JPS61193206A - Teaching method for robot - Google Patents

Abstract

PURPOSE:To omit a conventional case where an operator decides visually a robot shift locus and to simplify the robot teaching jobs, by using a shift pattern command means that can give a command to shift the robot in a certain shift pattern. CONSTITUTION:When the manual operation command is delivered from a teaching box 13 for a handle 11, a CPU 15 reads out a command for orthogonal shift stored in a buffer 21 and then reads the vector amount stored in a buffer 19. This vector amount is sent to communication parts 23, 25 and 27 respectively and operating amounts necessary for position control units 35, 37 and 39 are given to motors 29, 31 and 33 of axes theta, X and P respectively. Then these motors 29-33 are driven according to each operating amount given. Thus the handle 11 of a robot 1 has a linear shift. In such a way, a rectilinar shift of the robot 1 is possible with no visual confirmation required to an operator.

Description

[Detailed description of the invention] [Technical field of invention] The present invention relates to a robot teaching method.

[Technical background of the invention and its problems] Conventionally, there are two types of interpolation functions related to robots:

(a) Linear interpolation function (b) Circular interpolation function These interpolation functions are not executed when the robot is taught, but are executed only during automatic operation called playback. The reason for this is that during teaching, the operator manually moves the robot using a so-called teaching box, so the operator expects to be able to manipulate the robot's own trajectory so that it performs interpolation motion based on its senses.

Here, the fact that the robot's own trajectory performs interpolation motion means that the robot itself moves so that (b) the tip of the torch in a welding robot, and (b) the tip of the hand in an assembly robot, draw a straight or circular trajectory. That is to say.

If we consider the robot for bending small objects as shown in FIG. 1, since this robot is a working robot, its interpolation means that the tip of the hand performs a linear interpolation motion. To further explain the small object bending cell robot shown in FIG. 1, the robot 1 is a bending machine 3.
is installed in front of the bending machine 3, and the bunch mold 5 set in the bending machine 3 is handled and placed in the direction of the mold rack 7,
Another mold is taken out from this mold rack 7 and the bending machine 3
It is used to set it in a predetermined position. When the robot 1 replaces the mold 5, it is necessary to linearly move the punch 5 along the punch clamper 9 of the bending machine 3.

Conventionally, when teaching the operation for punch replacement, the tenth bottom hand 11 is moved toward the punch mold to be replaced and clamped, and then the punch mold 5 is separated from the punch clamper 9, and the robot at that time hand 1
1 position is stored in the controller. Next, by using the manual operation button 2 on the teaching box 13, move the punch die 5 in a straight line to the side parallel to the front of the machine 3 so as not to hit the punch clamper 9, and move the punch die 5 away from the punch clamper 9. Robot hand 11 when completely released
An operation is being taken to memorize the position of.

However, in such a conventional teaching method, when moving the punch mold 5 in a straight line along the bunch clamper 9, the operator visually moves the robot 1 as shown in FIG.
In order to manually operate and move it in a straight line,
There was a problem in that the manual operation of the robot required careful attention and time.

This is because, as shown in Figs. 9 and 10, the robot 1
When rotating around its θ axis, robot hand 1
1 draws a circular trajectory, so the robot hand 11
This is because the plane parallel to rotates according to the rotation angle around the θ axis, and it takes time and effort for the operator to keep the hand 11 parallel to the front of the machine 3 by visual inspection. be. As a result, as shown in FIG. 11, the operator uses the teaching box 13 to move the hand 11 of the robot 1 so that it always draws a straight line trajectory parallel to the front of the machine 3. The hand 11 had to be operated little by little as the θ-axis rotated, so that the hand 11 drew a straight line trajectory.

[Object of the Invention] The present invention has been made in view of the above-mentioned conventional problems. To provide a method for teaching a robot, which allows the robot to move according to a predetermined fixed movement pattern, thereby reducing the burden on an operator during teaching.

[Summary of the Invention] The present invention provides a movement pattern driving means in which a robot teaching operation means is provided with a movement pattern commanding means, and the robot is driven in a predetermined movement pattern when the robot driving means receives a command from the movement pattern commanding means. A teaching method for a robot, characterized in that when teaching the robot to move from a certain position to another position, the robot is made to move in a movement pattern commanded by the movement pattern command means. By instructing a movement pattern at the time of teaching, the robot is moved from a certain position to a certain position while automatically performing an interpolation operation according to the specified movement pattern.

[Embodiment of the Invention] FIG. 2 shows a circuit block for carrying out an embodiment of the teaching method in the small object bending cell robot shown in FIG. This robot 1 includes a CPtJ 15, and a teaching box 13 is connected to the CPtJ 15 via a communication section 17. C.P.
U15 further includes a buffer 19.21 for data storage.
is connected. Furthermore, the θ-axis motor 2 is connected to the CPIJ 15 via the communication unit 23, 25, and
9, position control units 35, 37, and 39 for instructing the respective rotational positions of the X-axis circumferential motor 31 and the P-axis circumferential motor 33 are connected.

Since this embodiment is a robot for bending small objects, it is sufficient to perform linear interpolation, and as shown in FIGS. 3 and 4, the linear interpolation operation is performed on the θ axis.

This can be done using three-axis control: the X-axis and the P-axis. In other words, when it is assumed that the hand 11 of the robot 1 moves in a trajectory T from the top to the bottom of the page as shown in FIG.
First, the θ axis is rotated as shown in Figure (a). Next, as shown in the figure (b), the P axis is rotated slightly in the opposite direction so that the parallel surface of the hand 11 becomes parallel to the trajectory T, and then the protrusion valve of the hand 11 is rotated as shown in the figure (C). This can be corrected by moving the X-axis, and thus the hand 11 can be controlled to move in parallel along a predetermined trajectory T.

Next, a teaching method using the robot teaching system having the above configuration will be explained based on the flowchart shown in FIG. A movement pattern command signal for turning on the manual linear interpolation function is given to the CAPU 15 from the teaching box 13 as a robot teaching operation means via the communication section 17. (Step 41) Upon receiving this command, the CPU 15
1, write a movement pattern command called orthogonal movement. (Step 42) Next, the CPU 15 sends each motor 29.
31. Send a command requesting the current value of 33, and send a command to each motor 2.
Receive current value of 9.31.33. (Step 43) The CPU 15 then executes the fifth
As shown in the figure, from the current value just read, the robot 1 and the bending machine 3 are at the current position 11 P with respect to the line forming a right angle.
A point P2 that is symmetrical to + is calculated.

In other words Therefore, the target point P2 is as shown in the following equation.

In this way, the trajectory T along which the robot hand 11 moves between the current position P1 and the target point P2 with respect to slD in a fixed movement pattern, that is, by linear interpolation, is the sixth point.
It is determined as shown in the figure. (Step 44.
45) Since the feed rate when the robot performs interpolation motion is fixed, the feed amount can be determined. Therefore, the direction of the vector is determined from the trajectory T for performing the above operation, that is, the linear interpolation, and the magnitude of the vector is determined from the feed amount.
They are calculated by the CPU 15. This CPU1
The vector quantity calculated in step 5 is sent to the buffer 19.

(Steps 46 and 47) The above operations complete preparations for manual linear interpolation.

Next, when a manual operation command for the hand 11 is sent from the teaching box 13, the CPL 115 moves the buffer 21
The vector quantity stored in the buffer 19 is read based on this command. (Steps 48 to 50) Then, send this vector old to the communication section 23.25.27, and send it to the θ axis, X axis, P
Give the necessary movement amount to the position control unit 35, 37.39 for each motor 29, 31, 33 of the axis, operate each motor 29, 31, 33 accordingly, and move the hand 11 of the robot 1 in a straight line. .

(Step 51) This linear movement of the robot hand 11 along the trajectory T is carried out until the manual operation command is canceled. (Step 52) If there is no orthogonal movement command, a normal teaching operation is performed. (Step 53) When teaching the robot 1 to move in a straight line in this way,
By giving an orthogonal movement command to the robot 1, the robot 1 automatically calculates a movement trajectory so that it can perform linear interpolation motion, and in response to a manual movement command, the robot 1 automatically moves on the linear trajectory. , it is possible to move in a straight line without visual confirmation by the operator.

In the above embodiment, the movement pattern is orthogonal movement, but it is not limited to this, and circular interpolation movement,
There is no limitation to selecting an 8-character movement or other place-shaped movement patterns.

[Effects of the Invention] This invention is equipped with a movement pattern command means that can give a command for the robot to move in a certain movement pattern. The robot can automatically draw a specified trajectory and move, eliminating the need for workers to determine the trajectory visually as in the past.
The teaching work can be simplified.

[Brief explanation of drawings]

FIG. 1 is an overall view of a small object bending cell, FIG. 2 is a block diagram of a teaching circuit used in an embodiment of the present invention, FIG. 3 is a plan view of a robot used in the above embodiment, and FIG. 4 is a diagram of the robot described above. FIG. 5 and FIG. 6 are explanatory diagrams showing the procedure for determining the movement trajectory of the robot in the above embodiment, FIG. 7 is a flowchart of the operation of the above embodiment, and FIGS. 8 to 11 are FIG. 2 is an operation explanatory diagram illustrating a conventional robot teaching method. 1... Robot 3... Bending machine 5... Punch mold 7... Mold rack 9... Punch clamper 11... Robot hand 13... Teaching box 15... CPU 17.・Communication Department 19.21
...Buffer 23.25.27...Communication section 29.31.33...Motor 35.37.39...Position control unit Fig. 1 Fig. 21!2J Fig. 3 Fig. 81!1 No. 9 figure

Claims (1)

[Claims] A movement pattern command means is provided in the robot teaching operation means,
The robot driving means is provided with a movement pattern driving means for driving the robot in a predetermined movement pattern when a command from the movement pattern commanding means is received, and when teaching movement from a certain position to another position, the movement of the robot is A teaching method for a robot, characterized in that the robot is made to perform the following movements according to a movement pattern commanded by the movement pattern command means.