KR101740898B1 - Robot teaching apparatus - Google Patents

Abstract

The present invention relates to a robot including a motion setting unit having a mode button for switching a teaching mode or an operation mode of the robot, and a shaft button for controlling a movement amount or a moving direction of the robot; A motion operation unit having a teaching handle capable of generating a position and a rotation motion of the robot by the jog motion of the user; A robot arm mounting portion that can be mounted on a distal end of the robot arm is formed on one side, a gripper mounting portion on which the gripper can be mounted is formed on the other side, and a robot mounted on a distal end of the robot, The robot teaching apparatus is a robot teaching apparatus capable of intuitively teaching a user and realizing a user-inputable input device with a physical interface such as a button, a dial, and a jog, thereby improving teaching accuracy and efficiency .

Description

[0001] The present invention relates to a robot teaching apparatus,

The present invention relates to a robot teaching apparatus capable of intuitive teaching work by enabling a user to directly teach a robot's work at the end of the robot.

Recently, there is a great interest in using robots to automate various product manufacturing processes. Accordingly, robots are used in various fields such as transportation, welding and painting of assembled parts.

In teaching the robots, the conventional technique teaches the robot using a teaching pendant in which the robot is separated from the main body. When the user wants to move the end of the robot, There is a difficulty in teaching because the part to judge is not intuitive.

Another conventional technique is to attach a teaching device using a force sensor to the end of the robot. In this case, the force and direction of the teaching device are detected using a force sensor and used as a signal of robot teaching, There is a problem that it is difficult to accurately reflect the direction and distance of the teaching according to the sensitivity.

Accordingly, it is necessary to provide a robotic teaching device capable of intuitive robot teaching by attaching a teaching device to the end of the robot and improving the accuracy of the teaching.

KR 10-1498836 B1 (February 26, 2015).

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a teaching device at the end of a robot to enable intuitive teaching of a user, , A dial, a jog, etc., to improve the teaching accuracy and efficiency.

According to an aspect of the present invention, there is provided a robot teaching device including a mode button for switching a teaching mode or an operation mode of a robot, a motion setting button for setting a moving amount of the robot, part; And a motion operation unit having a teaching handle capable of generating a position and a rotational motion of the robot by the user's jog motion; The robot arm mounting portion is formed on one side of the robot arm and the gripper mounting portion is mounted on the other side of the robot arm so that the gripper can be mounted on the robot arm mounting portion. Lt; / RTI >

A robot state display unit for displaying a state of performing a teaching of the robot or a state of the robot; As shown in FIG.

In addition, the motion setting unit may further include a management button for storing or retrieving the position of the robot.

The mode button of the motion setting unit may include a teaching button for turning the teaching mode ON / OFF, a coordinate system button for changing the coordinate system, and a teaching button for turning the inching mode ON / OFF.

In addition, the axis button of the motion setting unit may include movement axis buttons capable of individually setting X, Y and Z direction movement, θ _X , θ y and θz direction rotation.

In addition, the motion operation unit is forming the above teaching handle are X, Y and Z movement, θ _X, θy and θz rotation so as to be, and can be provided with a switch operated by the movement of the teaching handle.

A non-contact sensor unit for sensing a person based on a distal end of the robot to predict a collision; As shown in FIG.

The robot teaching apparatus of the present invention has an advantage that intuitive teaching of the user is possible and accuracy and efficiency of teaching are improved.

1 is a perspective view showing a state in which a robot teaching apparatus according to an embodiment of the present invention is mounted on an end portion of a robot arm;
2 is a perspective view of a robot teaching apparatus according to an embodiment of the present invention;
3 is a block diagram showing buttons of a motion setting unit according to the present invention.
4 is a perspective view illustrating setting of a safe area using a robot teaching apparatus including a non-contact sensor unit according to the present invention.

Hereinafter, the robot teaching apparatus according to the present invention will be described in detail with reference to the accompanying drawings.

[Example]

FIG. 1 is a perspective view showing a robot teaching apparatus according to an embodiment of the present invention mounted on an end of a robot arm, and FIG. 2 is a perspective view illustrating a robot teaching apparatus according to an embodiment of the present invention.

As shown in the figure, the robot teaching apparatus 1000 according to an embodiment of the present invention includes a mode button 120 for switching a teaching mode or an operation mode of the robot, A motion setting unit 100 having a shaft button 110 formed therein; A motion operation unit 200 having a teaching handle 210 capable of generating a position and a rotational motion of the robot by a user's jog motion; A robot arm mounting portion 401 which can be mounted on a distal end of the robot arm 2100 is formed on one side and a gripper mounting portion 101 on which the gripper can be mounted is formed on the other side, So that the robot can be instructed.

First, the robot teaching apparatus 1000 of the present invention can be mounted at the distal end of the robot arm 2100, which is the end of the robot 2000, and can be configured so that the user can directly teach the robot using the robot teaching apparatus . For example, the robot teaching apparatus 1000 includes a motion setting unit 100, a motion operation unit 200, a robot status display unit 300, and a non-contact sensor unit 400 stacked and coupled in a direction from the lower side to the upper side as shown in FIG. The robot arm mounting portion 401 may be formed on the top surface of the non-contact sensor portion 400 as the uppermost side and may be coupled to the distal end of the robot arm 2100. The motion setting portion 100 A gripper mounting portion 101 is formed on the lower surface of the gripper 101 so that various types of grippers can be coupled and mounted. The gripper mounting portion 101 may be mounted with various end effectors in addition to the gripper.

The robot teaching apparatus 1000 according to an embodiment of the present invention includes a motion setting unit 100 and a motion operation unit 200. The robot teaching apparatus 1000 includes an operation setting of the robot for teaching the robot and a position or rotation You can create motion.

That is, the motion setting unit 100 includes a mode button 120 for switching a teaching mode or an operation mode of the robot so that the user can directly teach the robot, and an axis button 120 for controlling the movement amount or the moving direction of the robot 110 are formed, and the user can select the modes by pressing the buttons.

In addition, the motion operation unit 200 may move or rotate the robot according to the jog motion if the user performs a jog motion by touching the user's instruction handle 210 by hand.

Therefore, the present invention can intuitively teach the user by attaching a teaching device to the end of the robot, and realizes the input device capable of being applied by the user as a physical interface such as a button, a dial, and a jog, There is an advantage that can be made.

The robot state display unit 300 may further include a robot state display unit 300 for displaying the robot state or the state of the robot.

That is, the robot status display unit 300 may be configured to display the state of the user performing the teaching or the state of the robot. For example, the robot state display unit 300 may be formed of an LED or the like. have.

The motion setting unit 100 may further include a management button 130 that can save or load the position of the robot.

That is, the management button 130 includes a storage button for storing a point of the robot and a retrieval button for retrieving the stored position, and stores the point of the taught robot or moves the robot to a point stored at an arbitrary point Can be called up.

[Example of mode button of motion setting section]

The mode button 120 of the motion setting unit 100 includes a teaching button 121 for turning the teaching mode ON and OFF, a coordinate system button 122 for converting the coordinate system, And an inching button 123 that can be turned off.

That is, as shown in FIG. 3, the motion setting unit 100 may be provided with a teaching button 121 for controlling the teaching mode to be turned on / off, and the teaching mode may include a mode capable of teaching the robot to move or rotate to be.

In the motion setting unit 100, a coordinate system based on a task path, a coordinate system based on a gripper mounted on the robot, and a coordinate system based on a joint of the robot arm are selected A coordinate system button 122 for changing the position of the robot can be formed so that the movement and rotation of the robot can be taught based on a desired coordinate system. In addition, the motion setting unit 100 may be provided with an inching button 123 for controlling the inching mode on / off. Herein, the inching mode is a mode in which the robot can perform a step operation in a specific unit of mm or cm.

In addition, the inching dial 140 may be formed in the motion setting unit 100, and the inching dial may be used to adjust the inching amount in the inching mode.

[Example of axis button of motion setting section]

In addition, the axis button 110 of the motion setting unit 100 may include movement axis buttons capable of individually setting the X, Y and Z direction movement, the θ _X , θ y and the θz direction rotation.

That is, the movement axis buttons are composed of X, Y, Z,? _X ,? Y, and? Z buttons, and can be activated by pressing only a button in a desired direction, and buttons that are not pressed can be deactivated. Thus, it is possible to individually set the direction of movement or rotation by depressing the desired movement axis button, and the movement and rotation in the undesired direction can be restricted.

[Example of motion operation section]

Further, by the action of the motion operation unit 200, the teaching handle 210, the X, Y and Z movement, θ _X, θy and θz are formed a direction of rotation to enable it said teaching handle (210) A switch to be operated may be provided.

That is, the teaching handle 210 of the motion operation unit 200 is configured to be movable in the six-axis direction, and the motion operation unit 200 is provided with switches so that the switch is operated according to the movement of the teaching handle 210 The user can teach the robot by moving the teaching handle 210.

Further, the non-contact sensor unit 400 may further include a non-contact sensor unit 400 for sensing a person based on the end of the robot and predicting a collision.

That is, the robot teaching apparatus 1000 mounted on the end of the robot arm 2100 has the non-contact sensor unit 400, and the collision can be predicted by measuring the direction and the distance in which the person exists in the non-contact sensor unit 400 .

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It goes without saying that various modifications can be made.

1000: Robot teaching device
100: Motion setting section 101: Gripper mounting section
110: axis button 120: mode button
121: Teaching button 122: Coordinate system button
123: Inching button
130: management button 140: inching dial
200:
210:
300: Robot status indicator
400: non-contact sensor part 401: robot arm mounting part
2000: Robot
2100: arm 2200: gripper

Claims (7)

A motion setting unit having a mode button for switching a teaching mode or an operation mode of the robot, and a shaft button for controlling a movement amount or a moving direction of the robot; And
A motion operation unit having a teaching handle capable of generating a position and a rotational motion of the robot by a user's jog motion; And,
A robot arm mounting portion that can be mounted on a distal end of the robot arm is formed on one side, and a gripper mounting portion on which the gripper can be mounted is formed on the other side,
A robot teaching device mounted on the end of a robot and capable of teaching the robot.
The method according to claim 1,
A robot state display unit capable of displaying a state of performing a teaching of the robot or a state of the robot; And a robot teaching device.
The method according to claim 1,
Wherein the motion setting unit comprises:
Further comprising a management button for storing or retrieving the position of the robot.
The method according to claim 1,
The mode button of the motion setting unit,
A teaching button capable of turning on / off the teaching mode, a coordinate system button capable of changing the coordinate system, and an inching button capable of turning on / off the inching mode.
The method according to claim 1,
Wherein the axis button of the motion setting unit comprises:
And movement axis buttons capable of individually setting movement in X, Y and Z directions, rotation in the directions of? _X ,? Y and? Z.
The method according to claim 1,
The motion-
Is formed to enable the teaching handle to the X, Y and Z movement, θ _X, θy and θz rotation, the robot teaching apparatus characterized in that comprises a switch operated by the movement of the teaching handle.
The method according to claim 1,
A non-contact sensor unit for detecting a person based on a distal end of the robot to predict a collision; And a robot teaching device.

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