JPS62264883A - Teaching method of industrial robot - 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] [Field of Industrial Application] The present invention relates to teaching of playback type industrial robots, and is used to teach work contents to industrial robots operating on a production line and This provides a method that allows teaching to be performed without affecting the production line when creating data due to changes in work content, etc.

[Conventional technology] Industrial robots can perform repetitive tasks continuously, freeing workers from dangerous tasks, bad working environments, and unskilled tasks, and can save labor. Currently, various types of robots are being used more and more.

Painting robots are one example, but in general, playback type robots are often used, which memorize the work content and perform the work repeatedly by replaying it. This type of robot requires teaching for each object to be worked on, thereby enabling it to perform tasks appropriate to the object to be worked on. On a normal production line, a robot is placed at a predetermined position relative to a conveyor, and the robot reproduces and works on the workpieces that are continuously sent to the work position based on the data taught. ing.

When creating data, in order to perform teaching easily and accurately, the conveyor is stopped, and the stop position of the workpiece is automatically detected using a pulse oscillator installed on the conveyor, using the limit switch for detecting the start position as the origin, and one work is performed. It is stored in the robot's storage device along with the data.

During regeneration operation, a pulse oscillator detects the position of the workpiece that moves from time to time with the start position as the origin, and a calculation installed in the control device calculates the difference between the current position and the stop position at the time of teaching. It is configured to perform calculations using functions and perform follow-up playback.

Therefore, if the robot is forced to perform a task, the content of the task is changed, or a workpiece that suddenly requires a new task is transported by a conveyor,
The conveyor will be stopped, production will be interrupted, and new data will be created.

[Problems to be solved by the invention] As mentioned above, in the past, teaching data was created on the production line, so it was necessary to stop the line.
During daily operation, there were problems such as the inability to create data. Furthermore, if the data was created, the production line would have to be stopped, which would affect other related lines, resulting in a significant drop in productivity.

[Means for Solving the Problems] In order to solve the above problems, the present invention provides a work holder for teaching separate from the production line so that teaching can be performed without stopping the line even when creating data. This is what I did. Furthermore, to explain in detail, the robot can rotate in the direction in which it is installed with respect to the line, and when creating data, it changes its direction by 90 degrees and, separately from the production line, the robot rotates at the same position relative to the production line. The object to be worked on is placed on a work holder provided in the holder for teaching.

[Operation] When data is created by teaching as shown in FIG. 1, the robot is turned to a position 90 degrees from the production line and directed toward the workpiece for teaching.

At this time, the production line does not need to be stopped and remains in continuous operation.

The robot creates data toward the workpiece for teaching, and after creating data, it is directed back to the production line and performs regular work. Since the created data has the same relative position as the production line, it is the same as the data obtained by teaching on the production line, and the reproduction work will be performed accurately as before.

However, since the robot stops operating during teaching work on the work holder, it is necessary to handle the workpieces on the production line manually during that time.

Embodiment FIG. 1 is an explanatory diagram showing one embodiment of the present invention, and shows an example using a painting robot. A production line conveyor indicated by 1 moves in the direction of the arrow, and objects 2 to be coated are loaded at key points. The conveyor 1 is provided with a driving device 3 and a pulse oscillator 4 for detecting the amount of conveyor movement.
Maintain synchronization with the painting robot 5.

In addition, a limit switch 7 for detecting a start position is provided at a distance of dimension A in front of the front center position 6 of the painting robot 5, and this position is the origin for the operation of the painting robot 5 and the position of the object 2 to be coated. position. The painting robot 5 is installed on a rotating table 8 whose center is located eight dimensions apart from the conveyor 1. The turning table 8 is capable of turning 90 degrees, and is provided with a positioning pin 10 in order to accurately turn 90 degrees. Further, next to the painting robot 5, a workpiece holder 9 is provided at a position perpendicular to the conveyor 1 and spaced a dimension B from the center of the swinging cheeple 8. This position is exactly the same as the relative position with the conveyor when the painting robot 2 turns 906 and changes direction sideways with respect to the conveyor 1.

A teaching work IO is attached to the work holder 9 so as to be in the same relative position as when it is loaded on the conveyor 1. Naturally, the height position is also not shown, but it is assumed to be the same position.

In this state, when creating data, move the painting robot 5 to 9.
00 turn and face the teaching work 10 as shown in the figure. The position of teaching work 10 is conveyor 1
The position is determined by the distance C from the origin, which is relatively the same position as the limit switch 7, that is, a point spaced apart from the center of the painting robot 5, and that point is memorized by manual pulse input. Therefore, when the data taught and inputted at this point is conveyed by the conveyor 1, the difference from the origin position is calculated, and a follow-up operation is performed according to the moving distance from the origin.

After the data creation is completed, the painting robot 5 is turned 90' toward the conveyor 1 again and can begin operation on the production line.

In this example, the painting robot is placed on a rotating table,
Although it is turned by 90 degrees, it is not necessary to be limited to this, and the turning method and angle can be changed.

〔Effect of the invention〕

As described above, according to the present invention, data can be created by teaching away from the line even while the line is in operation, and productivity is not reduced due to data creation and stability is achieved. In addition, planned production can be carried out without the negative effect of a part of the line affecting other related lines and reducing productivity.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram showing one embodiment of the present invention. 1... Conveyor 2... Object to be coated 5... Painting robot 9... Work holder 10... Teaching work

Claims (2)

[Claims] (1) An industrial robot installed at a predetermined position with respect to a conveyor line that conveys workpieces can be rotated at the same position, and when the robot is rotated in a direction different from the conveyor line, the relative position with respect to the conveyor line A teaching method for an industrial robot, characterized in that a teaching work holder having the same position is separately provided, a teaching work is placed on the holder, and teaching is performed. (2) The method for teaching an industrial robot according to claim 1, wherein the industrial robot is a painting robot, and is loaded on a rotating table and rotates 90 degrees.