WO2018124610A1 - Appareil d'enseignement de robot - Google Patents

Appareil d'enseignement de robot Download PDF

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Publication number
WO2018124610A1
WO2018124610A1 PCT/KR2017/015143 KR2017015143W WO2018124610A1 WO 2018124610 A1 WO2018124610 A1 WO 2018124610A1 KR 2017015143 W KR2017015143 W KR 2017015143W WO 2018124610 A1 WO2018124610 A1 WO 2018124610A1
Authority
WO
WIPO (PCT)
Prior art keywords
teaching
robot
handle
teaching handle
switch
Prior art date
Application number
PCT/KR2017/015143
Other languages
English (en)
Korean (ko)
Inventor
도현민
최태용
박동일
김휘수
박찬훈
김두형
경진호
손영수
Original Assignee
한국기계연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020160180585A external-priority patent/KR101740898B1/ko
Priority claimed from KR1020170040627A external-priority patent/KR101921687B1/ko
Application filed by 한국기계연구원 filed Critical 한국기계연구원
Priority to DE112017006658.1T priority Critical patent/DE112017006658B4/de
Publication of WO2018124610A1 publication Critical patent/WO2018124610A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path

Definitions

  • the present invention relates to a robot teaching apparatus that enables intuitive teaching by allowing a user to directly teach a robot's work at the end of the robot.
  • robots are used in various fields such as transportation of assembly parts, welding, and painting.
  • the conventional technology uses a teaching pendant that is separated from the main body to perform the teaching of the robot.
  • the robot moves the direction of movement. There is difficulty in teaching because the judgment is not intuitive.
  • Another conventional technique is to attach a teaching device using a force sensor at the end of the robot, but in this case, the force and direction of movement of the teaching device are sensed using a force sensor and used as a signal for teaching the robot, so that the sensor noise Depending on the sensitivity and the sensitivity, it is difficult to accurately reflect the teaching direction and distance.
  • the teaching device is attached to the end of the robot to enable the user to intuitively teach the robot, and a robot teaching device capable of improving the teaching precision is required.
  • the present invention has been made to solve the above problems, the object of the present invention is to attach the teaching device to the end of the robot to enable the user's intuitive teaching, and the user can apply the input button
  • the robot teaching device can be improved in safety, teaching accuracy and efficiency as well as manufacturing cost compared to the direct teaching based on force control. To provide.
  • Robot teaching device is mounted on one end of the robot arm, the gripper is mounted on the other side, and teaches the robot.
  • the robot teaching apparatus includes a motion setting unit and a motion operation unit.
  • the motion setting unit includes a mode button for switching the teaching mode or the operation mode of the robot, and an axis button for adjusting the movement amount or the moving direction of the robot.
  • the motion operation unit is provided with a teaching handle that generates the position and rotational motion of the robot by jog motion of the user.
  • the robot may further include a robot state display unit for displaying a teaching performance state or a state of the robot.
  • the motion setting unit may further include a management button for storing or recalling the position of the robot.
  • the mode button may include a teaching button for turning on / off the teaching mode, a coordinate system button for converting a coordinate system, and a teaching button for turning on / off the inching mode.
  • the axis button may include movement axis buttons for setting movement in the X, Y and Z directions, or rotation in the ⁇ X , ⁇ y and ⁇ z directions.
  • the motion operation unit, the teaching handle is formed to be able to move in the X, Y and Z directions, or rotate in the ⁇ X , ⁇ y and ⁇ z direction, the switch is provided by the movement of the teaching handle Can be.
  • it may further include a non-contact sensor unit for predicting a collision by detecting a person based on the end of the robot.
  • the robot teaching apparatus includes a superstructure, a motion setting unit, a support, a teaching handle and a plurality of bush button switches.
  • the superstructure is mounted at the distal end of the robot arm.
  • the motion setting unit is fixedly coupled to the lower side of the upper structure, the gripper is mounted.
  • the support part is disposed between the upper structure and the motion setting part, and is coupled to any one or more of the upper structure and the motion setting part.
  • the teaching handle is provided between the upper structure and the motion setting part, the inner side of which is penetrated up and down and fitted to the outside of the support part.
  • the push button switch is coupled to the support or the teaching handle, and is pressed to act upon the movement of the teaching handle.
  • the push button switch may be arranged spaced apart in the circumferential direction at any one or more positions between the teaching handle and the support, between the teaching handle and the superstructure, and between the teaching handle and the motion setting portion.
  • the teaching handle is extended radially inward from the inner circumferential surface, the extensions are arranged spaced apart from each other in the circumferential direction, and the support is formed radially inwardly surrounded by the extensions.
  • the push button switch may include first supports, and first push switches may be disposed between inner surfaces of the extension parts and a first support part in a radial direction.
  • the support further comprises a second support disposed between the extensions in the circumferential direction, wherein the push button switch is disposed between the side of the extensions and the side of the second support in the circumferential direction.
  • Each of the second switches may be further disposed.
  • the push button switch may further comprise fourth switches disposed radially between an inner surface of the teaching handle and a second support.
  • the push button switch may further include third switches disposed between the upper structure and the teaching handle and between the motion setting unit and the teaching handle and spaced apart along the circumferential direction.
  • the push button switch may be inserted into a settling groove formed in any one or more of the upper structure, the motion setting unit and the support unit.
  • the first switch disposed at the rear side of the teaching handle relative to the center of the teaching handle may be pressed to operate.
  • the third switch disposed in the forward direction of the teaching handle relative to the teaching handle may be pressed to operate.
  • a third switch disposed in the rotation direction forward direction of the teaching handle may be pressed by an axis that is the center of rotation.
  • the second switch disposed at the front side to which the extension is moved may be pressed to operate.
  • the second switch disposed at the front of the extension direction of the extension may be pressed and operated based on the z-axis that is the center of rotation.
  • the movement direction of the teaching handle relative to the center of the teaching handle can be operated by pressing.
  • Robot teaching device of the present invention the user can intuitively teach and improve the teaching precision and efficiency, as well as the safety has the advantage of preventing the collision between the robot and the operator.
  • FIG. 1 is a perspective view showing a state in which the robot teaching device according to an embodiment of the present invention is mounted on the end of the robot arm.
  • FIG. 2 is a perspective view of the robot teaching device of FIG. 1.
  • FIG. 2 is a perspective view of the robot teaching device of FIG. 1.
  • FIG. 3 is a diagram illustrating buttons of a motion setting unit of FIG. 2.
  • FIG. 4 is a perspective view illustrating a safe area setting using the robotic teaching apparatus of FIG. 1.
  • 5 and 6 are an assembled perspective view and an exploded perspective view showing a robot teaching device according to another embodiment of the present invention.
  • FIG. 7 is a perspective view illustrating the teaching handle of the robot teaching device of FIG. 5.
  • FIG. 7 is a perspective view illustrating the teaching handle of the robot teaching device of FIG. 5.
  • FIG. 8 is a front view illustrating the robot training device of FIG. 5.
  • FIG. 9 is a plan view illustrating the support, the teaching handle, and the push button switches in the robot teaching apparatus of FIG. 5 with the superstructure removed;
  • FIG. 10 is a plan view illustrating switches that are pressed and operated when the teaching handle of FIG. 7 is pushed in the + x direction.
  • FIG. 11 is a plan view illustrating switches that are pressed and operated when the teaching handle of FIG. 7 is pushed in the + y direction.
  • FIG. 12 is a perspective view illustrating switches that are pressed and operated when the teaching handle of FIG. 7 is pushed in the + z direction.
  • FIG. 13 is a perspective view illustrating switches that are pressed and operated when the teaching handle of FIG. 7 is rotated in a + ⁇ x direction.
  • FIG. 14 is a perspective view illustrating switches that are pressed and operated when the teaching handle of FIG. 7 is rotated in a + ⁇ y direction.
  • FIG. 15 is a plan view illustrating switches that are pressed and operated when the teaching handle of FIG. 7 is rotated in a + ⁇ z direction.
  • support portion 310 first support portion
  • first switch 520 second switch
  • FIG. 1 is a perspective view showing a robot teaching apparatus mounted on an end of a robot arm according to an embodiment of the present invention
  • Figure 2 is a perspective view showing the robot teaching apparatus of FIG.
  • the robot teaching apparatus 1000 includes a mode button 220 for changing a teaching mode or an operation mode of a robot, and an axis button for adjusting a moving amount or a moving direction of the robot ( A motion setting unit 200 in which 250 is formed; And a motion operating unit 400 having a teaching handle 410 that can generate the position and rotational motion of the robot by the user's jog motion. It is made, including, the robot arm mounting portion 101 that can be mounted on one side of the robot arm 2100 is formed, the gripper mounting portion 201 is formed on the other side, the gripper is mounted, the end of the robot It can be mounted to be configured to teach the robot.
  • the robot teaching apparatus 1000 may be mounted at the distal end of the robot arm 2100 which is the distal end of the robot 2000, and the user may directly teach the robot using the robot teaching apparatus.
  • the robot teaching apparatus 1000 is coupled to the motion setting unit 200, the motion operation unit 400, the robot status display unit 600 and the non-contact sensor unit 700 is stacked from the bottom to the upper direction as shown It may be formed in a shape, the upper surface of the non-contact sensor unit 700 is the uppermost robot arm mounting portion 101 is formed can be coupled to the distal end of the robot arm 2100, the lowermost motion setting unit 200
  • the gripper mounting portion 201 is formed on the bottom surface of the) so that the grippers of various forms can be combined and mounted.
  • the gripper mounting portion 201 may be equipped with various end effectors in addition to the gripper.
  • the robot state display unit 600 and the non-contact sensor unit 700 may be defined as the upper structure 100 to be positioned above the motion operation unit 400, and the motion setting unit 200. Is located below the motion operation unit 400 and may be defined as a lower structure.
  • the robot teaching apparatus 1000 of the present embodiment is largely composed of a motion setting unit 200 and a motion operating unit 400, and the operation setting of the robot for teaching the robot by the user's operation and the position or rotation of the robot. You can create motion.
  • the motion setting unit 200 includes a mode button 220 for changing a teaching mode or an operation mode of the robot so that the user can directly teach the robot, and an axis button for adjusting the movement amount or the moving direction of the robot ( 250 is formed so that a user can press the buttons to select modes.
  • the motion operation unit 400 may allow the user to move or rotate the robot according to the jog motion when the user performs a jog motion by touching the teaching handle 410 by hand.
  • the robot teaching device 1000 is attached to the end of the robot to enable intuitive teaching of the user, and the teaching device can implement an input device using a physical interface such as buttons, dials, jogs, and so on. There is an advantage to improve.
  • the robot may further include a robot status display unit 600 that can display the status of the teaching or the status of the robot.
  • the robot status display unit 600 may be configured to represent a state in which the user performs teaching or the state of the robot.
  • the robot status display unit 600 may be formed of an LED, and the robot status display unit may be formed in various forms. have.
  • the motion setting unit 200 may be further provided with a management button 230 that can save or load the position of the robot.
  • the management button 230 is composed of a save button for storing the point of the robot and a recall button for recalling the stored position to store the point of the taught robot or move the robot to a point stored at an arbitrary point. You can load it as much as possible.
  • FIG. 3 is a diagram illustrating buttons of a motion setting unit of FIG. 2.
  • the mode button 220 of the motion setting unit 200 may include a teaching button 221 capable of turning on / off a teaching mode, a coordinate system button 222 capable of converting a coordinate system, and inching. It may be made by including an inching button 223 to turn the mode ON / OFF.
  • the motion setting unit 200 may be provided with a teaching button 221 that can be controlled to turn on / off the teaching mode
  • the teaching mode is a mode that can teach to move or rotate the robot.
  • the motion setting unit 200 selects a coordinate system such as a coordinate system based on a task path, a coordinate system based on a gripper (Tool) mounted on the robot, and a coordinate system based on a joint of the robot arm.
  • Coordinate system button 222 that can be changed to form is formed, it can teach the movement and rotation of the robot based on the desired coordinate system.
  • an inching button 223 may be formed in the motion setting unit 200 to control to turn on / off the inching mode.
  • the inching mode is a mode that allows the robot to step in a specific mm unit or cm unit.
  • an inching dial 240 may be formed in the motion setting unit 200, and the inching dial may be used to adjust the inching amount in the inching mode.
  • the axis button 250 of the motion setting unit 200 the movement axis button that can be individually set for X, Y and Z direction movement, ⁇ X , ⁇ y and ⁇ z direction rotation It can be made including.
  • the movement axis buttons are composed of X, Y, Z, ⁇ X , ⁇ y and ⁇ z buttons, so that only buttons in a desired direction can be activated, and buttons not pressed can be deactivated.
  • individual settings can be made for each direction movement or rotation by pressing the desired movement axis button, and movement and rotation in the unwanted direction can be constrained.
  • the movement axis buttons may be selected when the movement or rotation is to be implemented only by a specific movement axis or rotation axis according to a user's selection, and the movement axis buttons are moved only by the movement axis or rotation axis as the movement axis or rotation axis is selected. Or can be rotated.
  • the teaching handle 410 may be taught in a direction of moving or rotating.
  • the motion operation unit 400 is formed to enable the teaching handle 410 to move in the X, Y and Z directions, and to rotate in the ⁇ X , ⁇ y and ⁇ z directions, and is operated by the movement of the teaching handle 410.
  • a switch may be provided.
  • the teaching handle 410 of the motion operation unit 400 is formed to be capable of six-axis movement, and the motion operation unit 400 includes switches so that the switch is operated in accordance with the movement of the teaching handle 410.
  • the user can teach the robot by moving the teaching handle 410.
  • FIG. 4 is a perspective view illustrating a safe area setting using the robotic teaching apparatus of FIG. 1.
  • the robot teaching apparatus 1000 may further include a non-contact sensor unit 700 that detects a person based on the end of the robot and predicts a collision.
  • the robot teaching apparatus 1000 mounted at the end of the robot arm 2100 has a non-contact sensor unit 700, so that the collision can be predicted by measuring the direction and distance in which the person exists in the non-contact sensor unit 700. .
  • FIG. 5 and 6 are an assembled perspective view and an exploded perspective view showing a robot teaching device according to another embodiment of the present invention.
  • FIG. 7 is a perspective view illustrating the teaching handle of the robot teaching device of FIG. 5.
  • FIG. 8 is a front view illustrating the robot training device of FIG. 5.
  • FIG. 9 is a plan view illustrating the support, the teaching handle, and the push button switches in the robot teaching apparatus of FIG. 5 with the superstructure removed;
  • the motion setting unit 200 is defined as the lower structure (100).
  • the robot teaching apparatus 1001 the upper structure 100 mounted to the end of the robot arm 2100; A lower structure 200 which is coupled to and fixed to a lower side of the upper structure 100 and on which a gripper 2200 is mounted; A support 300 disposed between the upper structure 100 and the lower structure 200 and coupled to any one or more of the upper structure 100 and the lower structure 200; A teaching handle (410) provided between the upper structure (100) and the lower structure (200), the inner side penetrating up and down and fitted to the outside of the support part (300); And circumferentially at any one or more positions between the teaching handle 410 and the support 300, between the teaching handle 410 and the upper structure 100, and between the teaching handle 410 and the lower structure 200. A plurality of push button switches 500 arranged to be spaced apart from each other and coupled to the support 300 or the teaching handle 410 to be pressed and operated according to the movement of the teaching handle 410; It may be made, including.
  • the robot teaching apparatus 1001 of the present invention is mounted at the distal end of the robot arm 2100, which is the distal end of the robot 2000, so that the user can directly teach the robot, and the gripper 2200 is mounted at the lower side thereof. As described above, it can be used to work by holding and assembling.
  • the motion operation unit 400 including the upper structure 100, the lower structure 200, and the teaching handle 410 in the robotic teaching apparatus 1001 are also described above.
  • the support unit 300 is further included, and the detailed coupling relationship between the support unit 300 and the teaching handle 410 and the operation according to the teaching motion will be described in detail.
  • the support portion 300 may be disposed at a position between the upper structure 100 and the lower structure 200 in the vertical direction, the support portion 300 is coupled to the upper structure 100 is fixed or to the lower structure 200 The combination may be fixed or coupled to both the upper structure 100 and the lower structure 200 may be fixed.
  • the upper structure 100 and the lower structure 200 may be disposed to face each other to correspond to the corresponding surface, the support portion 300 is the outer peripheral surface of the upper structure 100 and the lower structure 200 in the radial direction It may be disposed at a position spaced inward from the position.
  • the support part 300 may be composed of a first support part 310 and a second support part 320, and the first support part 310 may be disposed radially inward from the second support part 320.
  • the first support part 310 and the second support part 320 may be formed in a form coupled to any one of the upper structure 100 and the lower structure 200, the upper structure 100 or the lower structure 200 ), The first support part 310 or the second support part 320 may be integrally formed.
  • the first support part 310 is integrally formed with the lower structure 200
  • the second support part 320 is formed separately and is coupled to the upper structure 100 and the lower structure 200.
  • the teaching handle 410 may be disposed at a position between the upper structure 100 and the lower structure 200 in the vertical direction, and the teaching handle 410 may be disposed at a height at which the support part 300 is disposed in the vertical direction. have.
  • the teaching handle 410 may be disposed so that the radially inner side penetrates in the vertical direction so that the teaching handle 410 is fitted to the outside of the support part 300.
  • the teaching handle 410 may be formed in a ring shape, for example, so that the inner circumferential surface of the ring-shaped ring part 430 may be spaced apart from the outer surface of the support part 300 but close to each other.
  • teaching handle 410 may be disposed to be spaced apart from and close to the upper structure 100 and the lower structure 200.
  • the teaching handle 410 may be configured to move the teaching handle 410 according to the jog motion when the user makes a jog motion by hand.
  • the push button switch 500 is disposed between the teaching handle 410 and the support 300 in a radial direction so as to be pressed and operated according to the movement of the teaching handle 410, or the teaching handle 410 and the upper portion in the vertical direction. It may be disposed between the structure 100, or disposed between the teaching handle 410 and the lower structure 200 in the vertical direction. Or at any one or more of the above positions. And the push button switch 500 is arranged spaced apart along the circumferential direction, as shown in the circumferential direction may be arranged at a specific angle interval over the entire 360 degree range. It may also be arranged at intervals of 45 degrees or 90 degrees.
  • the push button switch 500 may be coupled to the teaching handle 410 and fixed, or may be coupled to and fixed to the upper structure 100, the lower structure 200, and the support 300.
  • the push button switch 500 may be a mechanical switch that can be operated by a physical pressing force, for example, may be a tact switch. Alternatively, various switches that can be pressed and operated by manipulation of the teaching handle 410 may be used.
  • the push button switch 500 may be disposed such that the button portion being pressed faces the teaching handle 410.
  • the robot teaching device can be attached to the end of the robot to enable intuitive teaching of the user, and the robot can be controlled by transmitting the operation command directly to the robot through a mechanical switch. It is high and the manufacturing cost can be reduced.
  • the teaching handle 410 is the extension portion 420 protruding radially inward from the inner circumferential surface of the ring portion 430, the extension portion 420 is arranged spaced apart from each other in the circumferential direction, the support portion 300 ) Includes a first support portion 310 disposed radially inwardly surrounded by the extension portions 420, and the push button switch 500 is disposed within the extension portions 420 in the radial direction.
  • the first switch 510 may be disposed between the side surface and the first support part 310, respectively.
  • the teaching handle 410 may have a ring-shaped ring portion 430 formed in a shape in which a plurality of extension portions 420 protrude radially inward from an inner circumferential surface, for example, the extension portion 420. They may be arranged four spaced apart at intervals of 90 degrees in the circumferential direction. The free ends of the extension parts 420 may be formed to be spaced apart from each other without meeting each other.
  • the support part 300 may include the first support part 310, and the first support part 310 may be disposed radially inward from the free end of the extension parts 420.
  • the first support part 310 may be formed in various forms, but in the drawings, four portions formed in the shape of an arc are formed in the form of being disposed at positions close to the free ends of each of the extension parts 420.
  • the first support part 310 may extend in a form protruding upward from the upper surface of the lower structure 200, such that the lower structure 200 and the first support part 310 may be integrally formed.
  • the push button switch 500 may include a first switch 510, and the first switch 510 may have an inner surface and a first support portion 310 of the free end portion of the extension portions 420 in the radial direction. The first switch 510 may be fixed to the first support part 310.
  • the radially inner side surface of the free end portion of the extension portion 420 is formed as a flat surface, the first switch 510 and the extension portion 420 is in contact with the teaching handle 410 is not operated It may be arranged to be in a state or a finely spaced state.
  • the extension 420 presses one first switch 510 to operate the switch to operate the teaching handle 410.
  • the robot can be controlled to move the robot in a desired direction by receiving an operation signal of a switch operated by being pressed among the first switches 510.
  • the protruding bar-shaped extension part 420 is configured to press the first switch 510, the switch may be accurately pressed and operated according to the movement in the x-axis direction or the y-axis direction.
  • the support part 300 further includes a second support part 320 disposed between the extension parts 420 in the circumferential direction, and the push button switch 500 extends the circumferential direction.
  • the second switch 520 may be further included between the side surfaces of the parts 420 and the side surfaces of the second support part 320.
  • the support part 300 may include a second support part 320, and the second support part 320 may be disposed in the ring part 430 of the teaching handle 410 in the radial direction to be radial.
  • the second support part 320 may be located in an area where the extension part 420 is formed.
  • the second support part 320 may be formed in an arc shape, and may be formed between the extension parts 420, respectively, and both sides of the extension part (the surface facing the extension part) may be formed in the circumferential direction. Sides (faces facing the second support) may be spaced apart from each other.
  • the push button switch 500 may be disposed between the extension part 420 and the second support part 320 in the circumferential direction.
  • two second switches 520 may be disposed in proximity or contact with one extension part 420, such that eight second switches 520 may be provided in total.
  • the second switch 520 may be disposed such that the button portion that can be pressed toward the extension portion 420 or in contact with the extension portion 420, and the second switch 520 is the second support portion 320. It can be coupled to and fixed to.
  • the circumferential side of the extension 420 of the teaching handle 410 presses the second switches 520 to operate the switch.
  • the manipulation of the teaching handle 410 may be sensed, and thus, the robot may be controlled to rotate in a desired direction by receiving the operation signals of the switches operated by being pressed out of the second switches 520.
  • the protruding bar-shaped extension part 420 is configured to press the second switches 520, the switch may be operated correctly according to the rotational direction about the z-axis.
  • it may further comprise a fourth switch 540 disposed between the inner surface of the ring portion 430 of the teaching handle 410 and the second support portion 320 in the radial direction.
  • the fourth switch 540 may be provided between the ring portion 430 and the second support portion 320 of the teaching handle 410, and the inner circumferential surface and the second support portion of the ring portion 430 may be provided. Fourth switch 540 may be provided between the 320 to provide a total of four fourth switches 540. In addition, the fourth switches 540 may be disposed such that the pressed button portion faces the inner circumferential surface of the ring portion 430 or is in contact with the inner circumferential surface, and the fourth switches 540 are coupled to and fixed to the second support portion 320. Can be.
  • the fourth switch 540 may be arranged at an angle position rotated by 45 degrees in the x-axis direction and the y-axis direction, and thus the user may teach the handle 410 in an oblique direction in the x-axis direction or the y-axis direction.
  • the inner circumferential surface of the ring portion 430 of the teaching handle 410 presses a fourth switch 540 to operate the switch. Accordingly, the manipulation of the teaching handle 410 can be detected.
  • the robot may be controlled to move in a desired direction by receiving the operation signals of the switches operated by being pressed among the fourth switches 540.
  • the push button switch 500 is disposed between the upper structure 100 and the teaching handle 410 and between the lower structure 200 and the teaching handle 410, spaced apart along the circumferential direction
  • the third switch 530 may be further included.
  • the push button switch 500 may include third switches 530, and the third switch 530 may teach the upper structure 100 and the teaching handle 410 in the up and down z-axis directions. ) Is provided between the plurality of spaced apart along the circumferential direction may be arranged over a 360 degree range. And the third switch 530 is provided between the lower structure 200 and the teaching handle 410 in the z-axis direction spaced apart in the circumferential direction may be arranged in a plurality over a 360 degree range. Thus, the third switch 530 may be provided on the upper and lower sides of the ring part 430 based on the teaching handle 410.
  • the third switch 530 may be disposed at an angular position where the extension portion 420 of the teaching handle 410 is formed, and the positions spaced apart by 45 degrees from the angular position between the extension portions 420.
  • third switches 530 may be disposed, and a total of eight third switches 530 may be provided.
  • the third switches 530 may be arranged in various positions at various positions.
  • the third switch 530 may be arranged such that the button portion that can be pressed toward the ring portion 430 or in contact with the ring portion 430, and the third switch 530 disposed above the ring portion 430. They may be coupled to and fixed to the upper structure 100, and the third switches 530 disposed below the ring part 430 may be coupled to and fixed to the lower structure 100.
  • the robot may be controlled to rotate in a desired direction by receiving the operation signals of the switches operated by being pressed among the third switches 530.
  • any one or more of the upper structure 100, the lower structure 200 and the support portion 300 is formed recessed recess, the push button switch 500 may be inserted into the settle groove.
  • the push button switch 500 may be installed to be inserted and fixed in the settling groove. Accordingly, even when the teaching handle 410 is moved in the x-axis direction, the y-axis direction, and the z-axis direction, the push button switches 500 may be installed. It can be fixed and supported in the correct position without moving.
  • the first switch 510 of the push button switch 500 may be inserted into the settle groove 311 formed concave radially inward from the outer peripheral surface of the first support portion 310, the second switch 520 ) May be inserted into a settled groove 311 formed to be recessed radially inward from the outer circumferential surface of the first support portion 310, the second switch 520 is recessed in the circumferential end surface of the second support portion 320
  • the upper switches disposed on the upper side of the teaching handle 410 among the third switches 530 may be inserted and placed in the settle groove 321, which is formed to be concave upward from the lower surface of the upper structure 100.
  • Lower switches inserted into the groove 110 and disposed below the lower switches may be inserted into the settled grooves 210 formed to be recessed downward from the upper surface of the lower structure 200, and the fourth switch 540 may be formed. 2 concave radially inward from the outer circumferential surface of the support 320 It may be inserted into the settled groove 321 formed.
  • the first switch 510 disposed at the rear side of the teaching handle 410 in the movement direction with respect to the center of the teaching handle 410 is pressed. Can work.
  • FIG. 10 is a plan view illustrating switches that are pressed and operated when the teaching handle of FIG. 7 is pushed in the + x direction.
  • the first switch 510 may be operated by pressing the first switch 510 in the opposite position when the teaching handle 410 is moved in the -x-axis direction.
  • FIG. 11 is a plan view illustrating switches that are pressed and operated when the teaching handle of FIG. 7 is pushed in the + y direction.
  • the teaching handle 410 when the teaching handle 410 is moved in the + y-axis direction, the teaching handle 410 is disposed between the upper extension part 420 and the first support part 310 on the plan view, which is the rear side of the moving direction with respect to the center.
  • the first switch 510 may be operated by being pressed.
  • the first switch 510 of the opposite position is pressed and operated. Can be. Accordingly, by detecting that the teaching handle 410 moves in the x-axis direction or the y-axis direction, the robot may be controlled to move in the x-axis direction or the y-axis direction.
  • the first switch that is pressed in dark color is the first switch that is pressed, and the other switches that are activated in other drawings are indicated by dark or hatching.
  • FIG. 12 is a perspective view illustrating switches that are pressed and operated when the teaching handle of FIG. 7 is pushed in the + z direction.
  • the third switch 530 disposed in a forward direction of the teaching handle 410 is pressed based on the teaching handle 410. Can work.
  • the third switches 530 disposed above the teaching handle 410 which is forward in the movement direction of the teaching handle 410, are pressed to operate.
  • the third switches 530 disposed opposite to the above may be pressed to operate. Accordingly, by detecting that the teaching handle 410 moves in the z-axis direction, the robot may be controlled to move in the z-axis direction.
  • FIG. 13 is a perspective view illustrating switches that are pressed and operated when the teaching handle of FIG. 7 is rotated in a + ⁇ x direction.
  • FIG. 14 is a perspective view illustrating switches that are pressed and operated when the teaching handle of FIG. 7 is rotated in a + ⁇ y direction.
  • a third switch disposed in the rotation direction forward direction of the teaching handle may be pressed and operated with respect to the axis that is rotated. have.
  • the third switches 530 and the right side of the third switch 530 disposed at the upper left front side in the rotational direction forward with respect to the x-axis that is the rotation center may be pressed together to operate.
  • the third switches 530 positioned in the opposite directions to the third switch 530 are rotated. Can be pressed together to operate.
  • the third switches 530 and the left side of the third switches 530 disposed on the upper right front of the rotation direction with respect to the y-axis that is the rotation center are left.
  • the third switches 530 disposed at the rear lower portion may be pressed together to operate.
  • the third switches 530 located in the opposite direction to the above are Can be pressed together to operate.
  • the robot may be controlled to rotate in the ⁇ x direction or the ⁇ y direction.
  • the second switch 520 disposed at the front side where the extension part 420 is moved may be pressed to operate.
  • the handle 410 may sense movement in the x-axis direction or the y-axis direction.
  • FIG. 15 is a plan view illustrating switches that are pressed and operated when the teaching handle of FIG. 7 is rotated in a + ⁇ z direction.
  • the second switches 520 disposed close to the counterclockwise direction of the extension part 420 based on the z axis, which is the rotation center, are disposed.
  • the second switches 520 located in opposite directions to the above-described directions can be pressed together to operate.
  • the robot may be controlled to rotate in the ⁇ z direction.
  • the teaching handle 410 moves in any one direction in the x-axis direction, the y-axis direction and a direction oblique to the x-axis and the y-axis on the xy plane, the teaching handle 410 is based on the center of the teaching handle 410.
  • the fourth switches 540 disposed on the rear side in the moving direction of the 410 may be pressed and operated.
  • the teaching handle 410 may be sensed by using the fourth switches 540 in the x-axis direction, the y-axis direction, or the direction oblique to the x-axis and the y-axis on the xy plane. 10 or 11, when the teaching handle 410 is moved in the + x-axis direction, two fourth switches 540 disposed on the left side of the teaching handle 410 are pressed, and the teaching handle 410 is not illustrated. When moved in the -x-axis direction, the fourth switch 540 opposite to the above may be pressed to operate.
  • the teaching handle 410 when the teaching handle 410 is moved in an oblique direction inclined at 45 degrees to the x-axis or the y-axis, one fourth switch 540 disposed at the rear side of the moving direction with respect to the center may be pressed to operate. have. Accordingly, the teaching handle 410 can detect the movement in the x-axis direction and the y-axis direction, and can also detect the movement in the xy direction, thereby controlling the robot to move in the xy direction.
  • an axis button 250 may be formed in the motion setting unit 200, that is, the lower structure, and the user may selectively select the axis button. Activation 250 can be performed to teach only on that axis.
  • the axis button 250 may be activated even if teaching or movement to other axes is performed except for the axis activated by the user. Only movement or rotation to the axis can be taught.
  • Robot teaching apparatus according to the embodiments described above, the user can intuitively teach and improve the teaching precision and efficiency, as well as the safety has the advantage of preventing the collision between the robot and the operator.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

Appareil d'enseignement de robot, comportant une extrémité d'un bras de robot montée sur un premier côté de celui-ci et un dispositif de préhension monté sur l'autre côté de celui-ci, enseignant à un robot et comprenant une unité de réglage de mouvement et une unité d'actionnement de mouvement. L'unité de réglage de mouvement comprend des boutons de mode pour commuter vers un mode apprentissage ou un mode fonctionnement du robot, et des boutons d'axe pour régler une distance de mouvement ou une direction de mouvement du robot. L'unité d'actionnement de mouvement possède une poignée d'enseignement pour générer une position et un mouvement de rotation du robot selon un mouvement de jogging d'un utilisateur.
PCT/KR2017/015143 2016-12-28 2017-12-20 Appareil d'enseignement de robot WO2018124610A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112017006658.1T DE112017006658B4 (de) 2016-12-28 2017-12-20 Roboter-Anlernvorrichtung

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KR1020160180585A KR101740898B1 (ko) 2016-12-28 2016-12-28 로봇 교시 장치
KR10-2016-0180585 2016-12-28
KR1020170040627A KR101921687B1 (ko) 2017-03-30 2017-03-30 인간­로봇 협업용 안전 교시장치
KR10-2017-0040627 2017-03-30

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WO2018124610A1 true WO2018124610A1 (fr) 2018-07-05

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DE102019120633B4 (de) * 2019-07-31 2022-05-05 Liebherr-Hydraulikbagger Gmbh Verfahren zur automatischen Bewegung eines Arbeitsgeräts sowie Arbeitsgerät
DE102020103269A1 (de) 2020-02-10 2021-08-12 J. Schmalz Gmbh Handhabungsroboter

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DE112017006658T5 (de) 2019-09-26

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