JPS62165208A - Robot operation teaching device - Google Patents

Abstract

PURPOSE:To hold respective merits of the teaching playback system and the program teaching system by providing an indicating means which indicates the data input from a robot operation data input means in a program. CONSTITUTION:The program which indicates the operation of a robot is sent from a program input device 2 to a robot controller 1 and is stored. Program statements 1a and 3a can be programmed in offline by a person 5, and instructions are fetched and executed repeatedly to generate operation signals of the robot, and the robot is operated thereby. When the instruction execution reaches the part of a program statement 2a which indicates the data input from an operation data input device 3, the data input of the person 5 is indicated on an operation data input indicating device 4, and the data input from the operation data input device 3 is possible. Thus, operations of the robot which are difficult to described as a program are programmed directly by data input in the course of program execution, and the program is completed in a short time.

Description

[Detailed description of the invention] Industrial applications The present invention relates to a robot motion teaching device.

Conventional technology The conventional teaching method for robots uses Teaching Ponox.
Manual J 1982)) In the teaching playback method, when a human 22 operates the teaching bonox 21 shown in FIG. The robot 24 operates based on the motion data. robot 24
When the robot 22 reaches the position desired by the human 22, the human 22 instructs the teaching box 21 to store the position and orientation data, and creates motion data. In this way, the robot body is operated by Chieachinogbonox, and the human f)
Create motion data while observing the go robot's motions.

In the program-based teaching method, first, a program describing the motion of the robot 24 is written in the program input device 25 shown in FIG. Next, the robot control device 26 interprets the program.

The robot 27 is controlled by executing the command and converting it into a robot operation signal.

Problems to be Solved by the Invention However, in such conventional examples, when teaching the robot's movements, the teaching play pack method teaches the robot while actually operating it, so the robot is not actually used during the teaching process. It cannot be used for work. Furthermore, in cases such as palletizing where the position of the robot's hand can be calculated logically, it is inefficient to actually move the robot and teach the position one by one.

On the other hand, in the program-based teaching method, the program can be created offline without moving the robot, so the robot body is not occupied for teaching, but it is necessary to think about the spatial movement of the robot on a desk, and in some cases is sometimes difficult to describe in a program. In such cases, it can be said that the teaching play bank method, which is a direct method, is superior.

In view of the above-mentioned problems, the present invention aims to provide a robot motion teaching device that has the respective advantages of the teaching playback method and the program-based teaching method.

Means for Solving the Problems The present invention provides a robot controlled by a robot motion signal or a robot motion monitor that visually displays the motion of the robot on a display based on the robot motion signal, and a robot motion monitor that describes the motion of the robot. means for inputting and storing a program; means for interpreting and executing the program and converting it into the robot motion signal; robot motion data input means for inputting and storing motion data of the robot; and means for instructing a human being to input data from the robot operation data input means.

The present invention has the above-described configuration, and can be used to input motion data, for example, when the trajectory of the robot's hand is not determined at the time of program creation, or when the robot's position and orientation are difficult to describe numerically in the program. Instructions are written in the program, and data is input from the motion data input device for the part where the motion data input instruction was given while moving the robot body when the program is executed or while watching the robot motion monitor that visually displays the robot motion. The program can be easily completed by inputting the information.

Embodiment FIG. 1 is a diagram showing an outline of a robot motion teaching device according to an embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a robot control device that interprets and executes programs and converts them into robot operation signals. 2 is a program input device for inputting a program to the robot control device 1; Reference numeral 3 denotes a robot motion data input device such as a teaching box, and motion data from the motion data input device 3 is input to the robot control device 1 . Reference numeral 4 denotes a motion data input instruction device for instructing the human 6 to input data from the motion data input device 3. Further, 6 is a robot controlled by the robot control device 1.

FIG. 2 shows an example of a program executed in the robot control device 1, and FIG. 3 shows an outline of the flow of program execution in the robot control device 1.

Next, the operating procedure will be explained. A program instructing the operation of the robot is sent from the program input device 2 to the robot control device 1 and stored therein. In the program example shown in FIG. 2a, program statements 1a and 3a surrounded by dashed-dotted lines are parts that can be programmed offline by a human 5,
As shown in A of FIG. 3, the fetching of instructions and the execution of instructions are repeated, and the robot operates by generating operation signals for the robot. In addition, in Figure 2a, m
ove (rbl, fl) means to cause the robot rbl to operate based on the stored motion data referenced by fl. When the execution of the command comes to the part of the program statement 2a that instructs data input from the operation data input device 3 in FIG. 2d, the program is executed as shown in B in FIG. A display is displayed for the human 5 to input data.

Then, data can be input from the operation data input device 3. In addition, in Figure 2, teach (rbl
, fx) means inputting motion data to the robot 7) called rbl and storing the data as motion data referenced by fx. In this state, the operation data input device 3
The motion data from is converted into a robot motion signal in the robot control device 1, and the robot 6 operates. The human 5 operates the robot 6 using the motion data input device 3 to take a desired position and posture, instructs the robot 6 to store data from the motion data input device 3, and creates a memory 1 of motion data. When the creation of the operation data is completed, data input is completed, the loop shown at C in FIG. 3 is followed, and the program statement 3a in FIG. 2A is executed.

After inputting motion data using all the teach statements stored in the program, the human It becomes a complete program that does not require any operations.

In the above embodiment, data input from the motion data input device such as "teach" is written in the program, but in another embodiment, a program as shown in Figure 2 is input from the beginning, and the program statement is It is also possible to check whether data is stored or not when executing the move statement in step 2b, and if it is not stored, to input motion data. The general flow of the program is shown in Figure 4. In this embodiment, there is no need to replace the part instructing data input with a move statement after teaching the motion data, and the program can be created more efficiently.

In addition, as another embodiment, the robot control device 1' and the fifth
As shown in the figure, it is also possible to use a robot motion monitor 7 that visually displays the robot's motion in place of the robot 6 in FIG. 1, and in this case, most of the program can be taught offline. I can do it.

Effects of the Invention As described above, according to the present invention, robot motions that are difficult to describe in a program can be created by directly inputting data during the program execution process, and the program can be completed in a short time.

[Brief explanation of drawings]

Fig. 1 is a block diagram of a robot motion teaching device according to an embodiment of the present invention, Fig. 2 is a diagram showing an example of a program executed by the robot control device, and Fig. 3 is a diagram showing the processing flow of the robot control device. FIG. 4 is a flowchart showing the processing flow of the robot control device in another embodiment, and FIG. 5 is a configuration diagram of the robot motion teaching device in another embodiment. G amaa sail 1.1'...Robot control device, 2...
. . . Program input device, 3 . . . Operation data input device, 4 . . . Operation data input instruction device, 5
...Human, 6...Robot, 7...
...Robot operation monitor. /-11 Ropento stripping 9ha (engine z---input to prog barge, 3-m-movement chi 7 in 7J weir 5L 4--1 movement A1:7-ta input 4b1〈n(1σ-・−
Human 6-・-〇τ (Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 7)
tl] Vent operation monitor Figure 6 (CL)

Claims (2)

[Claims] (1) An input means for inputting a program describing robot motion, a conversion means for interpreting and executing the input program and converting it into a robot motion signal, and robot motion data for inputting and storing the robot motion data. A robot motion teaching device comprising: input means; and instruction means for instructing input of data from the robot motion data input means in the program. (2) The robot motion teaching device according to claim 1, further comprising a robot motion monitor that visually displays the robot motion based on robot motion signals.