JPS63102881A - Teaching system of automatic working device - Google Patents

Abstract

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

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a teaching method for a playback type automatic working device having a sensing function. The present invention relates to a method of teaching a sensing operation teaching point on a groove of a sealing robot, or a sensing operation teaching point on a line to be sealed as a singular line in a sealing robot. [Prior Art] A playback type automatic work device having a sensing function, such as a robot, has had to be taught at which position to perform a sensing operation in order to perform a desired operation. Regarding the control of industrial robots, 12 Japanese Patent Publication No. 59
-165108, Japanese Unexamined Patent Publication No. 1983. -169779, JP-A-56-141975, etc. are publicly known. [Problems to be Solved by the Invention] Manually teaching at which position to perform a sensing operation is extremely troublesome and often requires skill. The present invention has been made in view of these points, and its purpose is to further automate the teaching operation and save manpower. [Means for solving the problem] In other words, in the present invention, in a method of teaching execution of a sensing operation on a singular line of a model work using an automatic working device having a sensing function, the sensor is placed at a position where the singular line can be detected. After this initial movement process, there is a unilateral movement process in which the sensor is moved towards one end point of the singular line while detecting the singular line, and at the end of this unilateral movement process. a one-sided end point detection step of detecting an end point on one side of the singular line; and a one-sided teaching point storage step of importing position data related to the one-side end point into a storage means as a sensing operation teaching point after the one-side end point detection step. In the one-sided taught point storage step, the distance on the singular line that is a certain distance back from the one-sided end point detected in the one-sided end point detection step can be stored as the teaching point of the position data regarding the one-sided end point. In the present invention, furthermore, after the end point detection step on one side, a sensor is used to detect the singular line, and at the end of the other direction movement step in which the singular line is moved toward the other end point. the other side end point detection step of detecting the other end point on the singular line; and the other side teaching point storage step of importing position data related to the other end point into the storage means as a sensing operation teaching point after this other side end point detection step. It is also possible to have the following. In this case, in the other-side teaching point storage step, a distance on the singular line that is a certain distance back from the other-side endpoint detected in the one-side endpoint detection step can be stored as the teaching point of the position data regarding the one-side endpoint. At the teaching points of the position data regarding the end points on one side and the end points on the other side, it is possible to teach the sensor to perform an operation of detecting a point on the singular line of the workpiece on which the actual work is performed, and furthermore, the two sensed points It is possible to teach an automatic working device such as a welding torch to move along a straight line connecting the two while performing welding. [Operation] As described above, by detecting an end point on a singular line using a sensor and teaching position data related to this one-sided end point as a sensing operation teaching point, teaching can be performed more automatically. [Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 to 11. In this embodiment, the present invention is applied to an automatic welding system using a robot. FIG. 8 shows the overall configuration of this embodiment. 1 is the robot body, which is driven by five servo motors. Reference numeral 2 denotes a robot control device, which includes a CPU board for controlling the robot, a CPU board for controlling communication with a visual sensor, and the like. A storage means 2a for storing teach data is provided on the CPU board. 3 is a visual sensor. The details of its structure will be described later. 64 is a visual sensor control device, which includes a CPU board for image processing, a CPU board for controlling communication with the robot, and a visual sensor that rotates around the welding torch. It has a built-in CPU board for controlling the drive motor. The image processing CPU board has a 7-bit multi-level image memory and two image memories. It has a changing point memory and can perform various image processing operations at high speed. 5 is a visual sensor operation box (OPEB)
OX) and for data display (7) CRT. It has a numeric keypad and cursor keys for data entry. 6 is a teaching box (T, BOX), which is used when teaching the robot how to work. 7 is a welding machine, and a robot system a! Figures 9 and 10 are configuration diagrams of the optical system of the visual sensor. The optical system has a dual structure with the welding torch 8, and can freely rotate around the welding torch 8 by a control motor 9 dedicated to the 5. There are two light sources 11 symmetrically arranged, and the light sources 11 are composed of a semiconductor laser 12, a convex lens 13, and a cylindrical lens 14. The laser beam 15 is directed within a plane forming a predetermined angle with respect to the central axis of the welding torch 8.
irradiate. The laser beam 15 forms one slit beam on the groove 17 as a singular line of the welding member 16. The image of the slit beam projected onto the welding line of the welding member passes through the lens 20, passes through the interference filter 21, and is transmitted to the MO
The light is received by the S sensor 22 and further converted into an electrical signal by the electronic circuit 23. FIG. 11 is a conceptual diagram in which a visual sensor images a workpiece.6 The visual sensor is a welding torch 8030.
Looking mm ahead. Next, this example will be specifically explained using actual teaching as an example. In FIG. 4, 8 indicates a welding torch, and 16 indicates a model welding work. As the welding work, a V-shaped horizontal plate is used, and welding is performed from an end point 16a on one side of the work to an end point 16b on the other side. Conventional methods require an operator to accurately position the torch at each point and also position the visual sensor 100 to capture the visual sensor image. In contrast, in the embodiment of the present invention, the torch is first guided to the position (1). This is the initial movement step. This may be automated or may be done manually using T and BOX. here,
The position (1) may be any location as long as it is near the groove.Input the teaching start from the 0th order T, BOX. Then, automatic sensing begins and the sensor starts moving toward the end point 16a on one side of the sensor. This is a unidirectional movement process. The sensor detects and stops the position (2), which is the end point on one side, and uses it as the teaching point. These are the one-sided end point detection process and the one-sided teaching point storage process. At this time, the torch wire captures the groove position. Next, by automatic sensing toward the other end point 16b, the other end point is detected (another end point detection step) and set as a teaching point (another teaching point storage step). As described above, teaching is automatically performed using the end points of the workpiece as teaching points. Next, the general sound flow will be explained using FIG. 2. 3
At o, the operator guides the torch near the groove and press T, BOX6.
Input start teaching. 3) Detect the precise position of the groove and align the torch with that position. 32, automatic sensing is performed to detect end points and register them as teaching points. At step 33, it is determined whether two end points have been detected, and if only one point has been registered, the direction is reversed at step 34, and the process at step 32 is performed again. The processing of 31 and 32 will be explained in detail below. FIG. 3 shows a processing flow for detecting a start point. First, in step 41, the groove position is detected. The outline of the algorithm will be described later. At 43, it is determined whether the groove is within the field of view of the visual sensor. If not, the visual sensor is rotated around the torch 8 by a predetermined angle at 44, and the groove position is detected again at 41. This process is repeated until a groove is found. If you can't find it even after rotating 360 degrees with the 42,
At 45, start guiding the torch again. If a groove is found, the l/-chi is moved to the groove position at 46. Further, in step 47, the visual sensor and the direction of the welding line are made to coincide with each other, and automatic sensing is started in the direction in which the visual sensor precedes the torch. FIG. 1 is a processing flow of automatic sensing. First, in step 51, the moving direction of the sensor is determined. 14th a~
Figure 14d is a diagram used to explain direction processing, and shows the visual sensor integrated with the torch 8 viewed from directly above. First, as shown in FIG. 14a, the torch 8 is moved to the vicinity of the groove 17, and the sensing start is input from T, BOX6. Then, as shown in FIG. 14b, the sensor rotates to the right and stops at the point where the groove image is input. Next, as shown in FIG. 14c, an appropriate position is calculated from the image information in step 5, and the torch 8 is aligned over the groove. 14th d
As shown in the figure, first move toward the side where the visual sensor 22 is located when viewed from the center of the torch. Next, while sensing the groove position at 52, the robot advances while following the welding line at a predetermined speed.The detected groove position information is converted to the robot wrist coordinate system by the visual sensor controller, and then sent to the robot controller. The 60-point controller 2 converts the data into the robot coordinate system using a transformation matrix determined by the angle of each rotation axis of the robot, and calculates the trajectory using this detection data obtained prior to the current position. ing. Furthermore, when following the weld line, the rotation of the visual sensor is controlled by the visual sensor control device so that the groove position is always near the center of the field of view. In step 53, it is determined whether the two images have disappeared from the field of view. If it does not disappear, sensing will continue. If it disappears, it will stop at a point 30mm ahead from that point. This point becomes a teaching point candidate. In step 55, a message is displayed on the CRT of the PEBOX to ask the operator whether or not to register it as a teaching point. Here, the operator checks the torch position, and if it is correct, inputs rYEsJ from 0PEBOX, otherwise inputs rNOJ. In the case of rYESJ, that point is registered as a teaching point in 56, and in the case of rNOJ, the operator manually corrects the teaching point in 257, and when the teaching key is input from T-BOX 6, that point is taught. It is registered as a point. 58 is substantially the same as 33 in FIG. Next, the groove detection algorithm will be briefly explained using FIGS. 5 to 7. When the groove falls within the field of view of the visual sensor, a slit light image as shown in FIG. 5 is obtained. This is approximated by a straight line to find the inflection point shown in FIG. A straight line connecting these three inflection points is traced from the end, and the second inflection point is defined as the groove position L5. The coordinate system of the visual sensor and the coordinate system of the robot are calibrated in advance.
There is a one-to-one correspondence, and the robot wrist coordinates of the torch position can be easily calculated from the groove position data using a conversion formula. Also, in order to align the visual sensor with the direction of the welding line, the seventh
The rotation of the visual sensor may be controlled so that the image is positioned as shown in the figure. As shown in Fig. 12, the optical system of the visual sensor is arranged so that the incident light and the reflected light form a constant angle.2. Therefore, detection in far and near directions is possible. The principle is shown below in Figure 12 and Figure 1.
This will be explained using Figure 3. 1 Now, as shown in Figure 12,
,7. Axis: Define the u and v axes. In FIG. 13, the position of the object where the center of the light emitted from the slit light source forms an image at the center on the image sensor is defined as a reference point (0'). Calibration is performed in advance to align the work origin of the robot with the reference point (0'). Then, as shown in Fig. 1, the displacement △Z in the far and near direction is detected at once by the displacement △ in the left direction on the image sensor. Therefore, if the second ΔV is known, ΔZ can be calculated by coordinate transformation. This operating principle allows control in both far and near directions. [Effects of the Invention] As described above, according to the present invention, it is possible to reduce the human effort and time required to teach welding work using a teaching-playback robot.

[Brief explanation of the drawing]

Figures 1 to 3 are flow charts showing embodiments of the present invention, Figure 4 is a conceptual diagram showing an example of the present invention applied to teaching a welding robot, and Figures 5 to 7 are diagrams showing a groove position detection algorithm. Figures used for explanation: Figure 8 is a diagram showing an example of the system configuration; Figures 9 (a), 9 (b), and 1
Figure 0 is a structural diagram of the visual sensor, Figure 11 is a conceptual diagram of object detection by the visual sensor, Figures 12 and 13 are diagrams used to explain perspective processing, and Figures 14a to 14d are diagrams showing direction processing. It is a figure used for explanation. . 52... One side (other side) direction movement process 53... One side (other side) end point detection process 56... One side (other side) teaching point storage process. 70 Concave spear If Fig. 30 Kakawa $14ct concave grass / 4C figure cog 74bu mouth

Claims (1)

[Claims] 1. In a method for teaching an automatic work device having a sensing function to perform a sensing operation on a singular line of a model work, an initial movement step of moving a sensor to a position where the singular line can be detected; , after the initial movement step, a unidirectional movement step in which the sensor is moved toward one end point of the singular line while detecting the singular line; and at the end of the unilateral movement step, the singular The method includes a one-sided end point detection step of detecting one end point on the line, and a one-sided teaching point storage step of importing position data related to the one-side end point into a storage means as a sensing operation teaching point after the one-side end point detection step. Characteristic teaching method for automatic work equipment. 2. In the one-side teaching point storage step, a distance on the singular line that is a certain distance back from the one-side end point detected in the one-side end point detection step is stored as a teaching point as position data regarding the one-side end point. A teaching method for an automatic working device according to claim 1. 3. In a method of teaching execution of a sensing operation on a singular line of a model work with an automatic work device having a sensing function, an initial movement step of moving the sensor to a position where the singular line can be detected; Later, a unilateral movement step in which the sensor is used to detect the singular line while moving toward one end point of the singular line, and a one-sided end point on the singular line is detected at the end of the unilateral movement step. a one-sided end point detection step, and a one-sided teaching point storage step of importing position data related to the one-side end point into a storage means as a sensing operation teaching point after the one-side end point detection step;
After the one side end point detection step, the sensor is moved toward the other end point of the singular line while detecting the singular line using the sensor, and the end of the other side direction moving step. the other side end point detection step of detecting the other end point on the singular line; and the other side teaching step of importing position data related to the other side end point into a storage means as a sensing operation teaching point after the other side end point detection step. 1. A teaching method for an automatic working device, characterized in that it has a point memorizing step.