JPS6031614A - Method and apparatus for teaching robot indirectly - Google Patents

Abstract

PURPOSE:To attain teaching accurately for a short time by interlocking a working robot with a teaching robot corresponding to the operation shafts of the working robot and moving arms of the teaching robot while observing the operation of the working robot. CONSTITUTION:The teaching robot 1 has a coupling member 2 such as an arm having the same or similar shape as/to the working robot 12 at its operating means and the leading end part of the arm is manually operated along a required trace. The quantity of operation of operation shafts 41-4n to be changed in accordance with said operation are detected by sensors 61-6n and the detected signals are inputted to a control device 8. The device 8 prepares an instruction code for actuating the robot 12 on the basis of the detection data from respective sensors to actuate the robot 12. While monitoring the moving trace of the leading end part of the arm of the robot 12, the leading end part of the arm of the robot 1 is correctly actuated so that the required trace is obtained and the positional data of a necessary operating point are successively stored in an external storage device 10 every movement of the robot 12 to attain the teaching of the robot.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method and apparatus for teeing the motion trajectory of a working robot.

Conventionally, the following method has been adopted as a method for teeing the movement path of a working robot. The first method is to program the instruction code manually or using an n1 calculator so that it moves along a predetermined movement trajectory, and then operate the work robot based on this. be. The second method uses a remote-controlled teaching box.
In this method, each operating axis is operated individually in chronological order, the coordinates of each operating point are read and memorized, and the robot is operated based on this data.The third method is to This is a method in which the tip of the arm of the robot is directly moved along a predetermined motion trajectory, and the coordinates of the motion axis at that time are read using a rotary encoder, etc., stored, and played back. It is quite complicated and difficult to create an instruction code so that the motion follows the trajectory of In addition, in the second method, the actual method of operating the robot's arm is to operate each operating axis using a remote control switch. I can't move along.

In addition, in order to perform treading with high precision, it is necessary to perform treading with fine grains through trial and error many times, and treading requires a large amount of time. On the other hand, in the third method, the operator directly moves the arm to perform the teasing, which has the advantage that the teasing can be performed easily, quickly, and with relatively high precision. However, in the direct teeing method such as this third method, the drive shaft of the work robot is rotated in the opposite direction from the output shaft, so the movement of the robot arm is heavy. It is difficult to operate along the motion trajectory. Furthermore, robot companies that can adopt this third method naturally have mechanical limitations. That is,
To transmit the driving force of the operating shaft, (1) those that use a worm gear, (2) those that use a rack and pinion mechanism, and (3) those that have a large reduction gear ratio and a large reverse torque from the output shaft. (4) Gears that cannot be reversed using a ball screw (14i) cannot be moved directly by hand, so direct teeing is not possible. Can not.

Therefore, the present invention has been made to improve these conventional drawbacks, and uses a teaching robot whose arm can be easily moved by hand for 1 q. It follows the same movement trajectory as the teaching robot. As shown in the figure, we have developed a method and method that allows for highly accurate (and short-time teaching) by linking the working [I-bot with the teaching robot and operating the arm of the teaching robot while observing the movement trajectory of the working robot. The purpose is to provide equipment.

That is, the first invention has operating axes corresponding to the respective operating axes of the working robot, and the tip of the arm can be moved along an arbitrary movement path by the force of a person who grasps the tip of the arm from the outside. A teasing robot having a mechanism that can be operated along a desired trajectory is used, and while the tip of the arm portion of the teasing robot is moved along a desired trajectory, the arm of each operating axis of the teasing robot is moved. A detector continuously detects the amount of movement that changes with the movement of the tip of the part, and based on the detected amount of movement, the working robot simultaneously operates the arm of the feeding robot. While operating each of the operating axes of the robot arm and operating the tip of the arm in conjunction with the operation of the teaching robot 1, the operator monitors the movement trajectory of the tip of the arm of the working robot. 3. Correcting the tip of the arm part of the teaching robot so that the trajectory is <T to a desired one, and sequentially memorizing the movements of each movement axis of the working robot. (during training) consists of delusional teaching methods.

The second invention also provides a working robot, a connecting member that performs the same or similar operation as each connecting member of the working robot, and a connecting member of a working opening A. A teaching robot having an operating axis corresponding to each operating axis λj that is an operating axis and that operates in accordance with the movement of the connecting member, and a sensor that detects the amount of operation of the operating action, and an output of each of the sensors. a control device that inputs a signal, moves the working robot in real time based on the signal, and sequentially stores the operation m of the robot according to a predetermined control signal from the outside; This invention relates to an indirect teaching device for robots.

The teaching robot has a motion axis corresponding to each motion axis of the work IO pot.
Connecting members that are mechanical members for transmitting robot motion, such as joints, bodies, and wrists, are constructed in the same way or similar to the working robot, and the operating locus of each connecting member is the same as that of the working robot. Or a similar shape. This teaching robot can be easily moved by human power by gripping the tip of the arm portion from the outside. It is also possible to entrain it at a predetermined position. Each operating axis of this teaching robot is equipped with a detector that detects the amount of movement of the operating axis.

The movement axis here refers to the drive axis for driving the joints, and by controlling the amount of movement of the movement axis, the arm,
Refers to something that can move joints, etc.

Therefore, for rotational movement of the joint, the axis around which the joint rotates is the motion axis. Further, when the arm is driven by a piston or the like, the axis along the linear motion of the piston is the operating axis. Moreover, an axis that indirectly operates in relation to the above-mentioned axis can also be defined as an operation axis.

When such a robot is used to slowly move the tip of the arm of the teaching robot along a movement locus that is to be taught in advance, each movement axis of the teaching robot rotates or moves linearly. Each of these operating axes is directly or indirectly provided with a detector that detects the rotation m1 or linear momentum of that axis. The amount of movement of this movement axis is detected by a detector. This detector can be a potentiometer, a photoencoder, a pulse generator, a resolver, a tachometer generator, a magnescale, or the like. These detectors are those that constantly output the operating position relative to the origin of each operating axis as an analog or digital signal, or those that output and count pulses for each unit movement of the operating axis.

Data on the amount of movement of each operating axis detected by this detector is converted into command codes and data for operating the work robots 1 to 1. That is, the movement 111 of the rotation angle, etc. of each movement axis is determined from the signals detected from the sensor provided on each movement axis of the teaching robots 1 to 1, and the work robot is operated in accordance with the amount of movement. Create a command code - At approximately the same time as the arm of this M-heavy teaching robot moves, the working robot draws the same or similar trajectory in conjunction with the teaching robot's movement. While moving the arm of the teaching robot, the worker corrects the movement path while observing the movement trajectory of the tip of the arm of the working robot. Then, when the work robot follows a predetermined movement path, the coordinates of each movement axis of the work robot at this time, that is, position data, are stored based on a control signal from the outside indicating that data is to be stored. Ru. By repeating this process, position data is created along the motion path and teaching is completed.

In this way, the teaching method of the present invention uses a teaching robot that can be driven in the opposite direction from the arm to the motion axes, is operated manually along a predetermined motion trajectory, and the amount of movement of each motion axis is detected by a detector. detects the data and operates the work robot in real time based on the data.
It stores position data of the movement path.

FIG. 1 is a block diagram showing the concept of the second invention. This teeing robot has a plurality of connecting members (2) such as arms having the same or similar shape in terms of operating mechanism as the working robot. Those connecting members (
For example, a gear with a small gear ratio is incorporated in the joint that connects 2), and it does not rotate under the weight of the connecting member (
However, it is constructed so that it can be easily rotated by the external force of a human hand. Its operating axis 41.4.2.4n
, each sensor 61, 62, 6n is provided, and each sensor detects the amount of rotation or linear momentum of the operating axis. Then, those output electrical signals are input to the control 1 device 8. The control device 8 creates a command code for operating the work robot 1 12 based on the data read from each sensor. Based on the instruction code, the working robot is activated at the detection time 1 "11".

Also, control 1! A control signal for giving an instruction to store data is input to the device 8 from the outside. When the control signal is inputted from the outside, the position data of the operating point of the poem at which the work robot 1- actually operated is stored in the external storage device 10. In this way, each time the work robot moves along a desired motion trajectory, position data at necessary motion points are sequentially stored and teaching can be performed.

Hereinafter, the present invention will be explained in detail based on specific examples.

FIG. 2 is a perspective view showing the configuration of the teach-in robot used in the embodiment of the second invention. FIG. 3 is a mechanical diagram showing the internal m4R of the teach-in robot. Connecting members are mounted on the base 20. The connecting member includes a column 22 provided on the base 20, a body 24 rotatably supported on the column 22, and an upper arm 26 rotatably supported on the body 24. , A farm 28 (which is rotatably supported by the upper arm 26), and a wrist 30 which is rotatably supported by the tip of the forearm 28. Furthermore, an operating axis is provided at the connecting portion of these connecting members, that is, the so-called joint portion. That is, the operation axis [, 1, J ist axis 41
, shoulder axis 42, elbow axis 43, wrist pitch axis 4
4. List [1-consists of axis 45]. Also, the rotational directions of the respective operating axes are a, 'b, and a, respectively, as shown in the figure.
C, d Xe. The wrist 30 is provided with a bevel gear 76, which engages in the direction of the wrist roll axis 44 with two bevel gears 74, 75 having central axes.

When the bevel gears 74, 75 both rotate in the same direction, the wrist 30 rotates about the wrist pitch axis 44. or,
When the bevel gears 74 , 75 rotate in opposite directions, the wrist 30 rotates about the wrist roll axis 45 . The gear ratio between bevel gear 76 and bevel gear 75 or 74 is 1:4
It is. The drives 19b of the bevel gears 74 and 75 are engaged with the external wrist timing belt 640 and the right wrist timing belt 650, respectively, and these are connected to the central shafts of the external wrist rotary encoder 64 and the wrist Ishikawa [1-tary encoder 65]. are engaged with each other. The reduction ratio of the timing belt is 22+40. rotary 1
The encoder 64 synchronizes with the rotation of the bevel gear 74 and rotates the rotation speed corresponding to the rotation speed of the bevel gear 74. The rotary encoder 65 outputs 600 pulse signals per pulse signal rotation with a period corresponding to the rotation speed of the bevel gear 75. Therefore, 0.0825 of the wrist pitch or wrist roll
The roller 1 encoder 64, 65 outputs 1 pulse for each rotation. In addition, a gear is installed on the report shaft 43 of the elbow, and a timing belt 43 for the elbow is attached to the gear.
0 is engaged, and the elbow timing belt 430 is engaged with the rotating shaft of the elbow shaft rotary encoder 63 via a gear. Gear ~7 of the gear installed on the elbow shaft 43
The ratio is 1:4, and the timing belt reduction ratio is 1:4.
, and the rotary encoder outputs 600 pulses per revolution. Therefore, the n-tary encoder 63 outputs one pulse per 0.0375° rotation of the elbow shaft 43.

Further, the shoulder shaft 42 is provided with a gear, and the shoulder timing belt 62o is engaged with the gear, and the shoulder timing belt 620 is engaged with the gear of the shoulder low rotation encoder 62. The gear ratio of the gear A7 provided on the shoulder shaft 42 is 1:110, and the reduction ratio of the timing belt is 37:80. The rotary encoder outputs a signal of 100 pulses per revolution.

Therefore, the rotary encoder outputs one pulse per o, oi, 56 rotations of the shoulder shaft. Further, a gear is provided on the waist shaft 41, and the gear engages with the central shaft of the rotary encoder 61 for the waist llll11.

This gear ratio is 1:100, and since a rotary encoder that outputs 100 pulses per rotation is used, the rotary encoder outputs 61 pulses per 0.036° rotation of the weight shaft.
outputs 1 pulse.

In addition, limit switches 641, 642, 631, 621, and 611 are provided to detect the mechanical origin of each axis.

FIG. 4 is a block diagram showing the 414 configuration of the electrical system of the device of this embodiment. Water control I device 8 includes a computer system 80 . computer system 8
0 consists of CPIJ and storage, which includes external storage 10.0. It is connected to a character display 82, a keyboard 83, a printer 84, and a multiplexer 800. The multiplexer 800 is connected to counters 801 to 805 that count the output pulses of the rotary encoders 61 to 65, respectively. Further, the values of the counters are displayed on the liquid crystal display 81.
0 can be displayed.

The computer system 80 also includes a working robot 12.
is connected. The work robot 12 includes a drive unit and operates each of its operating axes in response to command codes output from the computer system 80.

FIG. 5 is a flowchart showing the processing of the computer of the apparatus of the present invention. The computer starts its operation at step 100, outputs a command to return the working robot to the mechanical origin, and sets the robot at the mechanical origin as shown in step 300. Next, in step 102, the reference position of the operation is set at the 1-geomachine origin. Next, in step 104, a data file for storing position data is opened.

Next, the process moves to step 106 and the illumination of the keyboard 7JX etc.
4UI Read the information.

On the other hand, when starting the 81 machine, at the same time t31', the contractor moves the teaching arm of the teaching robot to the machine origin as shown in step 200. In order to detect the signal from the limit switch installed on the
You can do one thing. Next (step 20 for second worker)
As shown in Figure 2, the keyboard h\ inputs 1li1111 information indicating that teaching is ready and the teaching position number N. Then, in step 106, the machine reads the information, and in step 108, the control υ[1 information indicating the start of operation is read.
10, each counter 8 of the row reencoder
Outputs a signal to reset 01 to 805.

Next, total II l! ! Then, the process moves to step 112 and the value of I is set to 5. In other words, this I's first I! l1(i(f<
Yes, it matches the number of motion axes. Next, the process moves to step 114, and the value of the counter connected to each row encoder is read. Then, in step 116, the value is stored as variable A<1>.

Next, the process moves to step 118, and the value of I is decreased by one, and in step 120, it is determined whether the value of ■ is zero. If it is zero, it means that all counter values have been read,
In step 122, in order to operate the working robot, data conversion is performed so that the arm rotation angle of the teaching robot matches that of the working [1 pot]. Next, in step 124, position data is created. That is, in this case, r P S j instruction code, position number N, and data converted numerical value B (1
) to B(5)- are created in a predetermined format.

Next, in step 124, a command is output to operate the work robot until it reaches the same position as indicated by the position set command code created.

Then, as shown in step 302, the work robot follows the operation of the teaching arm and moves to the same position as the teaching arm. Step 128 is a step of detecting whether the operation of the working robot is completed or not, and the robot waits at the same step until the operation is completed.

If the operation is complete, the process moves to step 130 to read data from the keyboard.

After the operator inputs control information for starting teaching in step 202, the operator moves the arm of the teaching robot along a predetermined motion trajectory as shown in step 204. Then, by repeating steps 114 to 140, the working robot moves at approximately the same time and following the movement locus of the arm of the teaching robot. The operator operates the teaching arm by trial and error while observing the motion trajectory of the bot. and step 20
Proceed to step 6, and if the operating path of the working robot is correct, store #i! for a command to store the position data of the operating point! The I control signal close signal is input at step 208. The computer determines whether a control signal M for storing position data has been input in step 132, and if so, in step 134 displays the position data created in step 124, and in step 136 , and outputs the position data to a floppy disk. Then step 138
Then, the teaching position number is automatically updated by 1, and the process returns to step 112 to return to the process of causing the working robot to follow the movement of the teaching robot. In this way, the worker can repeat this process, move the working robot in synchronization with the teaching robot, store position data at any position on the predetermined motion path, and teach.

In step 208, if the teaching arm is operated while the memory control signal M is always being input, finely divided position data will be created in chronological order. That is, if the memory control signal is input when the robot reaches a predetermined position on the moving route, FTP teaching can be performed, and if the teaching arm is operated while inputting the memory control signal, CP teaching can be performed. Also, when the teaching is completed in step 208 of the operator, a message (8
When @F is input, the 81 calculator judges this in step 140, moves to step 142, closes the data file of position data, and stops.

In summary, the method and device of the present invention use a teaching arm 1 to 1 having an arm portion and a connecting mechanism that can be operated by human hands, and the teaching arm 1 is operated along a predetermined trajectory. The amount of movement of the operating axis of the teaching robot is detected by a detector, and based on this detected value, the working robot 1~ is brought to the same operating point as the teaching robot. This is a method and apparatus for teaching a working robot 1 by performing teaching while operating at a time, inputting a control signal to a robot that has reached a predetermined position, and storing this position data.

Therefore, according to the method and device of the present invention, since the teaching robot is not provided with a driving source such as a motor or a piston, its connecting member can be made lightweight, and its operating axis has a gear ratio. Since the teaching arm is small in size and only the detector is connected to its shaft, the teaching arm can be operated smoothly and with little force. In addition, since the working robot moves in synchronization with the movement of the teaching robot, the worker only has to teach while watching the operating trajectory of the working robot, so the rotation of the teaching robot and the working robot Based on the difference in the clearance of the iPa (there is no error, the mechanical origin positions of the teaching robot and the working robot do not necessarily have to match. Therefore, teaching efficiency is high and teaching can be performed with high precision. Unlike direct teaching, where a working robot is not directly activated, a lightweight teaching robot is used, so the movement is smooth and the teaching accuracy is high.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the concept of the device of the present invention. FIG. 2 is a perspective view showing the configuration of a teeing robot used in an embodiment of the apparatus of the present invention. Third
The figure shows the interior of the teaching robot 1~ of the same embodiment device.
i! FIG. FIG. 4 is a block diagram showing the configuration of the electrical system of the device according to the embodiment. FIG. 5 is a flowchart showing the processing of the computer used in the same example. 1... Teabung robot 12... Working robot 20... Base 22... Column 24... Body 26... Upper arm 28... Forearm 3
0...List 41...Waste axis 112...
Shoulder axis 43...Elbow axis 44...Wrist pitch axis 45...Wrist roll axis 61.62.63.64.65

Claims (3)

[Claims] (1) It has a movement axis corresponding to each movement axis of the work robot 1-, and the tip of the arm is actuated along an arbitrary movement path by the force of a person who grasps the tip of the arm from the outside. using a teaching robot having a mechanism that allows the teaching robot to move the tip of the arm of the teaching robot along a desired trajectory; A detector continuously detects the amount of movement that changes with the movement of the part, and based on the detected amount of movement, each movement of the working robot 1 is performed simultaneously with the operation of the arm of the teaching robot 1. While operating the axis and moving the tip of the arm in conjunction with the operation of the teaching robot, the user monitors the trajectory of the tip of the arm of the working robot to ensure that the trajectory is the desired one. A method for indirect teaching of a robot, comprising: correcting the tip of the arm of the teaching robot, and sequentially storing the amount of operation of each movement axis of the working robot. (2) The indirect teaching method for a robot according to claim 1, wherein the amount of movement of the movement axis is a rotation angle of the movement axis, or a change in the rotation angle and rotation speed of the movement axis. (3) A working robot, a connecting member that performs the same or similar movement as each connecting member of the working robot, and a working robot that corresponds to each operating axis that operates each connecting member of the working robot. , a teaching robot having 11 operation axes that operate in accordance with the movement of the connecting member, and a sensor that detects the amount of operation of the operation; and a teaching robot that receives signals output from each of the sensors and performs execution based on the signals. An indirect teaching device for a robot, comprising: a control device that sequentially stores the operating ports of the working robot (~) in response to a predetermined external control signal that operates the working robot at a given time.