JPS60195616A - Industrial robot - Google Patents

Industrial robot

Info

Publication number
JPS60195616A
JPS60195616A JP4927384A JP4927384A JPS60195616A JP S60195616 A JPS60195616 A JP S60195616A JP 4927384 A JP4927384 A JP 4927384A JP 4927384 A JP4927384 A JP 4927384A JP S60195616 A JPS60195616 A JP S60195616A
Authority
JP
Japan
Prior art keywords
robot
moving
locus
teaching
cpu15
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP4927384A
Other languages
Japanese (ja)
Inventor
Hiroshi Nagai
博 長井
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
Original Assignee
Iseki and Co Ltd
Iseki Agricultural Machinery Mfg Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iseki and Co Ltd, Iseki Agricultural Machinery Mfg Co Ltd filed Critical Iseki and Co Ltd
Priority to JP4927384A priority Critical patent/JPS60195616A/en
Publication of JPS60195616A publication Critical patent/JPS60195616A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
    • G05B19/4207—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To simplify the teaching operation to an industrial robot so as to lighten the labor required for the teaching operation, by detecting the moving locus of a moving member and storing the displaced quantity detected on the basis of the moving locus, and then, outputting drive commanding signals in accordance with the stored data. CONSTITUTION:Firstly, a work W is set to a three-dimensional coordinate measuring machine 3. At the measuring machine 3 copying operations of the locus of the work are made by using a detecting probe and the three-dimensional coordinates of the locus are detected. The coordinates are fetched by a CPU15 through a parallel input-output interface 17 and the CPU15 judges the moving direction and moving distance of a robot and outputs the drive commanding signal of a robot controlling unit 11 through another parallel input-output interface 21. The moving direction and moving distance are stored in a memory 19. Therefore, when an operation panel 13 is set to the automatic position, the CPU15 fetches the moving direction and moving distances from the memory 19 and outputs drive commanding signals to a robot driving motor 12 through the interface 21 and unit 11, and thus, the robot is driven.

Description

【発明の詳細な説明】 本発明は、一般に産業用ロボットに関し、より詳しくは
教示ｉ構を備えた産業用ロボットに関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates generally to industrial robots, and more particularly to an industrial robot with a teaching structure.

従来、ティーチングボックスによる産業用ロボットのテ
ィーチング方法は、オペレータがワークのｘ、ｙ、ｚ座
標を監視しながらティーチングしていたため、操作が煩
雑で多大の時間と労力を要し、オペレータの疲労が大き
いという問題点があった。Conventionally, the method of teaching industrial robots using a teaching box required the operator to teach while monitoring the x, y, and z coordinates of the workpiece, making the operation complicated and requiring a large amount of time and effort, resulting in significant operator fatigue. There was a problem.

本発明は、上記の問題点に鑑みなされたもので、その目
的は、ティーチング操作を簡略化することができ、もっ
てティーチングの労力を軽減することができる産業用ロ
ボットを提供することにある。The present invention has been made in view of the above problems, and an object thereof is to provide an industrial robot that can simplify teaching operations and thereby reduce teaching labor.

上記目的を達成するだめの本発明の特徴は、可動体を駆
動する駆動装置（１２）と、該可動体に作業手順を教示
するための教示機構に設けられ、前記可動体の作業対象
物と略相似形状に形成される模擬作業対象物上を移動す
る移動部材（７）と、該移動部材の移動軌跡を検知し、
該検知した移動軌跡に基づいて前記教示機構の変位量を
検出づ“る手段（８）と、該検出手段から与えられた検
出値を記憶する手段（１９）と、該記憶手段から与えら
れたデータに基づいて前記駆動装置に所定の駆動指令信
号を出力する制御手段（１５）とを有するごとき産業用
ロボットにある。A feature of the present invention for achieving the above object is that the driving device (12) for driving the movable body and the teaching mechanism for teaching the movable body the working procedure are provided, and detecting a moving member (7) moving on a simulated work object formed in a substantially similar shape and a movement trajectory of the moving member;
means (8) for detecting the displacement amount of the teaching mechanism based on the detected movement trajectory; means (19) for storing the detected value given from the detecting means; The industrial robot includes a control means (15) for outputting a predetermined drive command signal to the drive device based on data.

以下図面により本発明の詳細な説明する。The present invention will be explained in detail below with reference to the drawings.

第１図は本発明の一実施例に従う産業用ロボットのティ
ーチングシステムを示した図、第２図は本発明の一実施
例に従う制御装置のブロック回路図を示したものである
。FIG. 1 is a diagram showing a teaching system for an industrial robot according to an embodiment of the present invention, and FIG. 2 is a block circuit diagram of a control device according to an embodiment of the present invention.

第１図にて図示するように、本発明の一実施例に従う産
業用ロボットとしての溶接ロボット１は、制御装置５を
介して３次元座標測定ｍ３に接続されている。As shown in FIG. 1, a welding robot 1 as an industrial robot according to an embodiment of the present invention is connected to a three-dimensional coordinate measurement m3 via a control device 5.

前記３次元座標測定器３は検出プローグ７と測定器８と
で構成されており、例えばワークＷの溶接線のごときワ
ークの軌跡を、検出プローグ７によって倣い動作させる
ことによって、測定器８は、３次元座ｍ　（ｘ　、　ｙ
　、　ｚ座標）を検出するものである。The three-dimensional coordinate measuring device 3 is composed of a detection prong 7 and a measuring device 8. For example, by causing the detecting prong 7 to trace the locus of a workpiece such as a welding line of the workpiece W, the measuring device 8 can: Three-dimensional locus m (x, y
, z coordinate).

前記制御装置５は、マイクロコンピュータ９゜ロボット
制御ユニット１１および操作パネル１３を備えている。The control device 5 includes a microcomputer 9, a robot control unit 11, and an operation panel 13.

前記マイクロコンピュータ９はＣＰＬｌｌ５、パラレル
入を出力インタフェイス１７、メモリ１９、パラレル出
力インタフェイス２１およびリレー人出力インタフエイ
ス２３を有する。ＣＬＩＰＩ　５は、パラレル入出力イ
ンタフェイス１７を介して３次元座標測定機３から出力
される３次元座標（Ｘ。The microcomputer 9 has a CPLll5, a parallel input/output interface 17, a memory 19, a parallel output interface 21, and a relay output interface 23. The CLIPI 5 receives three-dimensional coordinates (X.

ｙ、Ｚ座標）の検出信号を取込み、ＣＰＬｌｌ５でロボ
ット１のワーク上の移動方向および移動距離を判断して
パラレル出力インタフェイス２１を介してロボット制御
ユニット１１に所定の駆動指令信号を出力する。y, Z coordinates), the CPLll5 determines the moving direction and moving distance of the robot 1 on the workpiece, and outputs a predetermined drive command signal to the robot control unit 11 via the parallel output interface 21.

一方、ＣＰＬｔｌ　５で判断したロボット１の移動方向
および移動距離すなわちワーク上のロボット１の軌跡は
、メモリ１９に格納される。On the other hand, the moving direction and moving distance of the robot 1 determined in CPLtl 5, that is, the trajectory of the robot 1 on the workpiece, are stored in the memory 19.

また、ＣＰＬＩＩ　５は、パラレル入出力インクフェイ
ス２１を介して３次元座標測定１！１３に制御信号を出
力する。The CPL II 5 also outputs a control signal to the three-dimensional coordinate measurement 1!13 via the parallel input/output ink face 21.

つぎに、上記構成によるティーチング操作を説明する。Next, a teaching operation using the above configuration will be explained.

まず、３次元座標測定機３にワークＷをセラ１−する。First, a workpiece W is placed on the three-dimensional coordinate measuring machine 3.

そして、３次元座標測定機３の検出プローグ７によって
ワークＷの軌跡、例えば、第１図に示すごときワークの
溶接線を倣い動作させると、測定器８は、ワークの軌跡
の３次元座標（ｘ　、　ｙ　。Then, when the detection probe 7 of the three-dimensional coordinate measuring machine 3 is operated to trace the trajectory of the workpiece W, for example, the welding line of the workpiece as shown in FIG. , y.

２座標を検出する。測定器８によって検出された３次元
座標（ｘ　、　ｙ　、　Ｚ座標）は、パラレル入出力イ
ンタフェイス１７を介してマイクロコンピュータ９のＣ
ＰＬＩＩ　５に取込まれ、ここでロボット１のワーク上
の移動方向および移動距離を判断してパラレル出力イン
タフェイス２１を介してロボット制御ユニット１１の所
定の駆動指令信号を出力する。そして、ロボット駆動用
モータ１２の駆動により、ロボット１を動作する。Detect two coordinates. The three-dimensional coordinates (x, y, Z coordinates) detected by the measuring device 8 are sent to the C of the microcomputer 9 via the parallel input/output interface 17.
The PLII 5 determines the moving direction and moving distance of the robot 1 on the workpiece, and outputs a predetermined drive command signal for the robot control unit 11 via the parallel output interface 21. Then, the robot 1 is operated by driving the robot drive motor 12.

一方、前記ＣＰＬ１１５で判断したロボット１の移動方
向および移動距離は、メモリ１９に格納される。On the other hand, the moving direction and moving distance of the robot 1 determined by the CPL 115 are stored in the memory 19.

したがって、操作パネル１３を自動位置に操作すること
により、ＣＰＬｌｌ　５はメモリ１９に格納されたロボ
ット１の移動方向および移動距離を取出しパラレル出力
インタフェイス２１及びロボットＭａｌｌユニット１１
を介してロボット駆動用モータ１２に所定の駆動指令信
号を出力してロボット１を駆動する。なお上述した内容
は、あくまでも本発明に従う一実施例の内容であって、
本発明が上記内容に限定されるものでないことは勿論で
ある。Therefore, by operating the operation panel 13 to the automatic position, the CPLll 5 retrieves the moving direction and moving distance of the robot 1 stored in the memory 19 and outputs the moving direction and moving distance of the robot 1 from the parallel output interface 21 and the robot Mall unit 11.
A predetermined drive command signal is output to the robot drive motor 12 via the robot drive motor 12 to drive the robot 1. It should be noted that the above-mentioned content is merely the content of one embodiment according to the present invention,
It goes without saying that the present invention is not limited to the above content.

以上説明したように本発明によ杵ば、教示ｔＩＩＷｊの
変位量を検出する手段が模擬作業対象物上を移動する移
動部材の移動軌跡を検知し、該検知した移動軌跡に基づ
いて検出した変位量を記憶手段に与え、制御手段が該記
憶手段から与えられた前記データに基づいて可動体を駆
動する駆動装置に所定の駆動指令信号を出力するように
したので、ティーチング操作を簡略化することができ、
ティーチングの労力を軽減す、ることが可能な産業用ロ
ボットを提供することができる。As explained above, according to the present invention, the means for detecting the displacement amount of the teaching tIIWj detects the movement locus of the moving member moving on the simulated work object, and the displacement detected based on the detected movement locus. The teaching operation is simplified because the control means outputs a predetermined drive command signal to a drive device that drives the movable body based on the data given from the storage means. is possible,
It is possible to provide an industrial robot that can reduce teaching labor.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の一実施例に従う産業用ロボットのティ
ーチングシステムを示した図、第２図は本発明の一実施
例に従う制御装置のブロック回路図を示したものである
。 １・・・　産業用ロボット ３・・・　３次元座標測定機 ７・・・　検出プローグ　８・・・　測定器１２・・・
　ロボット駆動 １５・・・　ＣＰＬＩ用モータ １９・・・　メモリFIG. 1 is a diagram showing a teaching system for an industrial robot according to an embodiment of the present invention, and FIG. 2 is a block circuit diagram of a control device according to an embodiment of the present invention. 1... Industrial robot 3... Three-dimensional coordinate measuring machine 7... Detection probe 8... Measuring device 12...
Robot drive 15... CPLI motor 19... Memory

Claims (1)

【特許請求の範囲】[Claims] 可動体を駆動する駆動装置と、該可動体に作業手順を教
示するための教示機構に設けられ、前記可動体の作業対
象−物と略相似形状に形成される模擬作業対象物上を移
動する移動部材と、該移動部材の移動軌跡を検知し、該
検知した移動軌跡に基づいて前記教示機構の変位量を検
出する手段と、該検出手段から与えられた検出値を記憶
する手段と、該記憶手段から与えられたデータに基づい
て前記駆動装置に所定の駆動指令信号を出力する制御手
段とを有することを特徴とする産業用ロボット。“A driving device for driving a movable body and a teaching mechanism for teaching the movable body a work procedure are provided, and the movable body moves over a simulated work object formed in a shape substantially similar to the work object of the movable body. a moving member, a means for detecting a movement trajectory of the moving member and detecting a displacement amount of the teaching mechanism based on the detected movement trajectory, a means for storing a detected value given from the detection means; An industrial robot comprising: a control means for outputting a predetermined drive command signal to the drive device based on data given from a storage means. “
JP4927384A 1984-03-16 1984-03-16 Industrial robot Pending JPS60195616A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4927384A JPS60195616A (en) 1984-03-16 1984-03-16 Industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4927384A JPS60195616A (en) 1984-03-16 1984-03-16 Industrial robot

Publications (1)

Publication Number Publication Date
JPS60195616A true JPS60195616A (en) 1985-10-04

Family

ID=12826232

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4927384A Pending JPS60195616A (en) 1984-03-16 1984-03-16 Industrial robot

Country Status (1)

Country Link
JP (1) JPS60195616A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1367377A2 (en) * 2002-06-01 2003-12-03 Mündener Gummiwerk GmbH Device for simulating the installation of hoses in motor vehicles, in particular turbocharger or cooling water hoses in the motor compartment
JP2007117695A (en) * 2005-10-27 2007-05-17 Sachiko Adachi Water-saving face washing cover
US8352212B2 (en) 2009-11-18 2013-01-08 Hexagon Metrology, Inc. Manipulable aid for dimensional metrology

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1367377A2 (en) * 2002-06-01 2003-12-03 Mündener Gummiwerk GmbH Device for simulating the installation of hoses in motor vehicles, in particular turbocharger or cooling water hoses in the motor compartment
EP1367377A3 (en) * 2002-06-01 2006-05-24 Mündener Gummiwerk GmbH Device for simulating the installation of hoses in motor vehicles, in particular turbocharger or cooling water hoses in the motor compartment
JP2007117695A (en) * 2005-10-27 2007-05-17 Sachiko Adachi Water-saving face washing cover
US8352212B2 (en) 2009-11-18 2013-01-08 Hexagon Metrology, Inc. Manipulable aid for dimensional metrology

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