JPS61278908A - Industrial robot - Google Patents

Abstract

PURPOSE:To shorten a time teaching one teaching point by providing a handy teaching box with an optical position detector detecting the teaching point where an operator teaches a robot main body and an operating means operating the position detector. CONSTITUTION:The optical teaching position detector 13 is installed on some part of the robot main body 6 in terms of an industrial robot constituted of a controller, the teaching box 2 and the robot main body. Moreover a switch capable of operating the teaching position detector 13 through the handy teaching box installed away from the controller 1 is provided. A detecting signal is generated from the direction (angle) and focus distance of a light beam emitted from the position detector 13, and the teaching position is obtained. The position detector 13 is operated through an operational lever. Thus, since the teaching point can be easily taught before the robot main body 6 is moved, it can be moved in a short time, because the teaching point has been already decided. Accordingly the teaching time can be remarkably shortened.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to industrial robots, and particularly aims at shortening the teaching time.

[Conventional technology]

Fig. 6 shows a conventional industrial robot, in which reference numeral (1) is the control device body, (2) is the hand-held teaching box, (3) is the flat keyboard switch, (4) is the hand-held operation box, (
5) is the switch, (6) is the robot body, (7) (8
) (9) are cables that connect the control device main body (1), the hand teaching box (2), and the control device main body (1), respectively.
and hand control box (4), control device main body and robot main body (6)
) are connected.

αQ is the workpiece, and aυ (both 13 are peripheral devices).

In the conventional industrial robot configured as described above, the robot main body (6) is operated by pressing the flat keyboard switch (3) in the hand teaching box (2). These movements are stored in the memory circuit of the control device main body (1) in the order in which they were input by pressing the flat keyboard switch (3) as needed. Next, peripheral devices <t
The operation information of Oa is stored in the memory circuit of the control device main body (1) by moving the robot main body (6) by t-1 steps. After completing the memorization on the robot side and the peripheral equipment side, the robot and the peripheral equipment are actually used to carry out one operation.

If the operation of the peripheral device aυα2 taught in this work is not good and you want to change it, you can press the switch (5) on the hand control box (4) to change the operation settings.

[Problem that the invention seeks to solve]

As explained above, in conventional industrial robots, when teaching, the worker holds the robot body (6) in the hand teaching box (2).
) to move it every time, and I had to press the movement switch (flat keyboard switch) all the time to get to the teaching point. For this reason, there was a problem in that it took a very long time to output one teaching point.

The present invention was made to eliminate the above-mentioned drawbacks of conventional industrial robots, and by attaching a position detector to a part of the robot body, the teaching point to be memorized can be determined without moving the robot body. In this way, the purpose is to shorten the time required to teach one teaching point.

[Means for solving the problem] The industrial robot according to the present invention has an optical position detector for detecting a teaching point to be taught to the robot body, and an operation means for moving the position detector in a hand teaching box. It was established.

[Effect]

In the present invention, the taught position is determined by generating a detection signal based on the direction (angle) of light emitted from the position detector and the focal length of the light. This position detector can be operated by an operating lever provided on a teaching box spaced apart from the control device.

[Embodiments of the invention]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An industrial robot according to the present invention will be described below based on an embodiment shown in FIGS. 1 and 2. FIG. 1 is a perspective view showing the outline of the configuration of an industrial robot according to the present invention, and the same reference numerals in the figure as in FIG. 3 indicate the same members. That is, (
1) is the control device main body, (2) is the hand-held teaching box, (3) is the flat keyboard switch, (4) is the hand-held operation box, (5)
) is the switch, (6) is the robot body, (7) (8)
(9) is a cable, and the control device main body (1
) and hand teaching box (2), control device main body (1) and hand operation box (4), control device main body (1) and robot main body (6) are connected respectively. Both αυH are peripheral devices υ, and the configuration of each member up to this point is the same as before @ The following members are important in the present invention, a3 is an optical position detector, and (14) is This is the operating lever for the position detector.

2 is a detailed sectional view of the position detector used in the embodiment of FIG. 1, α1 in the figure is the workpiece, and (1) is the first
In the figure, the case of the position detector is indicated by the symbol 0, 01) is the arm, 0→ is the lens, (to) is the lamp, 04 (b) is the drive motor with the detector, (c) is the gear, (to) is the case. ) (b) Both trout have threaded parts.

Next, the operation of the above embodiment will be explained with reference to FIGS. 1 and 2. First, a of the workpiece α1 is placed on the robot body (6).
When teaching a point, move the operating lever for the position detector of α in the hand teaching box in (2) in any direction so that the focus of the light emitted from the position detector of αJ coincides with point a. move. At this time, in FIG. 2, which shows the details of the inside of the position detector αj, when moving in the X-axis direction, the motor with the detector (b) rotates. Also, when moving in the Y-axis direction, the motor with detector (A) rotates. As a result, the arm of G is tilted with the 0 point and the D point as fulcrums. Next, when moving in two directions, the lens (
The detector motor (B) is rotated so that the focus of the light from the nine lamps (To) matches the teaching point of the workpiece (To), and the gears (To) and (G) The lamp moves through the screw part metal.

Next, this teaching point is actually moved to point a by pressing the keyboard switch (3) in the storage device inside the control device (1), and it is confirmed whether this teaching point is appropriate. If there is a problem with this teaching point, press the keyboard switch (3) to re-memorize it in the storage device in the control device (1). Next, when teaching point b, point b is taught in the same way as teaching point a without moving the robot body (6) from the taught point a. And the control device main body (1
) is stored as an input term in the storage circuit. Next, the operation information of the peripheral device αυα2 that is synchronized with the movement of the robot body (6) stored in the above operation is stored in the memory circuit of the control device body (1) by moving the robot body (6)'t one step at a time. . Once the memorization on the robot side and the peripheral device side is completed in this way, the robot and the peripheral device are actually used to perform the work one by one. During this work, if the operation of the next peripheral device συ (13 is not working well and you want to change it, you can press the switch (5) on the hand control box (4) to change the operation settings.

In the above embodiment, the position detector αυ and the position detection method determine the position in the x-, y-, and z-axis directions by creating the beam direction and focal length using the light from the lamp (to) and the lens (b). However, it is also possible to measure position and distance by using pulses of a laser beam instead of lamp light and detecting the direction of the beam and the delay time per pulse of the laser beam.

Further, in the above embodiment, the teaching box is provided with the operating lever for the position detector, but it goes without saying that the same effect can be obtained even if the operating lever for position detection is provided on the operating box.

This embodiment can be used for assembly transport robots, arc welding robots, painting robots, etc.

〔Effect of the invention〕

As explained above, according to the industrial robot of the present invention, the teaching point can be easily taught before moving the robot body (6), so that the teaching point has already been determined when the robot body (6) moves. so you can move in the shortest possible time. As a result, the teaching time can be greatly reduced.

An example is shown in FIG. 1, which is a perspective view showing the overall configuration of the device.
FIG. 2 is a detailed sectional view of a position detector used in the apparatus of FIG. 1. FIG. 3 is a perspective view showing the configuration of a conventional industrial robot.

In the figure, (1) is the control device, (2) is the hand-held teaching box, (3) is the flat keyboard, (4) is the hand-held operation box, (5) is the switch, (6) is the robot body, (7) )
(8) (9) is the cable, αQ is the workpiece, α1)a
3 is a peripheral device, 0 is a position detector, α荀 is a control lever for the position detector, (1) is a case, (31 is an arm, (to)
is the lens, (to) is the lamp, (b) is the drive motor with detector (for 2 axes), (to) is the gear, (to) is the screw part,
(b) is a drive motor with a detector (for the X-axis circumference), and (to) is a drive motor with a detector (for the Y-axis).

Note that the same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Claims] In an industrial robot consisting of a control device, a teaching box, and a robot body, an optical teaching position detector is provided in a part of the robot body, and the teaching position can be detected from the hand teaching box provided apart from the control device. An industrial robot characterized by being equipped with a switch that can operate a detector.