and an electro-hydraulic servo valve (not shown) connected thereto via a hydraulic circuit is connected to a servo amplifier 54 . It is connected to a reversible counter 56 via a DA converter 55. The output of potentiometer 12 is connected to one side of reversible counter 56 via A/D converter 112.

58 is a memory/reproduction type command device (commonly known as memory).

It is connected to the positive side of the reversible counter 56 or the potentiometer 142 via the changeover switch S.

The selector switch S 81 is the storage mode, and the switch S2 is the playback mode.

The output end of the potentiometer 142 of the teaching arm is connected to the + side of the reversible counter 56 and generates a number of pulses proportional to the rotation angle of its input shaft, that is, the rotation angle of the shaft 32.

Said shaft 82.88. The dimensions of the arm 849, rotating table 36, link 87, etc. are the same scale as the rotating cylinders 2, 3, . The dimensions of the arm 42, rotating table 6, link 7, etc. are the same, and the dimensions of the potentiometers 12, 18. t
The rotation angle detected by s, 19.21 and the rotation angle detected by potentiometers 42.48.4B, 49.51 statically match.

In this embodiment having the above-described configuration, when teaching is performed, the teaching arm is operated while gripping the nondle 81 and moving it in the same manner as when actually painting.

That is, by pushing and pulling the handle 81, the axis 82.8B of the teaching arm.

The arm 342 rotating table 3G and the link 87 are each indicated by the arrow α
1. β1. φ1. It rotates in the directions shown by ψ1 and θl.

These rotation angles are 9 meters 42.48.48
．． 49 and 51 are detected independently. For example, the detection output of the potentiometer 42 according to the rotation angle of the shaft 820 is a pulse number proportional to the rotation angle. The signals detected by these potentiometers 142 are stored in a storage/reproduction type command device. At this time, the selector switch 8 is set to memory mode 8. has been switched to.

After the above-mentioned teaching is completed, when the stored rotation angles of each movable member are to be reproduced and used as command values to cause the robot body to perform unmanned work, the switch S is first switched to the reproduction mode 82. This unmanned operation will also be explained using the rotary cylinder 2 as an example with reference to FIG.

A command value (rotation angle of the rotary cylinder 2 . . . absolute value display from one reference position) reproduced from the command device 58 at predetermined time intervals is input to the reversible counter 56 . If this input pulse already has a count value, it is added to it, and the output thereof is converted into an analog quantity by a D/A converter 55, further amplified by a servo amplifier 54, and then sent to the servo of the drive system 58. The pressure applied to the valve. In response to this applied input, the servo valve opens to supply hydraulic oil in an amount proportional to the output of the reversible counter 56 into the rotary cylinder 2.

As a result, the coating gun 1 is rotated by a predetermined amount in the direction of the arrow α2. This amount of rotation is

Detected by the potentiometer 12, a number of pulses proportional to the amount of rotation thereof are input to one side of the reversible counter 56,
Subtract this number of pulses from the already existing count value. Therefore, the output of the reversible counter 56 decreases by that amount, and as a result, the amount of hydraulic oil supplied to the rotary cylinder 2 decreases, and the direction of the coating gun 1 matches the command value.

The above-mentioned control operation is repeated according to the command values reproduced in chronological order.

Also the regeneration operation of other movable members such as arm 4.

This is carried out in the same manner as the rotating cylinder 2, and in the end, the painting gun 1 moves along the same route as the taught model work, and unmanned painting work is performed. The rotation angle (command value) once stored in the command device 58 will continue to be stored as is unless it is specifically erased, so the workpieces are replaced one after another and the robot is made to perform the same reproduction operation.

As explained above, according to the present invention, teaching is performed by the teaching arm rather than by manually moving the robot body, so the teaching speed is significantly improved compared to the conventional method. Also, the worker uses painting gun 1
Since it is far away from the water, it will not be contaminated by paint.

Furthermore, since there is no need to add a balancing sill or the like to the robot, the robot body is compact and the degree of freedom in mounting position is expanded, resulting in various effects such as being able to take a suitable position for painting and ensuring a good painted surface. be able to.

[Brief explanation of drawings]

1 and 2 are a plan view and a side view of a conventional device, respectively, FIG. 8 is a plan view of a robot body according to an embodiment of the present invention, and FIG. 4 is a side view of a robot body according to an embodiment of the present invention. 6 is an enlarged cross-sectional view showing the details of the main part of FIG. 5, FIG. 6 is a plan view of the teaching arm of the embodiment of the present invention, and FIG. 7 is a side view of the teaching arm of the embodiment of the present invention. FIG. 9 is a block diagram showing a control system of an embodiment of the present invention. 1... Paint gun, 2, 8... Rotating cylinder, 4...
・Arm, 6... Rotating table, 7... Link, 8, 9.
11... Drive cylinder, 12.18... Potentiometer. 18, 19.21... Potentiometer, 81...
handle. 82, 88... Axis, 84... Arm, 86... Turntable, 87... Link, 42.48.48.49.
51... Potentiometer. 58... Drive system, 56... Reversible color/reverse, 57...
・Pulse generator, 68... Command unit, 8... Selector switch. 60 52 Figure 7 Figure 8 Procedural amendment (method) Commissioner of the Japan Patent Office, January 2, 1980 Indication of the case 1988 Patent Application No. 20650 Title of invention 7 methods for teaching working robots Amendment Relationship with the patent case Patent applicant address 1, 5-5 Marunouchi, Chiyoda-ku, Tokyo Name (
620) Mitsubishi Heavy Industries, Ltd. Agent

Claims (1)

[Claims] A dedicated teaching arm having the same dimensions and the same degree of freedom as the work robot is prepared in advance, and the teaching arm is caused to move along the same path as the work of the work opening bot. A teaching method for a working robot, characterized in that the stored information is read out during playback, and the working robot is driven and controlled based on the read signal.