JPS609681A - Teaching method to robot arm - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Technical Field of the Invention The present invention relates to a method of teaching a robot arm of a robot to transfer and place an article at a selected predetermined position.

(b) Background of the technology In a robot that selects and grips articles arranged in parallel, and transfers and places them at the selected predetermined position, the robot arm determines the position where the articles are placed, the position to be placed, and the transfer order in advance. It is necessary to teach and memorize it.

FIG. 1 is a plan view of an example of such a robot.

In the figure, a robot 1 is equipped with a robot arm 2 that is controlled and driven to freely rotate, bend and extend, and vertically move in a horizontal plane around the robot body. A gripping tool (not shown) is inserted into the tip of the robot arm 2, and the gripping tool grips an article such as a wire ring body 6 such as a coil or a transformer.

A pair of guide rails 3 are installed near the robot 1, and a tray 5, which is an article transporting board, is transferred on the guide rails 3, and the end face of the tray 5 in the forward direction comes into contact with a stopper 4 to drive the robot arm 2. Stop at a predetermined position within range. On the upper surface of the tray 5, mounting recesses are arranged in parallel in a matrix, and a wire ring body 6 is inserted and placed in each of the mounting recesses.

On the other hand, in the vicinity of the guide rail 3 and within the drive range of the robot arm 2, a test stand 7 is installed for testing a wire wheel body 6, which is an article distribution board. The test stand 7 has two mounting recesses arranged in parallel. The robot arm 2 sequentially grasps the wire wheels 6 arranged in parallel on the tray 5 and transfers them to the test stand 7, and inserts the wire wheels 6 into one of the mounting recesses. While the wire rod 6 inserted on the test stand 7 is being tested, the wire rod 6 inserted into the other mounting recess of the test stand 7 and having completed the test is returned to the tray 5, and the next wire rod 6 is placed on the tray 5. is transferred from the tray 5 and inserted into the placement recess of the test stand 7.

The robot arm 2 is used to transfer the wire rod 6 as described above, but in order for the robot arm 2 to select the wire rod 6 and transfer it, the wire rod 6 must be placed on the tray 5 in advance. It is necessary to teach the robot arm 2 the position and the position where the wire ring body 6 is placed on the test stand 7, that is, the position of each placement recess, and to store it.

(C) Prior Art and Problems FIG. 2 is a perspective view showing a conventional teaching method for a robot arm. Note that the same reference numerals refer to the same objects throughout the plan.

In the figure, a cylinder 8 that is vertically driven up and down is attached to the tip of the robot arm 2, and a gripping tool 9, for example, an air chuck type, is attached to a tapered part of the lower end of the cylinder 8.
is inserted. The gripping tool 9 grips the wire ring body 6 with a pair of claws 9a that protrude downward.

To teach the robot arm 2, first release the drive mechanism of the robot arm 2 and manually adjust the robot arm 2 freely. Then, while moving the cylinder 8 up and down, move the tray 5 into the mounting recess. Visually finely adjust the robot arm 2 so that the gripping tool 9 is positioned above the wire rod 6 inserted into the wire rod 10a.Then, the robot arm 2 (not shown) is set in the memory of the robot at a position where the wire rod 6 can be correctly gripped. Teaching the device.Next, the robot arm 2 is rotated above the test stand 7, and the position of the test stand 70 wire wheel body 6 is taught in the same way as for the tray 5. Teaching is performed for the coil body 6 inserted into the placement recess 10b.In this way, teaching is performed for all the coil bodies 6 arranged in parallel on the tray 5.

However, in this way, it is difficult to visually align the claws 9a of the gripper 9 and the wire ring body 6, and the robot arm 2
There is a problem that teaching cannot be performed without adjusting the position many times.

(d) Object of the Invention An object of the present invention is to provide a method of teaching a robot arm in which the above-mentioned conventional problems are eliminated.

(e) Structure of the Invention In order to achieve this object, the present invention comprises an article conveyance board on which a large number of articles are arranged in parallel, and an article centage board on which the articles on the article conveyance plate are gripped, transferred, and placed. A center hole is provided at each position where the article is selectively placed, and a center pin whose axes coincide with each other is inserted into the gripper insertion portion of the robot arm, and the center pin is inserted into each position where the article is selectively placed. It is fitted into a center hole to memorize the placement position of the article.

(f) Embodiments of the Invention The present invention will be described in detail below with reference to illustrated embodiments.

FIG. 3 is a perspective view showing a teaching method for a robot arm according to an embodiment of the present invention.

In the figure, the center of the bottom member of each of the mounting recesses 10a, 10b, -. A center hole 12 is provided. A center pin 11 formed in a tapered shape whose lower tip is loosely inserted into a hole 12 in the taper center is inserted into the taper part of the lower end of the cylinder 8 of the robot arm 2 into which the gripper 9 is inserted. It's a dress up. In this way, the center pin 11 is inserted into the robot arm 2, the drive mechanism of the robot arm 2 is released, and the robot arm 2 can be moved by hand to move the center bin 11 above the placement recess. Then, while supporting the robot arm 2 loosely by hand, the cylinder 8 is lowered, and the tip of the center pin 11 is inserted into the taper center hole 12. By doing so, the center pin 11 can be easily inserted while being guided by the taper of the taper center hole 12, and teaching can be performed with one positioning.

Note that the center hole does not have to be tapered, but a tapered center hole makes it easier to insert the center pin and provides better operability.

(g) Detailed Description of the Invention As described above, the present invention includes a center pin inserted into the gripper insertion portion of the robot arm, an article conveyance board on which articles are arranged side by side, and an article on the article conveyance disk. In practical terms, teaching to the robot arm is extremely easy by providing a center hole at each position of the selectively placing article on the article-scenting board to be gripped, transferred, and placed. It has excellent effects.

[Brief explanation of drawings]

FIG. 1 is a plan view of an example of a robot, and FIG. 2 is a perspective view showing a conventional teaching method for a robot arm.
FIG. 3 is a perspective view showing a teaching method for a robot arm according to an embodiment of the present invention. In the figure, 1 is a robot, 2 is a robot arm, 5 is a tray,
6 is a wire ring body, 7 is a test stand, 8 is a cylinder 9 is a gripping tool, I
O indicates a mounting recess, 11 indicates a center pin, and 12 indicates a taper center hole. Mine 1 area 2 area

Claims (1)

[Claims] In a robot that inserts a gripper into a gripper insertion part of a robot arm and transfers the article to a selected position, there is an article transfer board on which a large number of articles are arranged in parallel, and the articles on the article transfer plate are gripped and transferred. A center hole is provided at each position where the article is selectively placed on the article-scenting board, and a center bin whose axes coincide with each other is inserted into the gripper insertion portion of the robot arm. A method for teaching a robot arm, characterized in that the center pin is inserted into each center hole to memorize the placement position of the article.