JPS6091408A - Correcting method of robot teaching data - Google Patents

Abstract

PURPOSE:To improve the working efficiency of a robot as well as the reliability of the robot teaching data by checking and correcting automatically the propriety of the teaching point interval as well as the accuracy of the teaching position data. CONSTITUTION:A teaching data checking device 10 contains a contact arm 12 which can rub a bearing 11, and the arm 12 has a contact plate 18 at its tip together with a displacement detector 13 which detects the rubbing displacement of the plate 18. A robot 1 holds a teaching master work 6 and presses it to the plate 18 to correct automatically the teaching data. While the detector 13 and an operation board 20 for a controller 19 of the robot 1 are connected to the controller 19. Here a signal corresponding to the deviation value is delivered from the detector 13 if the accuracy is not satisfactory with the teaching point interval and the teaching position data. Then the teaching position data is corrected by the controller 19 so that said deviation value is set within an allowable range.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for automatically correcting teaching position data of a robot.

When operating a robot, it is necessary to teach the robot's movements in advance according to the task. As this teaching method,
Generally, the robot is operated and guided to the desired position and posture, and the position data is collected.

A method of memorizing, playing and executing crabs.

It shows. In the case of this teaching method, it is relatively easy to teach work that does not cause any problems even if the 5 positions are slightly shifted, such as painting work, but it is very difficult to teach when processing is performed using a robot, for example. . - As an example, regarding casting finishing work using a robot - To explain, when a robot performs cast burr grinding work for 10 times, whether the robot is a tool or a workpiece.

Generally cast burrs after finishing casting, regardless of gripping.

Use the master work without the shape of the work.

so that the part to be ground comes into contact with the grinding wheel accordingly.

The position and figure you want the robot to pass through.

The position of each axis of the robot, which will be in the active state, is sequentially distributed to the robot control device as teaching device data.

Make me remember. Next time when I have them do the actual work, I will cast them.

A workpiece with a burr is gripped or set, and the robot is continuously controlled to move to a taught position and posture to deburr the burr with a grinding wheel. However, when teaching position data using the above method, positioning is performed while operating the robot using the operation panel and visually checking the contact between the master work and the grinding wheel.
Teaching 5 is very difficult. Touching the masterwork to the grindstone
When teaching by pressing too hard, the robot's toe arm will deflect, and if you grind the rough casting material after teaching, the restoring force of the deflection may result in over-cutting, or on the other hand, the masterwork may be on the safe side. When teaching with a gap between 0 and the grinder.

After grinding, uncut parts are left behind. Also, wow.

If the number of teaching points is too small for the shape of the

Over-cutting and uncut parts occur in the interpolation operation part between.

It will come to life. For this reason, in the conventional teaching method, the teaching contents are corrected by teaching 115 degrees and then performing test grinding to check the fineness. Especially in the case of workpieces with complex shapes, it requires skill to teach, and it is necessary to correct the teaching. It also takes a very long time.

The purpose of this invention is to obtain a method for automatically correcting teaching data that can automatically check and correct teaching position data.

An embodiment of the present invention will be described below with reference to the drawings.

Figure 1 shows the robot 1 and its surroundings.

A grinder 4 and a teaching data chain used in the present invention.

An example of the arrangement of the locking device 10 is shown.

The teaching data checking device 10 is provided with a sliding contact arm 12 on a bearing 11, and a grinding wheel is provided at the tip.

A contact plate that imitates the part of Stone 5 that comes into contact with the workpiece.

1B is provided. Further, a displacement detector 13 detects the displacement accompanying the sliding movement of the contact arm 12 in one direction 17 of the arrow.
and the direction in which the contact arm 12 moves forward (Fig.

A) through the pulley 14 so that the force acts on the

A weight 15 is suspended. Other methods such as a tin rim 16 may be used as the means for applying the winding. The robot 1 grasps a master workpiece 6 without flash 3 for teaching, hits it against the contact arm 12 of the teaching data checking device 10, and
Automatically correct the teaching data using the method described later. Also, cast after teaching.

When performing finishing work, be sure to clean the area with cast burrs 3.

- Grip the grinder 4 by replacing it with the grinder 2 and sharpen the grinder 4.

Press it against the stone 5 to perform casting deburring work. mouth.

The bot 1 is connected to a control device 19, and the control device 19 is configured to detect displacement so that the amount of displacement of the operation panel 20 that moves the robot 1 and the contact arm 12 of the teaching data check device 1o is input when teaching is performed. It is connected to the device 13.

The machining of the master work 6 and the master work 7 when it hits the contact plate 18 are the relative positions of the master work 6 and the teaching data checking device 10.
As shown in the figure, the contact plate 18 is pressed by the processed surface 7 of the master work 6. A deviation signal from a position corresponding to the grinding wheel surface of the grinder is obtained from the displacement detector 13 in accordance with the amount of movement of the contact plate 1B into and out, and is input to the control device 19. 21 is the state of the contact arm 12 when the contact plate 18 is too far in from the grinding wheel surface and is in contact with the processing surface 7, and 22 is the state of the contact arm when the processing surface 7 is far from the grinding wheel surface, respectively. A deviation signal proportional to the amount of deviation from the grinding wheel surface is output from the displacement detector 13.
.

Next, the teaching data check device 10 performs teaching.

Check water position data and correct automatically.

In this step, the operation panel 20 is operated, the master work 6 is held by the robot 1, and the previously taught movement is played back five times.

Master when it comes to removing casting burrs.

- Place of work 6 and teaching data checking device 10.

The positional relationship is as shown in Figure 2, where the machined surface 7 is in contact with the plate 18.
, the displacement detector 13 outputs a displacement signal. Note that one point 10 in the operating range of the displacement detector 13 is set as a reference position, and the contact plate 18 is set during teaching reproduction.

Press the displacement detector for the correct post-machining position.

If the displacement signal from No. 13 is on the glass side, if it is on the negative side, it will be represented as uncut.

Ru. The teaching position is accurate and the interval between teaching points is machining.

If it is sufficient to imitate the shape of surface 7.

Almost no deviation signal from the reference position is output from the displacement detector 13. If the teaching point spacing and teaching.

If the accuracy of water position data is insufficient.

A signal corresponding to the amount of deviation is output from the displacement detector 13.

be done. For example, if the teaching position is too deep below the grinding wheel surface, the contact plate 18 will move by δb to the position of the processing surface 7'.

The displacement detector 16 also moves at the same time to detect δb. A tolerance value is set for this deviation amount as follows.

The teaching position dej is corrected by the control device 19 in two stages. First, the position data being taught.

Check and make corrections. A movement once taught.

After reproducing the work and starting the deburring operation, check the deviation amount at that time for each teaching point, and if a value exceeding the allowable value is detected, the deviation amount δb is determined by the method described in 10. The position data of the taught point is corrected using the restraint/leg device 19 so that it becomes 0. - In the next step, playback is performed using the teaching points corrected by the method described above, and the amount of deviation between the teaching points is checked.・In other words, when the regeneration of the burr removal operation is started, the deviation signal from the displacement detector 13 is sent to the control device 19.

The amount of deviation exceeding the allowable value was detected.

If so, stop the robot and return to the previous teaching point.

The position of robot 1 at this time during the next teaching point.

Based on the data, the deviation amount δL becomes 0.

The position is calculated, and the position is added as a teaching point. After addition, the robot 1 moves to the additionally taught position.

and playback again from the position where the deviation amount δL was set to 0.

The device is operated to check the amount of deviation, and each time a value exceeding the allowable value is detected, a teaching point is added as described above. FIG. 3 shows an example of the number of additions/indications and the trajectory after correction. In FIG. 6+a+, the relative positional relationship between the master workpiece 6 and the contact arm 12 of the teaching data check device is taught to move from Pl to P2.

When the object is reproduced, the deviation amount exceeds the allowable value at the 1'' position (in the figure, the deviation amount of bO is P').

). Then the control device.

19, the playback is interrupted at the P position and the deviation amount is 0.

The position of the robot that realizes the position Pg is calculated by 1° and added between the previously taught points P+ and P2.

Then, control the robot's motion from P' to P6 and make a deviation.

P+Pi to start the playback that was interrupted after setting the difference to 0
If the maximum deviation amount between O and P5P2 is δ11δ2·, then δ1<δo1 δ2×δ0, and the deviation/difference amount of the trajectory can be reduced. In this way, when the tolerance value is exceeded, by adding teaching points, the deviation amount can be gradually reduced to 5.

When a deviation amount greater than the allowable value is detected, the position/data correction calculation is performed as follows. Coordinate system defined for robot 1 in control panel 19 (here).

Let's explain 1. using the orthogonal coordinate system as shown in Figure 1. ), each axis that constitutes the degrees of freedom of robot 1.

Robot from arm length and rotation angle before modification.

Find the coordinate point (XL, yLs z=) of the hand. So.

Then, the deviation amount δL detected by the displacement detector 13 is.

Based on the operating direction of the contact arm 12, the coordinate points (XL, yir, zL) of the robot hand are corrected by decomposing the deviation components of each axis of the 1° coordinate system of the robot. In the embodiment, the operating direction of the contact arm 12 is the y-axis direction of the coordinate system provided on the robot, so for example, when the deviation amount δL is positive (too much with respect to the grinding wheel surface), δ with respect to yL
Coordinate point corrected by subtracting L (xL, yL-δA, zL)
After correction, it becomes the coordinate point of Tsubando. If the teaching position data.

If it is necessary to convert the displacement of each axis that makes up the degrees of freedom of the robot 1, derive an equation for converting the coordinate data of the hand to the displacement of each axis for the mechanism of the robot 1, and perform the conversion. do it. The control described above can be done automatically by using a numerical control device such as a microconbeater.

can be done.　11〕 The explanation is as the robot grasps the masterwork.

Describes how to automatically correct teaching position data.

This also applies to the case where the robot holds a tool.

I decided to have them hold a contact displacement meter instead of a tool.

Therefore, it can be realized. In this case, the robot's posture.

Since the direction of the contact arm changes according to This can be resolved by making modifications.

In addition, in the examples, the teaching method will be particularly described.

Although it was not, it was a teaching that was commonly practiced.

method, i.e., how to give the robot a workpiece or machine.

Let the robot grasp the tool and operate the robot to pass it during playback.

Depending on the complexity of step 5, you can sequentially allocate and memorize the positions and postures you want to pass or position using the actual machine as teaching points, or you can use the key manual method to pass or position the robot without moving it. Any method of sequentially storing information corresponding to the posture as numerical data is fine.

Furthermore, the embodiment described casting finishing work.

For robots that teach the trajectory to follow the surface of a workpiece.

On the other hand, a master wafer whose surface shape you want to imitate.

It is clear that all can be dealt with by using the following methods.

As described above, the present invention can automatically inspect and correct the accuracy of teaching position data and the appropriateness of the teaching point spacing for the workpiece shape, thereby increasing the reliability of device data. Furthermore, the burden on the teacher can be significantly reduced, and even non-experts can easily complete the teaching. In order to check other workpieces by applying them to a movable contact plate before processing them directly with a tool,
Even if the initial teaching was incorrect, excessive force was applied to the robot.

Also, damage to tools can be prevented in advance.

This has a great effect on teaching robots.

Ru.

A brief description of the drawing.

FIG. 1 shows a teaching data automatic correction method of the present invention.

An overall diagram showing one embodiment, and FIG. 2 shows the teaching data itself.

FIG. 3 (α) is a conceptual diagram of a displacement detector used for motion correction.

is a conceptual diagram of the operation when automatically adding teaching points, tb).

Figure shows the movement trajectory after automatic addition and correction. Figure 3 (gradient A)

Claims (1)

[Claims] In a robot that grips and processes a tool or a robot that grips and processes a workpiece, after teaching the trajectory -5 times, the robot touches the tool instead of the tool. A change that can detect displacement from the position corresponding to the gauze surface. Using positional usufruct and master work, the tool is warped. mask for the playback trajectory of the teaching point to be processed. -Detects the amount of displacement from the work surface and exceeds the set value. displacement amount for the trajectory for which displacement amount is detected. The direction of detection of usufruct and the amount of displacement from the detected amount. Initial teaching of the robot to stay within set values. Correct the calculation of boiled water or add new teaching points. In addition, a method for modifying teaching data for a robot in which a percentage of 1° indicates that a predetermined trajectory can be reproduced.