JPH01246041A - Automatic instructing device for industrial robot - Google Patents
Automatic instructing device for industrial robotInfo
- Publication number
- JPH01246041A JPH01246041A JP7222588A JP7222588A JPH01246041A JP H01246041 A JPH01246041 A JP H01246041A JP 7222588 A JP7222588 A JP 7222588A JP 7222588 A JP7222588 A JP 7222588A JP H01246041 A JPH01246041 A JP H01246041A
- Authority
- JP
- Japan
- Prior art keywords
- teaching
- rough
- pressing force
- industrial robot
- tool
- 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.)
- Granted
Links
- 238000003825 pressing Methods 0.000 claims abstract description 43
- 238000013459 approach Methods 0.000 claims abstract description 30
- 238000003860 storage Methods 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 abstract description 4
- 238000003754 machining Methods 0.000 description 15
- 238000005520 cutting process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005498 polishing Methods 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Landscapes
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、アームの先端部に工具を取り付けた産業用ロ
ボットに、パリ取りや磨き作業等の作業線を自動的に教
示する装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device that automatically teaches work lines for deburring, polishing, etc. to an industrial robot having a tool attached to the tip of its arm.
（従来の技術）
例えば、パリ取り作業の作業線の教示は、従来は可搬形
のオペレーティングボックスを手動により操作し、産業
用ロボットのアーム先端部に取り付けた工具（またはダ
ミー工具）を移動させ、位置決め支持されたモデルワー
クのパリ取りすべき周縁の教示点の一つに当接してその
位置を記憶させ、このような操作を全ての教示点につき
くり返すことにより行っていた。しかしてモデルワーク
への工具の当接の有無は目視により行っていた。(Prior Art) For example, in teaching the work line for deburring work, conventionally, a portable operating box is manually operated to move a tool (or dummy tool) attached to the tip of an industrial robot's arm. This was done by making contact with one of the teaching points on the peripheral edge of the positioned and supported model workpiece to be deburred, memorizing the position, and repeating this operation for all the teaching points. However, the presence or absence of contact of the tool with the model work was checked visually.
（発明が解決しようとする課題）
このような従来技術においては、全ての教示点を手動に
より教示しているので教示に手間及び時間を要する。ま
た、パリ取りや磨き等の作業の際には所定の押圧力で工
具をワークに押し付ける必要があるが、前述の如く当接
の有無を目視にたよっている従来技術においては教示の
際のモデルワークに対する押圧力が一定とはならず、こ
のためパリ取り後のパリ取り残し量や磨き後の仕上り状
態に大きなばらつきが生じる。(Problems to be Solved by the Invention) In such conventional techniques, all teaching points are taught manually, which requires time and effort for teaching. In addition, when performing tasks such as deburring and polishing, it is necessary to press the tool against the workpiece with a predetermined pressing force, but as mentioned above, in the conventional technology that relies on visual inspection to check whether there is contact, the model used for teaching The pressing force against the workpiece is not constant, which causes large variations in the amount of deburr left after removing deburr and the finished state after polishing.
本発明は大まかなラフ教示のみを行えば、あとは自動的
に作動して教示の手間が大幅に減少し、また教示の際の
モデルワークに対する押圧力が一定となる産業用ロボッ
トの自動教示装置を得ようとするものである。The present invention is an automatic teaching device for industrial robots that allows only rough teaching to be performed and the rest is automatically operated, greatly reducing the effort required for teaching, and in which the pressing force against the model workpiece during teaching is constant. It is an attempt to obtain.
（課題を解決するための手段）
このために、本発明による産業用ロボットの自動教示装
置は、添付図面に例示する如く、アーム１１の先端部に
工具１６を取り付けた産業用ロボット１０の教示装置に
おいて、前記アーム１１の先端部と工具１６の間に設け
た力センサ１５と、前記アーム１１の位置を検出する現
在位置検出手段２１ｂと、位置決め固定されたモデルワ
ークＷより離れた少数のラフ教示点の位置とこの各ラフ
教示点からモデルワークＷに向かう接近方向を記憶する
ラフ教示位置・接近方向記憶手段２２ａと、教示間隔を
記憶する教示間隔記憶手段２２ｂと、前記力センサ１５
により検出される前記工具１６の押圧力が押圧力設定手
段２３ｂにより設定された所定値を越えれば出力を生ず
る押圧力比較手段２３ａと、前記ラフ教示位置・接近方
向記憶手段２２ａ及び教示間隔記憶手段２２ｂの記憶内
容に基づき前記工業用ロボット１０を作動させて前記工
具１６をモデルワークＷに前記教示間隔で順次当接する
とともにこの当接により前記押圧力比較手段２３ａが出
力を生じた際における前記現在位置検出手段２１ｂによ
り検出された前記アーム１１の各位置を教示点記憶手段
２２ｃに記憶させる自動教示実行手ａ２０ａを備えたこ
とを特徴とするものである。(Means for Solving the Problems) For this purpose, an automatic teaching device for an industrial robot according to the present invention is a teaching device for an industrial robot 10 in which a tool 16 is attached to the tip of an arm 11, as illustrated in the attached drawings. , a force sensor 15 provided between the tip of the arm 11 and the tool 16, a current position detecting means 21b for detecting the position of the arm 11, and a small number of rough teaching devices located away from the model workpiece W which is positioned and fixed. Rough teaching position/approaching direction storage means 22a that stores the position of the point and the approach direction from each rough teaching point toward the model work W; teaching interval storage means 22b that stores the teaching interval; and the force sensor 15.
a pressing force comparison means 23a which produces an output when the pressing force of the tool 16 detected by the tool exceeds a predetermined value set by the pressing force setting means 23b; the rough teaching position/approach direction storage means 22a; and the teaching interval storage means. 22b, the industrial robot 10 is operated to sequentially abut the tool 16 on the model workpiece W at the taught intervals, and the current value is determined when the pressing force comparison means 23a produces an output due to this abutment. The apparatus is characterized in that it includes an automatic teaching executor a20a that stores each position of the arm 11 detected by the position detecting means 21b in the teaching point storing means 22c.
（作用）
ラフ教示位置・接近方向記憶手段２２ａに予め記憶され
たラフ教示点の位置及び接近方向と、教示間隔記憶手段
２２ｂに予め記憶された教示間隔に基づき、自動教示実
行手段２０ａは産業用ロボッｌ−１０を作動させて、先
ず工具１６を所定の教示点付近のモデルワークＷから多
少離れた位置に位置決めし、その位置からモデルワーク
Ｗに向けて接近させる。工具１６がモデルワークＷの教
示点に当接すれば力センサ１５がモデルワークＷに対す
る押圧力を検出し、その値が押圧力設定手段２３ｂによ
り予め設定された所定値を越えれば押圧力比較手段２３
ａは出力を生じる。自動教示実行手段２０ａは、この出
力が生じた際に現在位置検出手段２１ｂにより検出され
たアーム１１の位置を教示点記憶子１２２ｃに記憶させ
る。次いで自動教示手段２０ａは再び同様に作動して工
具１６を次の教示点に当接してアーム１１の位置を記憶
させ、これを全ての教示点について順次繰り返して、全
ての教示点の位置を教示点記憶手段２２Ｃに記憶させる
。(Operation) Based on the position and approach direction of the rough teaching point stored in advance in the rough teaching position/approach direction storage means 22a and the teaching interval stored in advance in the teaching interval storage means 22b, the automatic teaching execution means 20a performs industrial The robot 1-10 is operated to first position the tool 16 at a position somewhat distant from the model work W near a predetermined teaching point, and then approach the model work W from that position. When the tool 16 comes into contact with the teaching point of the model workpiece W, the force sensor 15 detects the pressing force against the model workpiece W, and if the value exceeds a predetermined value set in advance by the pressing force setting means 23b, the pressing force comparing means 23
a produces an output. The automatic teaching execution means 20a causes the teaching point memory 122c to store the position of the arm 11 detected by the current position detection means 21b when this output occurs. Next, the automatic teaching means 20a operates in the same manner again to bring the tool 16 into contact with the next teaching point to memorize the position of the arm 11, and repeats this sequentially for all the teaching points to teach the positions of all the teaching points. It is stored in the point storage means 22C.
（発明の効果）
上述の如（、本発明によれば、少数のラフ教示点及び接
近方向と教示間隔のみを手動により教示すれば、あとは
自動教示実行手段が自動的に産業用ロボットを作動させ
て所定の教示間隔で工具を各教示点に当接させ、その時
のアームの位置を記憶させるので、この種の教示に要す
る手間及び時間を大幅に減少させることができる。また
、各教示点の位置はモデルワークに対する押圧力が所定
の値となった一定の条件で記憶されるので、その後の自
動加工の際のパリ取り残し量や磨きの仕上り状態のばら
つきを減少させることができる。(Effects of the Invention) As described above, according to the present invention, if only a small number of rough teaching points, approach directions, and teaching intervals are manually taught, the automatic teaching execution means automatically operates the industrial robot. The tool is brought into contact with each teaching point at predetermined teaching intervals, and the position of the arm at that time is memorized, which greatly reduces the effort and time required for this type of teaching.Also, each teaching point Since the position of is memorized under a certain condition in which the pressing force against the model work reaches a predetermined value, it is possible to reduce the amount of debris left behind and variations in the finished state of polishing during subsequent automatic processing.
（実施例）
以下に、添付図面に示すパリ取り作業における実施例に
より、本発明の説明をする。(Example) The present invention will be explained below with reference to an example of deburring work shown in the accompanying drawings.
第２図に示す如（，６軸多関節形の産業用ロボッ）１０
は互いに揺動自在に順次枢支されたアーム１１を有し、
その先端部であるリスト部１２には、力センサ１５を介
して工具１６が取り付けられている。工具１６は電動型
のもので、その回転軸にはパリ取り用のエンドミル等の
加工部１６ａを備えている。各アーム１１及びリスト部
１２は６個のサーボモータＭｌ−Ｍ６により駆動される
。As shown in Figure 2 (6-axis articulated industrial robot) 10
has arms 11 which are pivotally supported one after another so as to be able to swing freely relative to each other,
A tool 16 is attached to the wrist portion 12, which is the tip thereof, via a force sensor 15. The tool 16 is of an electric type, and its rotating shaft is equipped with a machining section 16a such as an end mill for deburring. Each arm 11 and wrist part 12 is driven by six servo motors M1-M6.
産業用ロボット１０を作動させて本発明による自動教示
及び自動加工を行う制御装置は主中央処理装置（以下メ
ーインＣＰＵという）２０とメモリ２２を主要構成部材
とし１．メ・インＣＰＵ２０にはサーボＣＰＵ２１１〜
２１６を介して各サーボモータＭ１〜Ｍ６が接続され、
センサコントローラ２３とインターフェイス（ＩＦ）２
４を介して力センサ１５が接続され、また操作盤２５が
接続されている。The control device that operates the industrial robot 10 to perform automatic teaching and automatic processing according to the present invention includes a main central processing unit (hereinafter referred to as main CPU) 20 and a memory 22 as main components: 1. Main CPU 20 includes servo CPU 211~
Each servo motor M1 to M6 is connected via 216,
Sensor controller 23 and interface (IF) 2
A force sensor 15 is connected via 4, and an operation panel 25 is also connected.
第１図に示す如く、各サーボＣＰＵ２１１〜２１６（第
１図には符号２１としてまとめて表示）はプログラム化
された駆動制御手段２１ａと現在位置検出手段２１ｂを
備え、駆動制御手段２１ａはメインＣＰＵ２０からの指
令信号に基づき各サーボモータＭｌ−Ｍ６（第１図には
符号Ｍとしてまとめて表示）に制御パルスを分配して駆
動して産業用ロボッ１−１０を作動させるものであり、
現在位置検出手段２１ｂは駆動制御手段２１ａから同じ
制御パルスの分配を受けこれをカウントして各アーム１
１の現在位置を検出するものである。As shown in FIG. 1, each servo CPU 211 to 216 (indicated collectively as 21 in FIG. 1) includes a programmed drive control means 21a and a current position detection means 21b, and the drive control means 21a is connected to the main CPU 21. The industrial robot 1-10 is operated by distributing and driving control pulses to each servo motor Ml-M6 (collectively indicated as M in FIG. 1) based on a command signal from the servo motor 1-M6.
The current position detection means 21b receives the same control pulses from the drive control means 21a, counts them, and
This is to detect the current position of No. 1.
メモリ２２は実質的にラフ教示位置・接近方向記憶手段
２２ａと教示間隔記憶手段２２ｂと教示点記憶手段２２
ｃを備え、ラフ教示位置・接近方向記憶手段２２ａには
後述するラフ教示点の位置及び接近方向が、また教示間
隔記憶手段２２ｂには後述する教示間隔が、自動教示に
先立ち予め入力される。センサコントローラ２３はプロ
グラム化された押圧力比較手段２３ａと押圧力設定手段
２３ｂとを備え、押圧力設定手段２３ｂには予め所定の
押圧力Ｆｏ（切削具１６ａによるパリ取りの際に必要な
所定の押圧力と同じ値）が記憶されており、押圧力比較
手段２３ａは力センサ１５により検出された工具１６の
加工部１６ａに加わる押圧力を前記所定値Ｆｏと比較し
て、この押圧力が前記所定値Ｆｏを越えれば出力を生ず
るものである。The memory 22 essentially includes a rough taught position/approach direction storage means 22a, a taught interval storage means 22b, and a taught point storage means 22.
The position and approach direction of a rough teaching point, which will be described later, are input in advance into the rough teaching position/approach direction storage means 22a, and the teaching interval, which will be described later, into the teaching interval storage means 22b, prior to automatic teaching. The sensor controller 23 includes a programmed pressing force comparison means 23a and a pressing force setting means 23b, and the pressing force setting means 23b has a predetermined pressing force Fo (a predetermined value necessary for deburring with the cutting tool 16a). The pressing force comparing means 23a compares the pressing force applied to the machining part 16a of the tool 16 detected by the force sensor 15 with the predetermined value Fo, and the pressing force is determined to be the same as the pressing force. If the predetermined value Fo is exceeded, an output is generated.
メインＣＰＵ２０は、第１図に示す如く、ブＩコダラム
化された自動教示実行手段２０ａと自動加工実行手段２
０ｂを備えている。自動教示実行手段２０ａは、先ずラ
フ教示位置・接近方向記憶子、段２２ａに記憶されたラ
フ教示点の位置及び接近方向と、教示間隔記憶手段２２
ｂに記憶された教示間隔に基づき、駆動制御手段２１ａ
を介して後述の如〈産業用ロボン）１０を作動させて工
具１６の加工部１６ａをモデルワークＷの各教示点に当
接し、この押圧力が増大して押圧力比較手段２３ａが出
力を生じれば、現在位置検出手段２１ｂにより検出され
た各アーム１１の位置を表すカウント値すなわち教示位
置を教示記憶手段２２ ｃに記憶させるものである。ま
た、自動加工実行手段２０ｂは、上述のようにして教示
点記憶手段２２Ｃに記憶された各教示位置に基づき、駆
動制御手段２１ａを介して産業用ロボットｌＯを作動さ
せ、工具１６の加工部１６ａを各教示点を通る作業線に
沿って移動させ、回転するエンドミルのような加工部１
６ａによりワークのパリ取りを行わせるものである。The main CPU 20, as shown in FIG.
0b. The automatic teaching execution means 20a first stores the rough teaching position/approach direction memory, the position and approach direction of the rough teaching point stored in the stage 22a, and the teaching interval storage means 22.
Based on the teaching interval stored in b, the drive control means 21a
The industrial robot 10, which will be described later, is operated to bring the machining part 16a of the tool 16 into contact with each teaching point of the model workpiece W, and this pressing force increases and the pressing force comparison means 23a produces an output. If so, the count value representing the position of each arm 11 detected by the current position detecting means 21b, that is, the teaching position, is stored in the teaching storage means 22c. Further, the automatic machining execution means 20b operates the industrial robot IO via the drive control means 21a based on the teaching positions stored in the teaching point storage means 22C as described above, and operates the processing portion 16a of the tool 16. The machining section 1, which resembles a rotating end mill, moves along the working line passing through each teaching point.
6a, the workpiece is deburred.
次に上記実施例の教示動作を第３図〜第５図により説明
する。この教示はパリ取り加工がなされたモデルワーク
Ｗを取付治具により位置決め支持し、工具１６の回転を
停止して行い、第５図のフローチャートのステップ１０
０〜１０６で示す手動による予備的なラフ教示と、ステ
ップ１１０〜１２１で示す自動教示に分かれている。Next, the teaching operation of the above embodiment will be explained with reference to FIGS. 3 to 5. This teaching is carried out by positioning and supporting the model workpiece W that has been subjected to the deburring process using a mounting jig, and stopping the rotation of the tool 16.
It is divided into manual preliminary rough teaching shown by steps 0 to 106 and automatic teaching shown to steps 110 to 121.
■）ラフ教示
ラフ教示においては、第３図に示す如く、モデルワーク
Ｗから離れた少数のラフ教示点Ａ、Ｂ。■) Rough teaching In rough teaching, as shown in FIG. 3, a small number of rough teaching points A and B are located away from the model work W.
Ｃ・・・Ｍの位置と、この各ラフ教示点からモデルワー
クＷの外周とほぼ直交する方向でモデルワークＷに向か
う接近方向Ｏａ、Ｏｂ、Ｏｃ・・・Ｏｍと、教示間隔Ｔ
を手動により教示する。各ラフ教示点Ａ、 Ｂ・・・Ｍ
の数及び相互の間隔は任意であるが、隣り合う教示点を
結ぶ直線がモデルワークＷの外周に接近及び離れ過ぎな
い範囲においてなるべく間隔が大となるように定め、こ
の間隔は同一とする必要はない。また教示間隔Ｔは各ラ
フ教示点の間の範囲毎に変えてもよい。The positions of C...M, the approach directions Oa, Ob, Oc...Om from each rough teaching point toward the model work W in a direction substantially orthogonal to the outer circumference of the model work W, and the teaching interval T.
be taught manually. Each rough teaching point A, B...M
The number of teaching points and the mutual spacing are arbitrary, but the spacing should be as large as possible within the range where the straight line connecting adjacent teaching points approaches and does not go too far from the outer periphery of the model work W, and this spacing must be the same. There isn't. Further, the teaching interval T may be changed for each range between rough teaching points.
先ず第５図のフローチャートのステップ１００において
操作ｆｉ２５（又は可ＩＭ形のオペレーティングボソク
ス）により産業用ロボットＩＯを操作して工具１６の加
工部１６ａをラフ教示黒人に移動し、ステップ１０１に
おいてその位置（現在位置検出手段２１ｂのカウント値
）をメモリ２２０）所定領域（ラフ教示位置・接近方向
記憶手段２２ａ）に記憶させ、次いでステップ１０２に
おいて接近方向Ｏａを設定してメモリ２２の所定領域に
記憶させる。続くステップ１０３〜１０５において、同
様にして加工部１６ａを次のラフ教示点１３に移動して
その位置と接近方向ｏｂをメモリ２２に記憶させる。続
くステップ１０６においてはラフ教示点Ａ、Ｂ間の教示
間隔Ｔをメモリ２２の所定領域（教示間隔記憶手段２２
ｂ）に記憶さ）上る。First, in step 100 of the flowchart of FIG. 5, the industrial robot IO is operated by the operation fi 25 (or IM type operating box) to move the machining part 16a of the tool 16 to the rough teaching position, and in step 101, the position is changed. (The count value of the current position detection means 21b) is stored in a predetermined area (the rough teaching position/approach direction storage means 22a) of the memory 220, and then in step 102, the approach direction Oa is set and stored in the predetermined area of the memory 22. . In subsequent steps 103 to 105, the processing section 16a is similarly moved to the next rough teaching point 13, and its position and approach direction ob are stored in the memory 22. In the subsequent step 106, the teaching interval T between the rough teaching points A and B is stored in a predetermined area of the memory 22 (teaching interval storage means 22).
b) memorized) go up.
ＩＩ ）自動教示
次に第４図及び第５図により自動教示の説明をする。
ｔ！作盤２５によりメインＣＰＵ２０に自動教示の開始
を指令すれば、ＣＰＵ２０ （自動教示実行手段２０ａ
部分）は、先ずステ・ノブ１１０において所定のカウン
タのカウント値ｎを１とした後、ステップ１１１におい
てＳ ｎａ （＝ Ｓｔ ａ＝ Ａ）点の位置を演算し
、続くステップ１１２において産業用ロボソ１−１０を
作動させて工具１６の加工部１６ａをＳｅａ点に移動す
る。Ｓｅａ点の位置はラフ教示点Ａから直線的にラフ教
示点Ｂに向かって（ｎ−１）ＸＴの位置である。次いで
メインＣＰＵ ２０は、ステップ１１３において５ｎａ
（＝Ｓ１ａ−八）点からモデルワークＷに向かう接近方
向０ｎａ（＝Ｏｔａ＝Ｏａ）を演算し、ステップ１１４
において産業用ロボット１０を作動させて加工部１６ａ
を接近方向０工ａに移動させる。接近方向Ｏｎａはラフ
教示された接近方向Ｏａとｏｂの交点に向かう方向であ
る。切削具１６ａが接近方向０工ａに移動しモデルワー
クＷの外周に当接して加工部１６ａに生じた押圧力Ｆは
力センサ１５により検出される。センサコントローラ２
３は、ステップ１１５においてこの押圧力Ｆを読み込み
、ステップ１、１６において押圧力比較手段２３ａはこ
の押圧力Ｆを押圧力設定手段２３ｂに記憶された所定値
の押圧力Ｆｏと比較しＦ＞Ｆｏとなれば出力を発生する
。メインＣＰＵ２０は押圧力比較手段２３ａが出力を発
生するまではステップ１１４を繰り返して切削具１６ａ
を接近方向Ｏｐａに移動させ、出力を発生すればステッ
プ１１７において産業用ロボット１０を停止させて加工
部１６ａの接近を停止させる。この状態においては加工
部ｉ６ａは第１の教示点Ｐｅａに位置して押圧力ＦＯで
モデルワークＷに押圧され、メインＣＰＵ２０はステッ
プ１１８においてこの教示点Ｐ４ａの位置（現在位置検
出手段２１ｂのカウント値）をメモリ２２の所定領域（
教示点記憶手段２２Ｃ）に記憶させ、次いでステップ１
１９においてカウント値ｎに１を加えて２とする。この
状態においては（ｎ−］、）′１゛≧ＡＢではないので
メインＣＰＵ２０は制御動作をステップ１２０からステ
ップＺｔＣ：戻し、ステップ１１１〜１１９を繰り返し
て教示点Ｐｚａの位置をメモリ２２の所定領域に記憶さ
せ、更にステップ１１１〜１１９を繰り返して教示点り
″ｌａ。II) Automatic teaching Next, automatic teaching will be explained with reference to FIGS. 4 and 5.
T! When the main CPU 20 is instructed to start automatic teaching by the making board 25, the CPU 20 (automatic teaching execution means 20a
First, the count value n of a predetermined counter is set to 1 in the steering knob 110, and then in step 111 the position of the point S na (= Sta= A) is calculated, and in the subsequent step 112, the industrial robot robot 1 -10 is activated to move the processing portion 16a of the tool 16 to the Sea point. The position of the Sea point is (n-1) XT from the rough teaching point A in a straight line toward the rough teaching point B. Next, in step 113, the main CPU 20
(=S1a-8) An approach direction 0na (=Ota=Oa) toward the model work W is calculated, and step 114
The industrial robot 10 is operated in the processing section 16a.
is moved in the approach direction 0 ma. The approach direction Ona is a direction toward the intersection of the roughly taught approach directions Oa and ob. The cutting tool 16a moves in the approach direction 0 machining a and comes into contact with the outer periphery of the model workpiece W, and the pressing force F generated on the processed portion 16a is detected by the force sensor 15. Sensor controller 2
3 reads this pressing force F in step 115, and in steps 1 and 16, the pressing force comparing means 23a compares this pressing force F with the pressing force Fo of a predetermined value stored in the pressing force setting means 23b, and F>Fo. If so, an output will be generated. The main CPU 20 repeats step 114 until the pressing force comparison means 23a generates an output, and the cutting tool 16a
is moved in the approach direction Opa, and if an output is generated, the industrial robot 10 is stopped in step 117, and the approach of the processing section 16a is stopped. In this state, the machining part i6a is located at the first teaching point Pea and is pressed against the model work W by the pressing force FO, and the main CPU 20 determines the position of this teaching point P4a (the count value of the current position detection means 21b) in step 118. ) in a predetermined area of the memory 22 (
stored in the teaching point storage means 22C), and then in step 1
In step 19, 1 is added to the count value n to make it 2. In this state, since (n-], )'1゛≧AB does not hold, the main CPU 20 returns the control operation from step 120 to step ZtC, repeats steps 111 to 119, and stores the position of the teaching point Pza in a predetermined area of the memory 22. The teaching point "la" is stored by repeating steps 111 to 119.
Ｐｅａを記憶させる。教示点Ｐヰａの位置を記憶した後
のステップ１１９においてカウント値ｎが５となれば（
ｎ−１）Ｔ≧ＡＢとなるので、メインＣＰＵ２０はステ
ップ１２１に進んで産業用ロボット１０を作動させ、工
具１６の加工部１６ａをラフ教示点Ｂに移動させて教示
を終了する。Memorize Pea. If the count value n becomes 5 in step 119 after storing the position of the teaching point Pia, (
n-1) Since T≧AB, the main CPU 20 proceeds to step 121, operates the industrial robot 10, moves the processing portion 16a of the tool 16 to the rough teaching point B, and ends the teaching.
以上においては、説明を簡略化するためにラフ教示点Ａ
とＢの間についてのみ説明したが、実際はラフ教示にお
いてステップ１００〜１０６を繰り返して全てのラフ教
示点Ａ、Ｂ、Ｃ・・・Ｍの位置と１．各接近方向Ｏａ、
Ｏｂ・・・Ｏｍと１．各教示間隔Ｔをまとめて記憶させ
た後１．自動教示においてステップ１１０〜１２１を繰
り返してモデルワークＷ全周の全教示点Ｐ工ａ、Ｐ２ａ
・・・Ｐやｍの自動教示を行うものである。In the above, to simplify the explanation, the rough teaching point A
Although the explanation has only been made for the points between and B, in reality, steps 100 to 106 are repeated during rough teaching to determine the positions of all rough teaching points A, B, C, . . . , and 1. Each approach direction Oa,
Ob...Om and 1. After storing each teaching interval T at once: 1. In automatic teaching, steps 110 to 121 are repeated to obtain all teaching points P work a, P2a around the entire circumference of the model work W.
... Automatically teaches P and m.
次に自動加工動作を第４図及び第６図に示すフローチャ
ートにより説明する。パリ取り未加工のワークＷａをモ
デルワークＷの代りに位置決め支持ｌ、た後２、操作盤
２５によりメインＣＰ Ｕ ２０に自動加工の開始を指
令すれば、メインＣＰＵ２０（自動加工実行手段２０ｂ
部分）は作動を開始する。Next, automatic machining operations will be explained with reference to flowcharts shown in FIGS. 4 and 6. After positioning and supporting the undeburred workpiece Wa instead of the model workpiece W, if the operation panel 25 commands the main CPU 20 to start automatic machining, the main CPU 20 (automatic machining execution means 20b
part) begins to operate.
メインＣＰＵ２０は工具１６を回転駆動し、先ずステッ
プ２００において産業用ロボット１０を作動させて工具
１６の加工部１６ａをラフ教示点Ａに移動する。続いて
メインＣＰＵ２０はステップ２０１において所定のカウ
ンタのカウント値ｎを１とした後、ステップ２０２にお
いて産業用ロボット１０を作動させて加工部１６ａを教
示点Ｐｅａに移動し、続くステップ２０３においてカウ
ント値ｎに１を加えて２とした後、ステップ２０４より
ステップ２０２に戻してステップ２０２〜２０４を繰り
返し、加工部１６ａを教示点Ｐｉａ〜Ｐ４ａを通る作業
線Ｗβに沿って移動させる。次いでメインＣＰＵ２０は
ステップ２０４よりステップ２１１に移ってカウント値
ｎを１に戻した後、ステップ２０２〜２０４と同様のス
テップを繰り返して加工部１６ａを教示点Ｐユｂ−Ｐ４
．ｂを通る作業線Ｗｅに沿って移動させ、以下同様の繰
り返しにより加工部１６ａをワークＷａの全周に沿った
作業線Ｗβに沿って移動させ、回転する加工部１６ａに
よりワークＷａの周囲のパリ取りを行う。The main CPU 20 rotates the tool 16, and first, in step 200, the industrial robot 10 is operated to move the processing section 16a of the tool 16 to the rough teaching point A. Next, the main CPU 20 sets the count value n of a predetermined counter to 1 in step 201, then operates the industrial robot 10 in step 202 to move the processing section 16a to the teaching point Pea, and in the subsequent step 203 sets the count value n to 1. After adding 1 to 2, the process returns from step 204 to step 202 and steps 202 to 204 are repeated to move the machining section 16a along the work line Wβ passing through the teaching points Pia to P4a. Next, the main CPU 20 moves from step 204 to step 211, returns the count value n to 1, and then repeats the same steps as steps 202 to 204 to move the machining section 16a to the teaching point Pyub-P4.
．． By repeating the same process, the machining section 16a is moved along the working line Wβ along the entire circumference of the workpiece Wa. Take the pick.
切削具１６ａがワークＷａを一周して最初の教示点Ｐｊ
Ｌａに戻れば（ステップ２９２）、次のステップ２９５
においてメインＣＰＵ２０は加工部１６ａをワークＷａ
から離れたラフ教示位置Ａに戻してパリ取り作業を終了
する。The cutting tool 16a goes around the workpiece Wa and reaches the first teaching point Pj.
When returning to La (step 292), the next step 295
, the main CPU 20 converts the processing section 16a into a workpiece Wa.
Return to rough teaching position A away from , and finish the deburring work.
上記実施例によれば、手動のラフ教示により少数のラフ
教示点Ａ、Ｂ、Ｃ・・・Ｍの位置及び接近方向Ｏａ、Ｏ
ｂ、Ｏｃ・・・Ｏｍと教示間隔Ｔのみを教示すれば、あ
とはメインＣＰＵ２０が産業用ロボットｌＯを作動させ
て自動的に所定の教示間隔Ｔで各教示点の位置を記憶さ
せるので教示に要する手間と時間を大幅に減少させるこ
とができる。また、各教示点の位置はモデルワークＷに
対する加工部１６ａの押圧力がパリ取りの際の押圧力Ｆ
ｏとなった状態で記憶されるので、その後の自動加工に
よるパリ取りの際の取り残し量の誤差はワークＷａの形
状及び取付けの誤差によるものだけとなり、このような
取り残し量の誤差は大幅に減少する。According to the above embodiment, the positions and approach directions Oa, O of a small number of rough teaching points A, B, C, . . . M are determined by manual rough teaching.
If you only teach b, Oc...Om and the teaching interval T, the main CPU 20 will operate the industrial robot IO and automatically memorize the position of each teaching point at the predetermined teaching interval T. The required effort and time can be significantly reduced. In addition, the position of each teaching point is such that the pressing force of the processing section 16a against the model workpiece W is the pressing force F during deburring.
Since the state of 0 is stored, the error in the amount left behind during subsequent deburring by automatic processing is only due to errors in the shape and installation of the workpiece Wa, and such errors in the amount left behind are greatly reduced. do.
なお、上記実施例においては押圧力設定手段２３ｂに記
憶する押圧力Ｆｏをパリ取りの際に必要な押圧力とした
が、この押圧力ＦＯをパリ取りの・ための押圧力よりも
小さい所定値としてアーム１１の位置を検出し、これに
基づきパリ取りのための押圧力を与えるアーム１１の位
置をメインＣＰＵ２０により演算して、これを教示位置
として記憶するようにしてもよい。これによれば使用す
る力センサ１５の容量が小さいもので足り、また教示位
置の精度を向上させることもできる。In the above embodiment, the pressing force Fo stored in the pressing force setting means 23b is the pressing force necessary for deburring, but this pressing force FO may be set to a predetermined value smaller than the pressing force for deburring. The position of the arm 11 may be detected as follows, and based on this, the main CPU 20 may calculate the position of the arm 11 that applies the pressing force for deburring, and store this as the taught position. According to this, it is sufficient to use a force sensor 15 having a small capacity, and it is also possible to improve the accuracy of the taught position.
また、上記実施例においては、自動教示の際にエンドミ
ル等の加工部１６ａを使用するものとして説明したが、
このような加工部１６ａの代りに同一寸法の円筒状のダ
ミー工具を使用して自動教示を行ってもよい。また、現
在位置検出手段２１ｂも駆動制御手段２１ａからの制御
パルスをカウントする代りに、アーム１１の各部に設け
たエンコーダにより直接検出するようにしてもよい。Further, in the above embodiment, the processing section 16a such as an end mill is used for automatic teaching, but
Automatic teaching may be performed using a cylindrical dummy tool of the same size instead of such a processing portion 16a. Furthermore, instead of counting the control pulses from the drive control means 21a, the current position detection means 21b may be directly detected by encoders provided at each part of the arm 11.
添付図面は本発明による産業用ロボットの自動教示装置
の一実施例を示し、第１図は全体構成図、。
第２図は全体構造図、第３図はラフ教示位置の説明図、
第４図は自動教示の説明図、第５図は教示のためのフロ
ーチャート、第６図は自動加工のためのフローチャート
である。
符号の説明
１０・・・産業用ロボット、１１・・・アーム、１５・
・・力センサ、１６・・・工具、２０ａ・・・自動教示
実行手段、２１ｂ・・・現在位置検出手段、２２ａ・・
・ラフ教示位置・接近方向記憶手段、２２ｂ・・・教示
間隔記憶手段、２２ｃ・・・教示点記憶手段、２３ａ・
・・押圧力比較手段、２３ｂ・・・押圧力設定手段、Ｗ
・・・モデルワーク。The accompanying drawings show an embodiment of an automatic teaching device for an industrial robot according to the present invention, and FIG. 1 is an overall configuration diagram. Figure 2 is a diagram of the overall structure, Figure 3 is an explanatory diagram of the rough teaching position,
FIG. 4 is an explanatory diagram of automatic teaching, FIG. 5 is a flowchart for teaching, and FIG. 6 is a flowchart for automatic machining. Explanation of symbols 10...Industrial robot, 11...Arm, 15.
... Force sensor, 16... Tool, 20a... Automatic teaching execution means, 21b... Current position detection means, 22a...
・Rough teaching position/approach direction storage means, 22b...Teaching interval storage means, 22c...Teaching point storage means, 23a.
...Press force comparison means, 23b...Press force setting means, W
...Model work.
Claims (1)
示装置において、前記アームの先端部と工具の間に設け
た力センサと、前記アームの位置を検出する現在位置検
出手段と、位置決め固定されたモデルワークより離れた
少数のラフ教示点の位置とこの各ラフ教示点からモデル
ワークに向かう接近方向を記憶するラフ教示位置・接近
方向記憶手段と、教示間隔を記憶する教示間隔記憶手段
と、前記力センサにより検出される前記工具の押圧力が
押圧力設定手段により設定された所定値を越えれば出力
を生ずる押圧力比較手段と、前記ラフ教示位置・接近方
向記憶手段及び教示間隔記憶手段の記憶内容に基づき前
記産業用ロボットを作動させて前記工具をモデルワーク
に前記教示間隔で順次当接するとともにこの当接により
前記押圧力比較手段が出力を生じた際における前記現在
位置検出手段により検出された前記アームの各位置を教
示点記憶手段に記憶させる自動教示実行手段を備えたこ
とを特徴とする産業用ロボットの自動教示装置。A teaching device for an industrial robot in which a tool is attached to the tip of an arm, a force sensor provided between the tip of the arm and the tool, a current position detection means for detecting the position of the arm, and a positioning and fixed device. rough teaching position/approach direction storage means for storing the positions of a small number of rough teaching points distant from the model workpiece and the approach direction from each rough teaching point toward the model workpiece; teaching interval storage means for storing teaching intervals; a pressing force comparison means that generates an output when the pressing force of the tool detected by the force sensor exceeds a predetermined value set by the pressing force setting means; and a memory in the rough teaching position/approach direction storage means and the teaching interval storage means. Based on the content, the industrial robot is operated to sequentially contact the tool with the model workpiece at the teaching interval, and when the contact causes the pressing force comparison means to generate an output, the current position is detected by the current position detection means. An automatic teaching device for an industrial robot, comprising automatic teaching execution means for storing each position of the arm in a teaching point storage means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7222588A JP2659121B2 (en) | 1988-03-25 | 1988-03-25 | Automatic teaching device for industrial robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7222588A JP2659121B2 (en) | 1988-03-25 | 1988-03-25 | Automatic teaching device for industrial robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01246041A true JPH01246041A (en) | 1989-10-02 |
| JP2659121B2 JP2659121B2 (en) | 1997-09-30 |
Family
ID=13483105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7222588A Expired - Fee Related JP2659121B2 (en) | 1988-03-25 | 1988-03-25 | Automatic teaching device for industrial robots |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2659121B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0540753A1 (en) * | 1991-05-21 | 1993-05-12 | Hitachi Construction Machinery Co., Ltd. | System for controlling industrial robot |
| JP2011006178A (en) * | 2009-06-24 | 2011-01-13 | Furukawa Unic Corp | Teaching playback device of crane |
-
1988
- 1988-03-25 JP JP7222588A patent/JP2659121B2/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0540753A1 (en) * | 1991-05-21 | 1993-05-12 | Hitachi Construction Machinery Co., Ltd. | System for controlling industrial robot |
| EP0540753A4 (en) * | 1991-05-21 | 1994-08-24 | Hitachi Construction Machinery | System for controlling industrial robot |
| JP2011006178A (en) * | 2009-06-24 | 2011-01-13 | Furukawa Unic Corp | Teaching playback device of crane |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2659121B2 (en) | 1997-09-30 |
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