KR102148251B1 - Removable teaching device - Google Patents

Abstract

In the present invention, a plurality of mounting portions are formed so that the teaching handle can be mounted on the robot, and the teaching handle capable of teaching the robot is detachably coupled to the mounting portion, so that the teaching tool is mounted on the desired part of the robot according to the user's convenience. Thus, it relates to a detachable robot teaching device that can easily teach a robot.

Description

Removable teaching device {Removable teaching device}

The present invention relates to a robot teaching apparatus that can be mounted on a part of a body of a robot to teach a robot.

In recent years, the need for human-robot collaboration that can effectively increase productivity by utilizing the work power of robots and human intelligence at the same time in various fields is increasing rapidly.

Among various types of collaboration, the need for direct teaching of robots is very high. Here, direct teaching is a very intuitive method that allows the user to teach the robot's path by manually moving the robot without using a separate teaching pendant, and does not require complex programming for teaching the robot path. There is an advantage.

For such human-robot collaboration, since the robot and the human must exist in the same space, the problem of collision safety due to malfunction of the robot and human error is a very important factor.

To this end, the direct teaching method that has been mainly researched is to install a sensor (F/T sensor) that can measure force and moment at the end of the robot, and measure the force that the user pushes or pulls on the robot and converts it into a position command of the robot. This is how the robot moves. However, since such a method requires a sensitive sensor and a complex force control algorithm, there is a risk of collision with an operator due to malfunction or failure.

In addition, since a general FT sensor is very expensive, it is very expensive to prepare a direct teaching system, and due to such problems, robot teaching using programming or teaching pendants is still dominant.

KR 10-2013-0000496 A (2013.01.03.)

The present invention has been conceived to solve the above-described problems, and an object of the present invention is to teach a robot by installing a teaching tool on a desired part such as a distal end of a robot arm or a part of a robot arm according to the user's convenience. It is to provide a detachable robot teaching value.

The detachable robot teaching device of the present invention for achieving the above object, the mounting portion is formed, the fixing bracket coupled to the robot and fixed; And a body having a detachable fixing portion formed on the mounting portion of the fixing bracket, and a handle coupled to the body to teach the robot, wherein the fixing portion of the body is coupled to the mounting portion of the fixing bracket. It can be made including.

In addition, the mounting portion of the fixing bracket is formed of a magnetic material, the fixing portion of the teaching handle is formed of a magnet, so that the mounting portion of the teaching handle may be coupled to the mounting portion of the fixing bracket.

In addition, the mounting portion of the fixing bracket is formed by a plurality of concave coupling holes, the fixing portion of the teaching handle is formed by a plurality of fixing projections protruding from the body, and the fixing projection of the teaching handle is inserted into the coupling hole of the fixing bracket. Can be combined.

In addition, the mounting portion of the fixing bracket is formed of a magnetic material in the portion where the plurality of coupling holes are formed, and the fixing portion of the teaching handle is formed of a magnet, so that the mounting portion of the teaching handle is a mounting portion of the fixing bracket. Can be combined with

In addition, an operation switch capable of turning on and off the operation of the teaching handle may be formed on the body of the teaching handle.

In addition, the operation switch has an on-off pin protruding from the surface of the body on the side where the body is coupled to the fixing bracket, and the teaching handle is turned on when the on-off pin is pressed when the teaching handle is attached to the fixing bracket. ON) state, and when the teaching handle is detached from the fixing bracket and the ON/OFF pin is released, the teaching handle may be turned off.

In addition, the teaching handle may teach the robot while being attached to the mounting portion of the fixing bracket, and the teaching handle may be detached from the mounting portion of the fixing bracket to teach the robot in a space other than the robot.

In addition, the detachable robot teaching apparatus of the present invention includes a collision detection module having a plurality of mounting parts, a plurality of sensing parts capable of detecting a collision, and being coupled to and fixed to the distal end of the robot; And a body in which a fixing part detachable to the mounting part of the collision detection module is formed, and a handle coupled to the body to teach the robot, and a teaching handle in which the fixing part of the body is connected to the mounting part of the crash detection module. It can be made including.

In addition, the collision detection module may be arranged to be spaced apart from a plurality of mounting portions along the circumferential direction.

In addition, the mounting portion of the collision detection module is formed with a plurality of concave coupling holes, and the fixing portion of the teaching handle is formed by a plurality of fixing projections protruding from the body, so that the fixing projection of the teaching handle is in the coupling hole of the collision detection module. Can be inserted and combined.

In addition, the mounting portion of the collision detection module is formed of a magnetic material, the fixing portion of the teaching handle is formed of a magnet, so that the mounting portion of the teaching handle may be coupled to the mounting portion of the collision detection module.

In addition, the mounting portion of the collision detection module is formed with a plurality of concave coupling holes, and the fixing portion of the teaching handle is formed by a plurality of fixing projections protruding from the body, so that the fixing projection of the teaching handle is in the coupling hole of the collision detection module. Can be inserted and combined.

In addition, the mounting portion of the collision detection module is formed of a magnetic material in the portion where the plurality of coupling holes are formed, and the fixing portion of the teaching handle is formed of a magnet, so that the mounting portion of the teaching handle is the collision detection module. It can be coupled to the mounting portion of.

In addition, an operation switch capable of turning on and off the operation of the teaching handle may be formed on the body of the teaching handle.

In addition, the operation switch has an on-off pin protruding from the surface of the body on the side where the body is coupled to the fixing bracket, and the teaching handle is turned on when the on-off pin is pressed when the teaching handle is attached to the fixing bracket. ON) state, and when the teaching handle is detached from the fixing bracket and the ON/OFF pin is released, the teaching handle may be turned off.

In addition, the detachable robot teaching device of the present invention further comprises a fixing bracket that is formed with a mounting part and is coupled to and fixed to the arm of the robot, and the teaching handle is detachable from the mounting part of the collision detection module or the mounting part of the fixing bracket. It can be combined as possible.

In addition, the teaching handle may teach the robot while being attached to the mounting portion of the collision detection module, and the teaching handle may be detached from the mounting portion of the collision detection module to teach the robot in a space other than the robot. .

In addition, when the teaching handle is attached to the mounting portion of the collision detection module and the teaching handle is turned on, some sensing units close to the portion to which the teaching handle is attached are controlled to not operate, and the teaching handle is a collision detection module. When the teaching handle is detached from the mounting part of the Teach and the teaching handle is turned off, the sensing parts that did not operate may be controlled to operate again.

Since the detachable robot teaching device of the present invention controls the robot by transmitting an operation command directly to the robot using the detachable teaching device, it has a high safety advantage compared to the direct teaching based on force control.

In addition, it is possible to teach the robot by attaching the teaching tool to a desired part such as the end of the robot arm or a part of the robot arm according to the user's convenience. There is this.

In addition, by mounting a sensor capable of detecting a distance, etc., there is an advantage of preventing a collision between the robot and the operator or the surrounding environment in the reproduction operation after the teaching.

1 is an assembly perspective view showing a detachable robot teaching device according to a first embodiment of the present invention.
Figure 2 is a partial exploded perspective view showing the detachable robot teaching value according to the first embodiment of the present invention.
3 is a plan view showing a state in which a teaching handle of the detachable robot teaching apparatus according to the first embodiment of the present invention is attached to a mounting portion formed on a collision detection module.
Figure 4 is an assembly perspective view showing the detachable robot teaching value according to the second embodiment of the present invention.
5 is a partial exploded perspective view showing a detachable robot teaching tool according to a second embodiment of the present invention.

Hereinafter, the detachable robot teaching device of the present invention will be described in detail with reference to the accompanying drawings.

<Example 1>

1 is an assembled perspective view showing a detachable robot teaching machine value according to a first embodiment of the present invention, and FIG. 2 is a partial exploded perspective view showing a detachable robot teaching machine value according to a first embodiment of the present invention.

Referring to FIGS. 1 and 2, the detachable robot teaching apparatus according to the first embodiment of the present invention may largely include a teaching handle 100 and a collision detection module 300.

First, the teaching handle 100 may teach a robot in three dimensions, and for example, may be a device capable of teaching a 6 degree of freedom (6DOF) robot. Teaching handle 100 may be composed of a body 110 and a handle 120. The body 110 is formed in the shape of a disk, and a handle 120 that can be held and controlled by a user is coupled to one side, and a fixing part 111 formed in the form of a plurality of fixing protrusions may be formed on the other side. have. And on one side of the body 110, the function buttons 114 may be formed in a form in which the function buttons 114 are spaced apart from each other along the circumferential direction on the outer part of the handle 120 in the radial direction, and the function buttons 114 are called. Various buttons such as (load), save (save), and home (home) buttons may be formed. In addition, the body 110 is provided with an operation switch 112, the operation switch 112 may be formed with an on-off pin 113 protruding from the other side of the body 110. Here, when the on-off pin 113 of the operation switch 112 is pressed, the teaching handle 100 is turned on, so that the robot 10 moves when the user holds the handle 120 and manipulates it. Can be controlled. In addition, when the on-off pin 113 of the operation switch 112 is released and is not pressed, the teaching handle 100 is turned off. 10) can be controlled so that it does not move.

The collision detection module 300 may be, for example, a device that serves to prevent a robot from colliding by detecting a person or nearby objects in a non-contact manner. That is, a plurality of sensing units 330 capable of detecting a collision may be disposed to be spaced apart along the circumferential direction. Here, the sensing unit 330 may be composed of various sensors such as an infrared sensor and a distance sensor. In addition, the collision detection module 300 is formed in a cylindrical shape, and a plurality of mounting portions in the form of concave coupling holes formed in a shape corresponding to the shape of the fixing protrusions, which are the fixing portions 111 of the teaching handle 100 along the circumferential direction on the outer circumferential surface. (310) may be formed to be spaced apart. In addition, the collision detection module 300 may have through holes 340 penetrating the upper and lower surfaces, for example, so that the fastening means passes through the through holes and is fastened to the distal end 30 of the robot 10 to be fixed. In a form, the collision detection module 300 may be coupled to and fixed to the distal end 30 of the robot 10. In addition, an end effector such as a gripper is coupled to a lower end of the collision detection module 300 to perform a required operation.

Thus, in a state in which the collision detection module 300 is coupled and fixed to the distal end 30 of the robot 10, the mounting part 310 at a position desired by the user among the plurality of mounting parts 310 formed in the collision detection module 300 By attaching the teaching handle 100 to the robot can be taught. In addition, since it may be difficult to secure the user's field of view depending on the working conditions or the robot's posture, in this case, the teaching handle 100 is detached from the originally attached mounting part 310 and attached to the mounting part 310 at a different position to facilitate the robot. Can teach. At this time, the teaching handle 100 may be detached from the mounting portion 310 of the collision detection module 300 so that the robot may be taught in a space other than the robot. That is, it is possible to teach the robot by manipulating the teaching handle 100 while placing the teaching handle 100 on a separate structure spaced apart from the robot 10 and placing the teaching handle 100 on the palm of the user. You can put it on and teach the robot.

Further, the robot may be controlled so that the robot does not collide with surrounding objects or people by the sensing units 330 configured in the collision detection module 300.

3 is a plan view showing a state in which a teaching handle of the detachable robot teaching apparatus according to the first embodiment of the present invention is attached to a mounting portion formed on a collision detection module.

Referring to Figure 3, the teaching handle 100 is a fixing portion 111 in the form of a fixing protrusion formed protruding from the body 110 is in the mounting portion 310 in the form of a coupling hole formed concave in the outer circumferential surface of the collision detection module 300. By being inserted and defective, the teaching handle 100 may be firmly attached to the collision detection module 300. Here, the teaching handle 100 may be a handle 100 capable of teaching a robot formed to have 6 degrees of freedom (6DOF) in three dimensions, so that the handle 120 is rotated about the central axis of the body 110 The robot can be taught by operation. Therefore, the fixing part 111 of the teaching handle 100 and a collision detection module 300 corresponding thereto so that the body 110 of the teaching handle 100 is coupled and fixed to the collision detection module 300 as shown. The mounting portion 310 of may be formed with a plurality of fixing protrusions and a plurality of coupling holes to prevent rotation.

In addition, the user may teach the robot by pulling or pushing the handle 120 in the direction of the central axis of the body 110. Therefore, in the collision detection module 300, the fixing protrusions, which are the fixing portions 111 formed on the body 110 of the teaching handle 100, are formed of magnets, and the coupling hole portion, which is the mounting portion 310 of the collision detection module 300, is Since it is formed of a magnetic material, even if the user pulls the handle 120, the teaching handle 100 can be prevented from easily falling out of the collision detection module 300 by magnetic force.

In addition, the collision detection module 300 is formed with a pin insertion hole 320 concave on the outer circumferential surface, and the on-off pin 113 protruding from the operation switch 112 of the teaching handle 100 is the pin insertion hole 320 It can be configured to be pressed accurately when inserted in the

In addition, since the sensing units 330 formed in the collision detection module 300 may be covered by the attachment of the teaching handle 100, some sensing corresponding to the area to which the teaching handle 100 is attached. The units 330 may be controlled to not operate. That is, when the teaching handle 100 is attached to the mounting portion 310 of the collision detection module 300 and the on-open pin 113 of the operation switch 112 is pressed, the teaching handle 100 is turned on, Some of the sensing units 330 close to the portion to which the teaching handle 100 is attached may be controlled to not operate. And when the teaching handle 100 is detached from the mounting part 310 of the collision detection module 300 and the on-open pin 113 of the operation switch 112 comes out, the teaching handle 100 is turned off, The sensing units 330 that did not operate close to the portion to which the teaching handle 100 was attached may be controlled to operate again.

<Example 2>

4 is an assembled perspective view showing a detachable robot teaching machine value according to a second embodiment of the present invention, and FIG. 5 is a partial exploded perspective view showing a detachable robot teaching machine value according to a second embodiment of the present invention.

Referring to FIGS. 4 and 5, the detachable robot teaching apparatus according to the second embodiment of the present invention may include a teaching handle 100, a collision detection module 300, and a fixing bracket 200. That is, the detachable robot teaching device according to the second embodiment of the present invention is configured to further include a fixing bracket 200 in the first embodiment.

First, the teaching handle 100 and the collision detection module 300 are the same as the first embodiment described above. In addition, the fixing bracket 200 may be formed in a concave shape corresponding to the shape of the robot 10 and the arm 20 on one side, and may be coupled to and fixed to the arm 20, and the other side opposite to the plane It is formed so that the mounting portion 210 may be formed on the other side. In this case, the mounting portion 210 of the fixing bracket 200 may be formed of concave coupling holes, such as the mounting portion 310 formed in the collision detection module 300 in the above-described first embodiment.

Thus, it is possible to teach the robot by attaching the teaching handle 100 to the mounting portion 310 formed on the collision detection module 300 coupled to the distal end of the robot 10, and coupled to the arm 20 of the robot 10 The robot may be taught by attaching the teaching handle 100 to the mounting portion 210 formed on the fixing bracket 200. That is, a plurality of mounting portions capable of attaching the teaching handle to various positions of the robot 10 are formed, and the teaching handle can be attached to a desired position according to the user's convenience to teach the robot. Accordingly, the robot can be easily taught by attaching the teaching handle to the mounting part of the desired part after removing the teaching handle.

In addition, while the teaching handle 100 is detached from the collision detection module 300 or the fixing bracket 200, the teaching handle 100 is placed on a separate structure spaced apart from the robot 10, and the teaching handle 100 ) Can be operated to teach the robot, and the robot can be taught by placing the teaching handle 100 on the palm of the user.

In addition, although not shown, in the collision detection module, a fixing bracket may be configured in a form in which only a plurality of mounting parts are formed without a sensing part, and it may be fixed by coupling it to the end of the robot arm, and a separate fixing bracket is attached to the arm of the robot or May not be.

The present invention is not limited to the above-described embodiments, and the scope of application thereof is diverse, as well as anyone with ordinary knowledge in the field to which the present invention belongs without departing from the gist of the present invention claimed in the claims. Of course, various modifications are possible.

10: robot
20: arm 30: distal portion
100: teaching handle
110: body 111: fixed part
112: operation switch 113: on-off pin
114: function button 120: handle
200: fixing bracket
210: mounting part 220: pin insertion hole
300: collision detection module
310: mounting part 320: pin insertion hole
330: sensing unit 340: through hole

Claims (18)

A mounting part is formed, the fixing bracket is fixed to the robot; And
A teaching handle including a body having a detachable fixing part formed on the mounting part of the fixing bracket and a handle coupled to the body to teach the robot, and wherein the fixing part of the body is coupled to the mounting part of the fixing bracket;
It is made including,
The teaching handle may teach the robot while being attached to the mounting portion of the fixing bracket, and the teaching handle is detachable from the mounting portion of the fixing bracket to teach the robot in a space other than the robot. Detachable robot teaching device.
The method of claim 1,
The mounting portion of the fixing bracket is formed of a magnetic material,
The fixing portion of the teaching handle is formed of a magnet,
A detachable robot teaching device in which the mounting portion of the teaching handle is coupled to the mounting portion of the fixing bracket.
The method of claim 1,
The mounting portion of the fixing bracket is formed with a plurality of concave coupling holes,
The fixing portion of the teaching handle is formed by a plurality of fixing projections protruding from the body,
A detachable robot teaching device in which the fixing protrusion of the teaching handle is inserted into the coupling hole of the fixing bracket to be coupled.
The method of claim 3,
The mounting portion of the fixing bracket is formed of a magnetic material in which the plurality of coupling holes are formed,
The fixing part of the teaching handle has the plurality of fixing protrusions formed of magnets,
A detachable robot teaching device in which the mounting portion of the teaching handle is coupled to the mounting portion of the fixing bracket.
A mounting part is formed, the fixing bracket is fixed to the robot; And
A teaching handle including a body having a detachable fixing part formed on the mounting part of the fixing bracket and a handle coupled to the body to teach the robot, and wherein the fixing part of the body is coupled to the mounting part of the fixing bracket;
It is made including,
A detachable robot teaching device formed on the body of the teaching handle with an operation switch capable of turning on and off the operation of the teaching handle.
The method of claim 5,
The operation switch has an on-off pin protruding from the body surface on the side where the body is coupled to the fixing bracket,
When the teaching handle is attached to the fixing bracket and the on-off pin is pressed, the teaching handle is turned on, and when the teaching handle is detached from the fixing bracket and the on-off pin is released, the teaching handle A detachable robot teaching device that becomes OFF.
The method of claim 5,
The teaching handle may teach the robot while being attached to the mounting portion of the fixing bracket, and the teaching handle is detachable from the mounting portion of the fixing bracket to teach the robot in a space other than the robot. Detachable robot teaching device.
A collision detection module having a plurality of mounting parts, a plurality of sensing parts capable of detecting a collision, and being coupled to and fixed to the distal end of the robot; And
A teaching handle having a body having a detachable fixing portion formed on the mounting portion of the collision detection module and a handle coupled to the body to teach the robot, and wherein the fixing portion of the body is coupled to the mounting portion of the collision detection module;
It is made including,
The collision detection module is a detachable robot teaching device in which a plurality of mounting portions are spaced apart along a circumferential direction.
delete The method of claim 8,
The mounting portion of the collision detection module is formed of a magnetic material,
The fixing portion of the teaching handle is formed of a magnet,
A detachable robot teaching device in which the mounting portion of the teaching handle is coupled to the mounting portion of the collision detection module.
The method of claim 8,
The mounting portion of the collision detection module is formed by a plurality of concave coupling holes,
The fixing portion of the teaching handle is formed by a plurality of fixing projections protruding from the body,
A detachable robot teaching device in which the fixing protrusion of the teaching handle is inserted into and coupled to the coupling hole of the collision detection module.
The method of claim 11,
The mounting portion of the collision detection module is formed of a magnetic material in which the plurality of coupling holes are formed,
The fixing part of the teaching handle has the plurality of fixing protrusions formed of magnets,
A detachable robot teaching device in which the mounting portion of the teaching handle is coupled to the mounting portion of the collision detection module.
A collision detection module having a mounting portion formed, a sensing portion capable of detecting a collision, and fixed and coupled to an end portion of the robot; And
A teaching handle including a body having a detachable fixing portion formed on the mounting portion of the collision detection module and a handle coupled to the body to teach the robot, and wherein the fixing portion of the body is coupled to the mounting portion of the collision detection module;
It is made including,
A detachable robot teaching device formed on the body of the teaching handle with an operation switch capable of turning on and off the operation of the teaching handle.
The method of claim 13,
The operation switch has an on-off pin protruding from the body surface on the side where the body is coupled to the fixing bracket,
When the teaching handle is attached to the fixing bracket and the on-off pin is pressed, the teaching handle is turned on, and when the teaching handle is detached from the fixing bracket and the on-off pin is released, the teaching handle A detachable robot teaching device that becomes OFF.
A collision detection module having a mounting portion formed, a sensing portion capable of detecting a collision, and fixed and coupled to an end portion of the robot;
A teaching handle including a body having a detachable fixing portion formed on the mounting portion of the collision detection module and a handle coupled to the body to teach the robot, and wherein the fixing portion of the body is coupled to the mounting portion of the collision detection module; And
A mounting part is formed, the fixing bracket is fixed to the arm of the robot;
It is made including,
The teaching handle is a detachable robot teaching device that is detachably coupled to a mounting part of a collision detection module or a mounting part of the fixing bracket.
A collision detection module having a mounting portion formed, a sensing portion capable of detecting a collision, and fixed and coupled to an end portion of the robot; And
A teaching handle including a body having a detachable fixing portion formed on the mounting portion of the collision detection module and a handle coupled to the body to teach the robot, and wherein the fixing portion of the body is coupled to the mounting portion of the collision detection module;
It is made including,
The teaching handle may teach the robot while being attached to the mounting part of the collision detection module, and the teaching handle may be detached from the mounting part of the collision detection module to teach the robot in a space other than the robot. Detachable robot teaching device.
A collision detection module having a mounting portion formed, a plurality of sensing portions capable of detecting a collision, and fixed and coupled to an end portion of the robot; And
A teaching handle having a body having a detachable fixing portion formed on the mounting portion of the collision detection module and a handle coupled to the body to teach the robot, and wherein the fixing portion of the body is coupled to the mounting portion of the collision detection module;
It is made including,
The body of the teaching handle is formed with an operation switch capable of turning on and off the operation of the teaching handle,
When the teaching handle is attached to the mounting part of the collision detection module and the teaching handle is turned on, some sensing parts close to the part to which the teaching handle is attached are controlled to not operate, and the teaching handle is the mounting part of the collision detection module. Detachable robot teaching device that is controlled to reactivate sensing units that did not operate when the teaching handle is turned off.
The method according to any one of claims 14, 15 to 17,
A detachable robot teaching device in which a plurality of mounting portions are formed in the collision detection module, and the plurality of mounting portions are spaced apart from each other in a circumferential direction.

Images