WO2019208785A1 - ロボットの教示方法及びロボットの教示システム - Google Patents

ロボットの教示方法及びロボットの教示システム Download PDF

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Publication number
WO2019208785A1
WO2019208785A1 PCT/JP2019/017972 JP2019017972W WO2019208785A1 WO 2019208785 A1 WO2019208785 A1 WO 2019208785A1 JP 2019017972 W JP2019017972 W JP 2019017972W WO 2019208785 A1 WO2019208785 A1 WO 2019208785A1
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WO
WIPO (PCT)
Prior art keywords
robot
teaching
opening
arm
definition
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2019/017972
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English (en)
French (fr)
Japanese (ja)
Inventor
佳典 毛笠
剛彦 村田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kawasaki Heavy Industries Ltd
Kawasaki Motors Ltd
Original Assignee
Kawasaki Heavy Industries Ltd
Kawasaki Jukogyo KK
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
Application filed by Kawasaki Heavy Industries Ltd, Kawasaki Jukogyo KK filed Critical Kawasaki Heavy Industries Ltd
Priority to US17/051,030 priority Critical patent/US11534914B2/en
Priority to CN201980028602.9A priority patent/CN112041128B/zh
Publication of WO2019208785A1 publication Critical patent/WO2019208785A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • 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
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50048—Jogging
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50391—Robot

Definitions

  • the present invention relates to a robot teaching method and a robot teaching system.
  • offline automatically generated teaching data has the following problems.
  • the product that is the work target of the robot has part manufacturing errors, assembly errors, etc. If the offline automatically generated teaching data is used as it is, there is a possibility that the work may be hindered. Moreover, the offline automatic generation teaching data is not suitable for actual work, and the work efficiency of the robot may be deteriorated. Therefore, at the work site where the robot is actually used, the offline automatically generated data cannot be used as it is, and it has been adjusted to fit the actual work.
  • the robot arm When working on a semi-finished product with a robot, the robot arm may be moved into an internal space with an opening and the internal work may be performed with an end effector at the tip.
  • the posture of the robot arm changes according to the position of the end effector, it is necessary to pay attention to whether the robot arm does not interfere with the opening.
  • the present invention has been made to solve such a problem, and it is necessary to pay attention to the interference between the robot arm and the opening when operating the teaching device to teach the work inside the internal space having the opening. It is an object of the present invention to provide a robot teaching method and a robot teaching system.
  • a robot teaching method includes a robot arm in which an end effector is provided at a tip of an arm unit and an operation of the robot arm according to an operation of a teaching device. And a robot controller for setting a teaching point, wherein the workpiece has an internal space having an opening, and the work object of the end effector exists in the internal space.
  • the robot arm is jog-feeded or inched by jog-feeding or inching operation of the teaching device, and the robot controller performs the jog-feeding operation or inching operation of the robot arm in the jog-feeding operation or inching operation of the robot arm.
  • the “jog feed” means an operation in which the robot arm operates while an input operation is performed on the operation unit of the teaching device (when the operation unit is a push button, a push operation).
  • “Inching” means an operation in which the robot arm moves by a predetermined movement amount (predetermined distance) when the operation unit of the teaching device is input once.
  • the robot controller determines whether or not there is a possibility of interference between the arm portion and the opening in the jog feed operation or inching operation of the robot arm, so the robot is taught by operating the teaching device. When doing this, it is not necessary to pay attention to the interference between the robot arm and the opening.
  • the robot arm causes the end effector to enter the internal space of the workpiece from the opening by jogging or inching the teaching device, and then performing jog feeding.
  • the robot arm causes the end effector to perform work on the work target in the internal space while performing the jog feed operation or the inching operation after the end effector enters the internal space of the work from the opening.
  • the teaching device is operated to teach the work inside the internal space having the opening. There is no need to pay attention to the interference between the robot arm and the opening.
  • the robot controller controls the operation of the robot arm so that the arm unit and the opening interfere with each other.
  • the robot controller may issue a warning by controlling the warning device.
  • the teaching method includes a step (b1) of positioning the end effector at a definition point defining the opening of the workpiece by jog feeding or inching the teaching device, and setting the definition point of the teaching device.
  • the robot controller further includes a step (b) of repeating the step (b2) of setting the position of the definition point and the definition order so as to correspond to each other, wherein the opening is formed in the step (b). It may be specified by connecting a plurality of repetitively defined definition points with a straight line in the definition order.
  • the opening can be easily defined by operating the robot arm with the teaching device at the work site.
  • the internal space of the work has a plurality of openings, and the teaching method selects any of the plurality of openings of the work by selecting and operating the teaching device before the step (a).
  • the method may further include a step (c), and the step (a), the steps (a) and (b), or the steps (a) to (c) may be performed on the selected opening.
  • the workpiece may be a car body of an automobile being assembled, and the opening may be a door window of the car body.
  • a teaching device a robot arm provided with an end effector at the tip of an arm portion, and the robot according to an operation of the teaching device
  • a robot having a robot controller that controls the operation of the arm and sets the teaching point, the work has an internal space having an opening, and the work object of the end effector exists in the internal space.
  • the robot controller causes the robot arm to perform a jog feed operation or an inching operation according to a jog feed or an inching operation with respect to the teaching device, and the arm portion and the opening in the jog feed operation or the inching operation of the robot arm.
  • a teaching step for determining whether or not there is a possibility of interference.
  • This configuration eliminates the need to pay attention to the interference between the robot arm and the opening when operating the teaching device to teach the work inside the internal space having the opening.
  • the present invention provides a robot teaching method and a robot teaching system in which it is not necessary to pay attention to the interference between the robot arm and the opening when the teaching device is operated to teach work inside the internal space having the opening. There is an effect that can be done.
  • FIG. 1 is a schematic diagram showing a configuration of a robot teaching system according to an embodiment of the present invention.
  • FIG. 2 is a functional block diagram showing the configuration of the control system of the robot teaching system of FIG.
  • FIG. 3 is a perspective view showing a manner in which the robot is instructed to perform work inside the workpiece through the workpiece opening.
  • FIG. 4 is a schematic diagram showing definition points that define the opening of the workpiece.
  • FIG. 5 is a schematic diagram illustrating modeling of the link of the arm portion of the robot arm.
  • FIG. 6 is a schematic diagram showing a link model of the arm portion of the robot arm.
  • FIG. 7 is a flowchart showing teaching control of the robot controller.
  • FIG. 8 is a flowchart showing the opening definition control of the workpiece of the robot controller.
  • FIG. 1 is a schematic diagram showing a configuration of a robot teaching system according to an embodiment of the present invention.
  • a robot teaching system 100 includes a robot 10 including a robot arm 1 and a robot controller 2, a teaching device 3, and a warning device 6.
  • the robot arm 1 includes a base 15, an arm part 13 supported by the base 15, and an end effector 17 attached to a wrist part 14 that constitutes a distal end part of the arm part 13.
  • the base 15 includes a base moving mechanism 15a, and the base moving mechanism 15a is configured to be able to move the traveling path 31 (see FIG. 3) as will be described later.
  • the robot arm 1 is defined as including the end effector 17 and the base moving mechanism 15a.
  • the robot arm 1 is a multi-joint robot arm having three or more joints JT1 to JT6 as shown in FIG. 1, and is configured by sequentially connecting a plurality of links 11a to 11f. More specifically, in the first joint JT1, the base 15 and the base end portion of the first link 11a are coupled so as to be rotatable about an axis extending in the vertical direction. In the second joint JT2, the distal end portion of the first link 11a and the proximal end portion of the second link 11b are coupled to be rotatable about an axis extending in the horizontal direction.
  • the distal end portion of the second link 11b and the proximal end portion of the third link 11c are coupled to be rotatable about an axis extending in the horizontal direction.
  • the distal end portion of the third link 11c and the proximal end portion of the fourth link 11d are coupled so as to be rotatable about an axis extending in the longitudinal direction of the fourth link 11c.
  • the distal end portion of the fourth link 11d and the proximal end portion of the fifth link 11e are coupled so as to be rotatable about an axis orthogonal to the longitudinal direction of the link 11d.
  • the distal end portion of the fifth link 11e and the proximal end portion of the sixth link 11f are coupled so as to be torsionally rotatable.
  • a mechanical interface is provided at the tip of the sixth link 11f.
  • An end effector 17 corresponding to the work content of the robot arm 1 is detachably attached to the mechanical interface. Examples of the end effector 17 include a paint gun, a welding gun, and a nut runner.
  • the robot arm 1 is composed of a 6-axis articulated robot arm, and the base moving mechanism 15a configures 7 axes as redundant axes of the robot arm 1.
  • the robot controller 2 controls the operation of the robot arm 1.
  • the robot controller 2 is installed at an appropriate place in the work environment where the robot 10 is installed.
  • the controller 2 may be provided inside the base 15 of the robot arm 1.
  • the teaching device 3 is a device that teaches the robot 10.
  • the robot arm 1 is operated by the control of the robot controller 2, and a teaching point is set, or an opening definition point to be described later is set.
  • the warning device 6 warns the operator.
  • Examples of the warning device 6 include a buzzer, Patlite (registered trademark), and a speaker.
  • a buzzer is used as the warning device 6.
  • FIG. 2 is a functional block diagram showing the configuration of the control system of the robot teaching system 100 of FIG.
  • the teaching device 3 is provided with an operation unit (not shown).
  • an operation unit As the operation unit, a start operation unit, an end operation unit, a mode switching operation unit, a jog feed operation unit, an inching operation unit, an opening A selection operation unit, a teaching point setting operation unit, and a definition point setting operation unit are provided.
  • a start command is given.
  • An end command, a mode switching command, a jog feed command, an inching command, an opening selection command, a teaching point setting command, and a definition point setting command are output to the control unit 4 of the robot controller 2 as operation signals.
  • These operation units may be provided as hardware, and may be displayed as an operation area on the display unit.
  • the mode switching operation unit can switch between the teach mode, the aperture definition mode, and the repeat mode.
  • “Jog feed” means an operation in which the robot arm 1 operates while an input operation is performed on the operation unit (when the operation unit is a push button, a push operation).
  • “Inching” means an operation in which the robot arm 1 is operated by a predetermined operation amount (predetermined distance) when the operation unit is input once.
  • the opening selection operation unit is configured so that an operator can select an opening. The operator selects an opening and operates the opening selection unit.
  • the end effector 17, the workpiece 21 (see FIG. 3), the opening 22 (see FIG. 3), and the “position” of the work object mean the position of the robot 10 in the base coordinate system.
  • the teaching device 3 is constituted by an information processing device such as a teach pendant, a portable information terminal, or a personal computer.
  • Examples of the portable information terminal include a tablet, a smartphone, and a mobile phone.
  • the communication connection between the teaching device 3 and the robot controller 2 may be wired or wireless.
  • the robot controller 2 includes a control unit 4 and a storage unit 5.
  • the robot controller 2 is composed of an arithmetic unit including a processor and a memory. Examples of the arithmetic unit include an FPGA (field-programmable gate array), a microcontroller, a PLC (programmable logic controller), and a microprocessor.
  • the robot controller 2 is configured by, for example, an FPGA
  • the control unit 4 is configured by an FPGA CPU
  • the storage unit 5 is configured by an FPGA memory.
  • the storage unit 5 stores the generated operation program 5a and opening definition data 5b.
  • the generated operation program 5 a is an operation program of the robot 10 generated by the teaching control of the robot teaching system 100.
  • the opening definition data 5b is data generated by definition point setting control of the opening 22 described later. Note that data (not shown) of a plurality of openings of the work 21 is stored in the storage unit 5 in advance.
  • the control unit 4 reads and executes a predetermined control program stored in the storage unit 5 and outputs a control signal to the robot arm 1.
  • a control signal When the control unit 4 outputs an arm unit control signal as a control signal, each joint of the arm unit rotates according to the arm unit control signal.
  • the control unit 4 When the control unit 4 outputs an end effector control signal as a control signal, the end effector 17 operates according to the end effector control signal.
  • the control unit 4 outputs a base movement mechanism control signal as a control signal, the base movement mechanism 15a moves according to the base movement mechanism control signal.
  • These controls may be either feedforward control or feedback control. Here, feedback control is performed.
  • the control unit 4 switches the operation mode of the robot 10 between the teach mode, the aperture definition mode, and the repeat mode according to the mode switching command.
  • the control unit 4 switches the robot 10 to the teach mode.
  • the control unit 4 selects an opening corresponding to the opening selection command from among the openings corresponding to the plurality of opening definition data 5b stored in the storage unit 5.
  • the control unit 4 causes the robot arm 1 to perform a jog feed operation.
  • the control unit 4 causes the robot arm 1 to perform an inching operation.
  • the control unit 4 checks whether there is a possibility of interference between the arm unit 13 of the robot arm 1 and the selected opening 22.
  • the teaching point setting command is input, the teaching point is set and the operation program 5a of the robot 10 is generated based on the teaching point set. Then, the generated operation program 5 a is stored in the storage unit 5.
  • the controller 4 switches the robot 10 to the aperture definition mode when a mode switching command to the aperture definition mode is input.
  • the control unit 4 selects the opening 22 selected by the opening selection command from the data of the plurality of openings of the work 21 in the storage unit 5.
  • the control unit 4 causes the robot arm 1 to perform a jog feed operation or an inching operation.
  • the control unit 4 sets the definition point of the opening 22.
  • the control unit 4 stores the set definition points in the storage unit 5 in association with the selected opening 22 (and the workpiece 21).
  • control unit 4 When the mode switching command to the repeat mode is input, the control unit 4 reads and executes the generated operation program 5a from the storage unit 5, and operates the robot 10 according to the generated operation operation program 5a.
  • control unit 4 determines that there is a possibility of interference between the arm unit 13 of the robot arm 1 and the selected opening 22, the control unit 4 causes the warning device 6 to issue a warning.
  • the control unit 4 sounds a buzzer as the warning device 6.
  • FIG. 3 is a perspective view showing how the robot 10 is instructed to perform work inside the workpiece through the workpiece opening.
  • the robot 10 is instructed to move the robot arm 1 into the work 21 through the opening 22 of the work 21 and perform an operation inside the work 21 by the end effector 17. .
  • the base 15 of the robot arm 1 of the robot 10 is installed on a traveling path 31 provided at the work site.
  • the base 15 is slidably fitted to a linear guide (not shown) extending in the extending direction of the travel path 31, and is mounted on the travel path 31 by the base moving mechanism 15a. Is moved in the extending direction of the travel path 31 as indicated by an arrow.
  • the extending direction of the traveling path 31 is parallel to the workpiece conveyance direction in the workpiece 21 assembly line.
  • the work 21 may be anything as long as an internal space having the opening 22 is formed in the manufacturing process.
  • the work 21 is a car body in the middle of assembly
  • the inner space of the work 21 is an inner space of the car body
  • the opening 22 of the inner space has two windows of the left and right doors of the car body, the front part of the car body.
  • the robot 10 includes a coating gun as an end effector 17 at the tip of the robot arm 1 and seals the interior of the vehicle body as the work 21.
  • FIG. 4 is a schematic diagram illustrating an example of definition points that define the opening of the workpiece. Referring to FIG. 4, five definition points P1 to P5 that define an opening 22 that is a window of a workpiece 21 that is a vehicle body are illustrated.
  • the opening 22 of the workpiece 21 is defined by the positions of the plurality of definition points P1 to P5, the definition order of the plurality of definition points P1 to P5, and the plurality of straight lines connecting the definition order of the plurality of definition points P1 to P5.
  • the definition order of the definition points P1 to P5 is the definition point P1 first, the definition point P2 second, the definition point P3 third, the definition point P4 fourth, and the definition point P5 fifth.
  • a two-dimensional or three-dimensional polygon is formed. By this polygon, the shape and position of the opening 22 are changed. Defined (identified).
  • the position and the definition order of the plurality of definition points P1 to P5 are associated with (associated with) each other and associated with (associated with) the workpiece 21 and the opening 22 as the opening definition data 5b. Stored in the storage unit 5.
  • FIG. 5 is a schematic diagram illustrating modeling of the link of the arm portion of the robot arm.
  • FIG. 6 is a schematic diagram showing a link model of the arm portion of the robot arm.
  • interference check A well-known method can be used as a method for determining whether or not there is a possibility of interference between the arm portion 13 of the robot arm 1 and the opening 22 (hereinafter referred to as interference check).
  • an interference check between the arm portion 13 of the robot arm 1 and the opening 22 is performed as follows.
  • a link model of the robot arm 1 is used.
  • the shape of the arm portion 13 of the robot arm 1 is changed into (a) a radius R representing the thickness of the capsule shape, (b) coordinates of the start point (X1, Y1, Z1), and (c) coordinates of the end point (X2 , Y2, Z2), (d) Designated by a synchronous axis parameter indicating which axis (first to sixth joints JT1 to JT6) operates in synchronization.
  • the capsule shape means a shape having a cylindrical portion with a radius R and hemispherical portions with a radius R formed at both ends of the cylindrical portion.
  • a straight line connecting the start point (X1, Y1, Z1) and the end point (X2, Y2, Z2) represents a “line segment” representing the link model
  • the radius R is the “thickness” of the link model.
  • the coordinates of the start point and end point to be specified are the position coordinates at each link in the reference posture of the robot arm 1 (all axes (axis angles of all joints) are 0 °).
  • link model of the arm 13 of the robot arm 1 is as shown in FIG.
  • reference numeral 41 indicates a link model.
  • the interference check between the arm portion 13 of the robot arm 1 and the opening 22 calculates the shortest distance between the line segment representing the shape of the opening 22 (a straight line connecting the definition points) and the line segment of the capsule-shaped link model. This is performed by determining whether or not the shortest distance is equal to or less than the thickness R of the link model. In this case, the position of the link model in space changes depending on the angle of each axis of the arm portion 13 of the robot arm 1. Therefore, an angle called “virtual command value” is used for each axis angle of the link model.
  • the “virtual command value” is an angle of each axis at a position where the operating arm unit 13 moves after a predetermined time. This fixed time is determined based on the time required for the arm unit 13 to stop.
  • FIG. 7 is a flowchart showing teaching control of the robot controller 2.
  • the operator first operates the mode switching operation unit of the teaching device 3 to switch the robot 10 to the teach mode. And if an operator operates the start operation part of the teaching device 3, this teaching control will start.
  • control unit 4 waits for the opening 22 to be selected (NO in step S1, step S1). Specifically, the control unit 4 waits for an opening selection command to be input from the teaching device 3.
  • control unit 4 reads the definition point setting data of the opening 22 selected from the storage unit 5, and connects a plurality of definition points P1 to P5 with straight lines. The shape and position of the selected opening 22 are acquired (step S2).
  • control unit 4 waits for a jog feed or inching operation to be performed (NO in step S3, step S3). Specifically, the control unit 4 waits for a jog feed command or an inching command to be input from the teaching device 3.
  • control unit 4 calculates the position of the robot arm 1 corresponding to the input jog feed command or inching command and sets it as the predicted position. .
  • control unit 4 determines whether or not there is a possibility of interference (step S5).
  • the control unit 4 determines the possibility of interference between the arm unit 13 of the robot arm 1 and the opening 22 by the above-described interference check.
  • step S6 the control unit 4 performs an avoidance operation and a warning (step S6). Specifically, the control unit 4 first causes the warning device 6 to issue a warning. Further, as an avoiding operation, the control unit 4 controls the base moving mechanism 15a of the base 15 of the robot arm 1 to move the base 15 so that the arm unit 13 takes a posture away from the opening 22. Let Alternatively, the control unit 4 stops the robot arm 1 or reduces the operation speed of the robot arm 1.
  • control unit 4 waits for jog feed or inching operation to be performed (NO in step S7, step S7).
  • control unit 4 releases the warning by the warning device 6 (step S8), and returns the control to step S4.
  • step S5 determines whether or not a teaching point setting operation has been performed. Specifically, the control unit 4 determines whether or not a teaching point setting command is input from the teaching device 3. If the teaching point setting command is not input within the predetermined time (NO in step S10), the control unit 4 advances the control to step S12.
  • step S10 when the teaching point setting command is input within a predetermined time (YES in step S10), the control unit 4 sets the position of the end effector of the robot arm 1 as the teaching point (step S11). Next, the control unit 4 determines whether or not an end command is input from the teaching device 3 (step S12). In particular. The control unit 4 determines whether or not an end command is input from the teaching device 3.
  • step S12 If the termination command is not input (NO in step S12), the control unit 4 returns the control to step S3.
  • the control part 4 repeats step S3 thru
  • the operator operates the end operation unit of the teaching device 3.
  • control unit 4 determines that an end command has been input (YES in step S12), and ends this teaching control.
  • FIG. 8 is a flowchart showing the opening definition control of the workpiece of the robot controller. 2, 4, and 8, the operator first operates the mode switching operation unit of the teaching device 3 to switch the robot 10 to the opening definition mode. And if an operator operates the start operation part of the teaching device 3, this opening definition control will start.
  • control unit 4 waits for the opening 22 to be selected (NO in step S1, step S1). Specifically, the control unit 4 waits for an opening selection command to be input from the teaching device 3.
  • control unit 4 selects the opening 22 selected from the data of the plurality of openings of the work 21 in the storage unit 5 (step S2).
  • control unit 4 waits for a jog feed or inching operation to be performed (NO in step S3, step S3). Specifically, the control unit 4 waits for a jog feed command or an inching command to be input from the teaching device 3.
  • control unit 4 positions the end effector 17 of the robot arm 1 at a position corresponding to the input jog feed command or inching command.
  • control unit 4 determines whether or not a definition point setting operation has been performed (step S24). Specifically, the control unit 4 determines whether or not a definition point setting command is input from the teaching device 3 within a predetermined time.
  • control unit 4 determines that the definition point setting operation has been performed (YES in step S24), and associates the position and definition order of the definition points with each other. It is set corresponding to the opening.
  • control unit 4 advances the control to Step S26 (NO in Step S24).
  • control unit 4 determines whether or not an end command is input from the teaching device 3 (step S26).
  • control unit 4 When the end command is not input, the control unit 4 returns the control to step S22.
  • the control unit 4 repeats steps S22 to S24 and S26, and during that time, as shown in FIG. 1 positions the tip of the end effector 17 at the definition point P 1 of the opening 22.
  • the control unit 4 determines in step S24 that the definition point operation has been performed (YES in step S24), and the position and definition order of the definition point P1. (First) is set (step S25).
  • control unit 4 determines that an end command has been input (YES in step S26), and ends this opening definition control.
  • the robot 10 includes the redundant shaft including the base moving mechanism 15 and the traveling path 31, but this may be omitted.
  • the opening 22 is defined using the robot 10 at the work site.
  • the opening 22 may be defined separately.
  • data specifying the shape of the opening 22 and the position of the work 21 based on the design data of the work 21 may be created in advance and stored in the storage unit 5 as the opening definition data 5b. .
  • the interference check, warning, and avoidance operation may be performed even in the repeat mode.
  • the robot teaching method and the robot teaching system according to the present invention do not require attention to the interference between the robot arm and the opening when the teaching device is operated to teach the work inside the internal space having the opening. It is useful as a teaching method and a robot teaching system.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
PCT/JP2019/017972 2018-04-27 2019-04-26 ロボットの教示方法及びロボットの教示システム Ceased WO2019208785A1 (ja)

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US17/051,030 US11534914B2 (en) 2018-04-27 2019-04-26 Method and system for teaching robot
CN201980028602.9A CN112041128B (zh) 2018-04-27 2019-04-26 机器人的教导方法和机器人的教导系统

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US20210046643A1 (en) 2021-02-18
US11534914B2 (en) 2022-12-27
CN112041128A (zh) 2020-12-04
CN112041128B (zh) 2024-02-27
JP7118725B2 (ja) 2022-08-16

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