JPH08336785A - Industrial robot teaching device - Google Patents
Industrial robot teaching deviceInfo
- Publication number
- JPH08336785A JPH08336785A JP16827695A JP16827695A JPH08336785A JP H08336785 A JPH08336785 A JP H08336785A JP 16827695 A JP16827695 A JP 16827695A JP 16827695 A JP16827695 A JP 16827695A JP H08336785 A JPH08336785 A JP H08336785A
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- Japan
- Prior art keywords
- teaching
- tool
- force
- robot
- operator
- 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.)
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Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は産業用ロボットに教示を
行うための教示装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching device for teaching an industrial robot.
【０００２】[0002]
【従来の技術】従来の産業用ロボットに対する教示方法
としては、図６に示すようにオペレータ１４がロボット
１１の先端に取り付けられた力検出器２２を内蔵した教
示用ツール２１を直接操作して加えられた力またはモー
メントに応じて力制御を行い、位置または速度制御でロ
ボットの作業ツールを誘導する直接教示方法（例えば、
特開昭５８−７１０８６号公報参照）と、図７に示すよ
うにロボットの動作を教示する操作スイッチが設けられ
た教示操作盤２０をオペレータが操作してロボット１１
を誘導する間接教示方法がある。2. Description of the Related Art As a conventional teaching method for an industrial robot, as shown in FIG. 6, an operator 14 directly operates a teaching tool 21 having a force detector 22 attached to the tip of the robot 11 and added. Direct teaching method that performs force control according to the applied force or moment and guides the work tool of the robot by position or speed control (for example,
(See Japanese Patent Laid-Open No. 58-71086) and an operator operates a teaching operation panel 20 provided with operation switches for teaching the operation of the robot as shown in FIG.
There is an indirect teaching method for guiding.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら前者は、
ロボットを誘導する際にオペレータは教示用ツール上の
多数のスイッチを操作しながらの教示になるため、肉体
的精神的疲労度が非常に大きくなる。さらに、一個の教
示用ツールを複数のロボットで共有する場合にも、教示
用ツールからの配線を直接ロボットコントローラまで引
く必要があるためコストも高くなる。また後者は、教示
操作盤上の操作スイッチを操作してロボットの軸毎また
はロボット座標系やツール座標系上のＸＹＺ方向に誘導
を行うため、ワークに対してロボットやツールの位置姿
勢を直感的に動かすことができず、オペレータの肉体的
精神的疲労度が大きく、教示時間も掛かるという問題点
がある。この発明は上記の如き事情に鑑みなされたもの
であり、教示用ツール上のスイッチの数を減らし、直接
教示方法と間接教示方法の両方法を可能にしてオペレー
タの肉体的精神的疲労度を非常に小さくするとともに、
配線数を減らして構造が簡単な産業用ロボットの教示装
置を提供することを目的とするものである。However, the former is,
When guiding the robot, since the operator teaches while operating a large number of switches on the teaching tool, the degree of physical and mental fatigue becomes very large. Further, even when one teaching tool is shared by a plurality of robots, it is necessary to draw the wiring from the teaching tool directly to the robot controller, which increases the cost. In the latter, the operation switches on the teaching operation panel are operated to guide the robot in each axis or in the XYZ directions on the robot coordinate system or the tool coordinate system. However, there is a problem in that the operator cannot move the robot to a high level, the operator's physical and mental fatigue is large, and the teaching time is long. The present invention has been made in view of the above circumstances, and reduces the number of switches on a teaching tool to enable both a direct teaching method and an indirect teaching method, which significantly reduces the degree of physical and mental fatigue of an operator. And reduce it to
An object of the present invention is to provide a teaching device for an industrial robot having a simple structure by reducing the number of wires.
【０００４】[0004]
【課題を解決するための手段】上記目的を達成するため
に、図１及び図２に示すように本発明の教示装置におい
ては、力検出器２２と、前記検出器の検出端に固定され
てオペレータが把持し操作するためのハンドル２３で構
成された教示用ツール２１と、前記教示用ツール２１を
収納または取り付け可能な教示操作盤２０と、前記教示
用ツール２１と前記教示操作盤２０を繋ぐ力検出器用リ
ード線２４及び、前記力検出器情報を基に力制御を行う
手段を有する。さらに、教示用ツール２１を教示操作盤
２０から分離してロボット１１の手先またはアームまた
は作業ツールに取り付けて直接教示を行う手段及び、教
示用ツール２１を教示操作盤２０上に取り付けて間接教
示を行う手段を有する。さらに、上記教示装置に並進方
向の操作力と回転方向の操作力に対する力制御の切り換
えを行う手段を有すると、位置と姿勢の独立な教示が可
能となり効果的である。In order to achieve the above object, as shown in FIGS. 1 and 2, in the teaching apparatus of the present invention, the force detector 22 and the detecting end of the detector are fixed. A teaching tool 21 composed of a handle 23 for an operator to grip and operate, a teaching operation panel 20 in which the teaching tool 21 can be stored or attached, and the teaching tool 21 and the teaching operation panel 20 are connected to each other. It has a force detector lead wire 24 and means for performing force control based on the force detector information. Further, means for separating the teaching tool 21 from the teaching operation panel 20 and attaching it to the hand or arm of the robot 11 or a work tool for direct teaching, and attaching the teaching tool 21 on the teaching operation panel 20 for indirect teaching. Have the means to do. Further, if the teaching device is provided with a means for switching the force control between the translational operation force and the rotational operation force, it is effective because the position and the attitude can be taught independently.
【０００５】[0005]
【作用】上記のように構成された教示装置により作業点
の教示を行う場合に、オペレータは教示用ツールをロボ
ットの手先またはアームまたは作業ツールその他に取り
付けて、教示用ツールのハンドルに加える操作力に応じ
てロボットを誘導し、直接教示方法により作業ツールの
位置と姿勢の教示を行うか、もしくはオペレータは教示
用ツールを教示操作盤上に収納して、教示用ツールのハ
ンドルに加える操作力に応じてロボットを誘導し、間接
教示方法により作業ツールの位置と姿勢の教示を行う。
また、教示装置上で並進方向の操作力と回転方向の操作
力に対する力制御の切り換えを行うことで、ワークに対
して作業ツールの位置のみまたは姿勢のみの教示が可能
となる。When the teaching point constructed as described above is used to teach the working point, the operator attaches the teaching tool to the hand of the robot, the arm, the working tool or the like, and the operating force applied to the handle of the teaching tool. The robot is guided according to the instruction, and the position and orientation of the work tool is taught by the direct teaching method, or the operator stores the teaching tool on the teaching operation panel and applies the operating force to the handle of the teaching tool. The robot is guided accordingly, and the position and orientation of the work tool is taught by the indirect teaching method.
Further, by switching the force control for the translational operation force and the rotational direction operation force on the teaching device, it is possible to teach only the position or the posture of the work tool to the work.
【０００６】[0006]
【実施例】以下本発明の一実施例について、図面に基づ
いて詳細に説明する。先ず図５において、教示装置につ
いて説明する。図において、教示用ツール２１は、力検
出器２２と、力検出器２２の検出端に固定されてオペレ
ータ１４が把持し操作するためのハンドル２３とで構成
されている。教示用ツール２１は力検出器用リード線２
４により教示操作盤２０と結線されており、教示操作盤
２０上に収納または取り付け可能である。また、教示用
ツール２１は力検出器の他端によりロボット１１の手首
またはアームまたは作業ツールその他に取り付け可能で
ある。さらに教示用ツール２１または教示操作盤２０上
には、図示しない並進回転方向切り換えスイッチ２５が
設けられている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. First, referring to FIG. 5, the teaching device will be described. In the figure, the teaching tool 21 is composed of a force detector 22 and a handle 23 fixed to the detection end of the force detector 22 and held and operated by the operator 14. The teaching tool 21 is the lead wire 2 for the force detector.
It is connected to the teaching operation panel 20 by 4 and can be stored or attached on the teaching operation panel 20. Further, the teaching tool 21 can be attached to the wrist or arm of the robot 11 or a work tool or the like by the other end of the force detector. Further, a translational rotation direction changeover switch 25 (not shown) is provided on the teaching tool 21 or the teaching operation panel 20.
【０００７】以上のように構成した本実施例について、
図３及び図４を用いて説明する。作業内容は特に平板上
に円筒管を溶接する場合の溶接ロボットを例にして以下
に説明する。図３に示すように直接教示方法により溶接
作業線の教示を行う場合、先ずオペレータ１４は教示操
作盤２０から教示用ツール２１を取り外し、力検出器用
リード線を引き出し、ロボット１１の手首部分、アーム
部分または溶接トーチ１２部分その他に力検出器２２の
他端を取り付け固定する。次にオペレータ１６は教示用
ツール２１のハンドル２３を把持し、任意の方向にハン
ドル２３に力を加えることで、ロボット１１を誘導し作
業点の教示を行う。With respect to the present embodiment configured as described above,
This will be described with reference to FIGS. 3 and 4. The details of the work will be described below by taking a welding robot as an example particularly when welding a cylindrical pipe on a flat plate. When teaching the welding work line by the direct teaching method as shown in FIG. 3, first, the operator 14 removes the teaching tool 21 from the teaching operation panel 20, pulls out the lead wire for the force detector, and the wrist portion of the robot 11 and the arm. The other end of the force detector 22 is attached and fixed to the portion or the welding torch 12 portion and the like. Next, the operator 16 grasps the handle 23 of the teaching tool 21 and applies a force to the handle 23 in an arbitrary direction to guide the robot 11 and teach the work point.
【０００８】次に図４示すように間接教示方法により溶
接線の教示を行う場合には、先ずオペレータ１４は教示
操作盤２０上に教示用ツール２１の力検出器２２の他端
を取り付け固定する。次にオペレータ１６は教示用ツー
ル２１のハンドル２３を把持し、教示操作盤２０上の特
定の方向にハンドル２３に力を加えることで、ロボット
１１を誘導し作業点の教示を行う。また、溶接トーチ１
２の溶接姿勢を決定後、並進回転方向切り換えスイッチ
２５を並進方向側に切り換えることで、溶接トーチ１２
の溶接姿勢を変えること無く、並進方向のみのロボット
１１の誘導が可能となる。同様に溶接トーチ１２の溶接
位置を決定後、並進回転方向切り換えスイッチ２５を回
転方向側に切り換えることで、溶接トーチ１２の溶接位
置を変えること無く、ロボット１１の姿勢の変更のみが
可能となり、複雑な形状の溶接線の教示を容易に短時間
で正確に行うことが可能である。Next, when teaching the welding line by the indirect teaching method as shown in FIG. 4, the operator 14 first attaches and fixes the other end of the force detector 22 of the teaching tool 21 on the teaching operation panel 20. . Next, the operator 16 holds the handle 23 of the teaching tool 21 and applies a force to the handle 23 in a specific direction on the teaching operation panel 20 to guide the robot 11 and teach the work point. Welding torch 1
After determining the welding posture of No. 2, the translational rotation direction changeover switch 25 is changed over to the translational direction side, so that the welding torch 12
It is possible to guide the robot 11 only in the translational direction without changing the welding posture. Similarly, after the welding position of the welding torch 12 is determined, the translation rotation direction changeover switch 25 is switched to the rotation direction side, whereby the posture of the robot 11 can be changed without changing the welding position of the welding torch 12, which is complicated. It is possible to easily and accurately teach a welding line having a different shape in a short time.
【０００９】ここで、次に本実施例の制御系の構成を図
８に示して説明しておく（本図にない符号は他の図を参
照されたい）。教示用ツール２１のハンドル２３をワー
ク１３に接触させた時の接触力と、オペレータ１４が把
持し操作する際の並進方向と回転方向の操作力が教示用
ツール２１の力検出器２２で検出され、接触力と操作力
の合力は力制御系２６によって各関節の角度指令に変換
される。前記角度指令は位置制御系２７に入力されアン
プ２８を介してロボット１１が駆動される（図５参
照）。ここで空間内の作業点を教示する場合には、力検
出器２２にはオペレータの並進方向と回転方向の操作力
が力制御切り換えスイッチ２５の切り換えによって入力
され、それらの力に応じて並進方向と回転方向の力制御
を行い、ロボットを誘導し作業点の教示を行う。力制御
切り換えスイッチ２５の役割は、位置または姿勢を固定
するためのものである。例えば、並進方向の操作力２５
ａを選択すると、回転方向（姿勢）が固定されるので、
姿勢を固定したまま位置を移動させる場合にこれを選択
する。回転方向の操作力２５ｂを選択すると、並進方向
（位置）が固定されるので、位置を固定したまま姿勢を
変化させる場合にこれを選択する。操作力２５ｃを選択
すると、位置・姿勢とも固定されないので、位置・姿勢
とも変化させる場合にこれを選択する。これにより、ワ
ークに対して作業ツールの位置のみまたは姿勢のみの教
示が可能となる。ＥＮＴＥＲキー２９は、それが押され
たときのみ位置・姿勢データをロボット制御装置内の記
憶部３０に取り込むようにするものであり、ハンドル２
３上に小さな押しボタンスイッチとして設けられる。ま
たワーク上の作業点を教示する場合には、力検出器２２
には前記操作力とハンド２３をワーク１３に接触させた
時の接触力との合力に応じて力制御が行われ、ロボット
を誘導し作業点の教示を行う。なお、並進回転方向切り
換えスイッチ２５は、力検出器２２の後に配置される構
成であっても良い。Now, the configuration of the control system of the present embodiment will be described with reference to FIG. 8 (refer to other drawings for symbols not shown in the drawing). The force detector 22 of the teaching tool 21 detects the contact force when the handle 23 of the teaching tool 21 is brought into contact with the work 13 and the operation force in the translational direction and the rotational direction when the operator 14 grips and operates. The resultant force of the contact force and the operating force is converted into an angle command for each joint by the force control system 26. The angle command is input to the position control system 27 and the robot 11 is driven via the amplifier 28 (see FIG. 5). When teaching the working point in the space, the force detector 22 receives the operating force in the translational direction and the rotational direction of the operator by the switching of the force control changeover switch 25, and the translational direction in accordance with those forces. And force control in the direction of rotation to guide the robot and teach the working point. The role of the force control changeover switch 25 is to fix the position or posture. For example, the translational operation force 25
When a is selected, the rotation direction (posture) is fixed, so
Select this when moving the position with the posture fixed. When the operation force 25b in the rotation direction is selected, the translational direction (position) is fixed, so this is selected when the posture is changed while the position is fixed. When the operating force 25c is selected, neither the position nor the posture is fixed, so this is selected when changing the position or the posture. As a result, it is possible to teach only the position or the posture of the work tool to the work. The enter key 29 is for taking in the position / orientation data to the storage unit 30 in the robot control device only when it is pressed.
3 is provided as a small push button switch. When teaching the work point on the work, the force detector 22
The force control is performed according to the resultant force of the operating force and the contact force when the hand 23 is brought into contact with the work 13, and the robot is guided to teach the working point. The translational rotation direction changeover switch 25 may be arranged after the force detector 22.
【００１０】[0010]
【発明の効果】以上述べたように、本発明の産業用ロボ
ットの教示装置によれば、直接教示方法により作業点の
教示を行う場合には、オペレータは教示用ツールを教示
操作盤から分離しロボットの手首またはアームまたは作
業ツールその他に固定して、教示用ツールのハンドルを
把持し任意の方向に動かすことで操作力に応じてロボッ
トを誘導し作業ツールの位置と姿勢の教示を行う。間接
教示方法により作業点の教示を行う場合には、教示用ツ
ールを教示操作盤に取り付け、教示用ツールのハンドル
を把持し特定の方向に動かすことで操作力に応じてロボ
ットを誘導して作業ツールの位置と姿勢の教示を行う。
また並進方向の操作力と回転方向の操作力に対する力制
御の切り換えを行うことで、ワークに対して作業ツール
の位置のみまたは姿勢のみの教示が可能となるので、教
示の操作が簡単で習熟を要さず、作業者の肉体的精神的
疲労度も小さくなる。さらに、一個の教示用ツールを複
数のロボットで共有する場合にも、教示用ツールからの
配線を直接ロボットコントローラまで引く必要が無くな
るため、構造が簡単で安価な教示装置を構成できる。As described above, according to the teaching apparatus for the industrial robot of the present invention, when teaching the working point by the direct teaching method, the operator separates the teaching tool from the teaching operation panel. The robot is fixed to the wrist or arm of the robot, the work tool, or the like, and the handle of the teaching tool is grasped and moved in any direction to guide the robot in accordance with the operating force to teach the position and posture of the work tool. When teaching the work point by the indirect teaching method, attach the teaching tool to the teaching operation panel, grasp the handle of the teaching tool and move it in a specific direction to guide the robot according to the operating force Teach the position and orientation of the tool.
Also, by switching the force control between the translational operation force and the rotational operation force, it is possible to teach only the position or posture of the work tool to the work, so the teaching operation is simple and familiar. It is not necessary, and the degree of physical and mental fatigue of the worker is reduced. Further, even when one teaching tool is shared by a plurality of robots, it is not necessary to directly draw wiring from the teaching tool to the robot controller, so that a teaching device having a simple structure and inexpensive can be configured.
【図１】本発明の一実施例を示す直接教示における教示
装置の斜視図FIG. 1 is a perspective view of a teaching device in direct teaching showing an embodiment of the present invention.
【図２】本発明の一実施例を示す間接教示における教示
装置の斜視図FIG. 2 is a perspective view of a teaching device in indirect teaching showing an embodiment of the present invention.
【図３】本発明の一実施例を示す直接教示における溶接
作業の斜視図FIG. 3 is a perspective view of a welding operation in direct teaching showing an embodiment of the present invention.
【図４】本発明の一実施例を示す間接教示における溶接
作業の斜視図FIG. 4 is a perspective view of a welding operation in indirect teaching showing an embodiment of the present invention.
【図５】本発明の一実施例を示す教示装置の斜視図FIG. 5 is a perspective view of a teaching device showing an embodiment of the present invention.
【図６】従来例の直接教示における教示装置の斜視図FIG. 6 is a perspective view of a teaching device in direct teaching of a conventional example.
【図７】従来例の間接教示における教示装置の斜視図FIG. 7 is a perspective view of a teaching device in indirect teaching of a conventional example.
【図８】本発明の一実施例の制御系の説明図FIG. 8 is an explanatory diagram of a control system according to an embodiment of the present invention.
１１…ロボット １２…溶接トーチ １３…ワーク １４…オペレータ １５…ロボットコントローラ ２０…教示操作盤 ２１…教示用ツール ２２…力検出器 ２３…ハンドル ２４…力検出器用リード線 ２５…並進回転方向切り換えスイッチ ２６…力制御系 ２７…位置制御系 ２８…アンプ ２９…ＥＮＴＥＲキー ３０…記憶部 11 ... Robot 12 ... Welding torch 13 ... Work 14 ... Operator 15 ... Robot controller 20 ... Teaching operation panel 21 ... Teaching tool 22 ... Force detector 23 ... Handle 24 ... Force detector lead wire 25 ... Translational rotation direction changeover switch 26 ... force control system 27 ... position control system 28 ... amplifier 29 ... ENTER key 30 ... storage section
Claims (5)
操作するためのハンドルで構成された教示用ツールと、 前記教示用ツールを収納または取り付け可能な教示操作
盤と、 前記教示用ツールと前記教示操作盤を繋ぐ力検出器用リ
ード線とを有する産業用ロボットの教示装置。1. A teaching tool for an industrial robot, comprising: a force detector; a teaching tool fixed to a detection end of the force detector; and a handle for an operator to grip and operate; A teaching device for an industrial robot, comprising: a teaching operation panel capable of accommodating or attaching a tool; and a force detector lead wire connecting the teaching tool and the teaching operation panel.
段を有する請求項１記載の産業用ロボットの教示装置。2. The teaching device for an industrial robot according to claim 1, further comprising means for performing force control based on the force detector information.
分離してロボットの手先またはアームまたは作業ツール
に取り付けて、前記力制御により直接教示を行う手段を
有する請求項１記載の産業用ロボットの教示装置。3. The industrial robot according to claim 1, further comprising means for separating the teaching tool from the teaching operation panel and attaching the teaching tool to a hand or an arm of the robot or a work tool to directly teach the robot by the force control. Teaching device.
り付けて、前記力制御により間接教示を行う手段を有す
る請求項１記載の産業用ロボットの教示装置。4. The teaching device for an industrial robot according to claim 1, further comprising means for attaching the teaching tool to the teaching operation panel and performing indirect teaching by the force control.
対する力制御の切り換えを行う手段を有する請求項１記
載の産業用ロボットの教示装置。5. The teaching device for an industrial robot according to claim 1, further comprising means for switching force control between the translational operation force and the rotation direction operation force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16827695A JPH08336785A (en) | 1995-06-09 | 1995-06-09 | Industrial robot teaching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16827695A JPH08336785A (en) | 1995-06-09 | 1995-06-09 | Industrial robot teaching device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08336785A true JPH08336785A (en) | 1996-12-24 |
Family
ID=15865024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16827695A Pending JPH08336785A (en) | 1995-06-09 | 1995-06-09 | Industrial robot teaching device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08336785A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6385508B1 (en) | 2000-10-31 | 2002-05-07 | Fanuc Robotics North America, Inc. | Lead-through teach handle assembly and method of teaching a robot assembly |
| JP2009028893A (en) * | 2007-06-29 | 2009-02-12 | Shin Meiwa Ind Co Ltd | Manipulator and power assist device equipped with a plurality of the manipulators |
| JP2010149273A (en) * | 2008-12-05 | 2010-07-08 | Como Spa | Robot system |
| JP2010264527A (en) * | 2009-05-13 | 2010-11-25 | National Institute Of Advanced Industrial Science & Technology | Attitude variable direct teaching module |
| CN108687746A (en) * | 2017-03-31 | 2018-10-23 | 发那科株式会社 | Robot system |
| JP2020089958A (en) * | 2018-12-07 | 2020-06-11 | ファナック株式会社 | Control apparatus for robot manually operated with operation device |
| CN111356559A (en) * | 2017-11-27 | 2020-06-30 | 阿自倍尔株式会社 | Direct teaching device of manipulator and method thereof |
-
1995
- 1995-06-09 JP JP16827695A patent/JPH08336785A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6385508B1 (en) | 2000-10-31 | 2002-05-07 | Fanuc Robotics North America, Inc. | Lead-through teach handle assembly and method of teaching a robot assembly |
| JP2009028893A (en) * | 2007-06-29 | 2009-02-12 | Shin Meiwa Ind Co Ltd | Manipulator and power assist device equipped with a plurality of the manipulators |
| JP2010149273A (en) * | 2008-12-05 | 2010-07-08 | Como Spa | Robot system |
| JP2010264527A (en) * | 2009-05-13 | 2010-11-25 | National Institute Of Advanced Industrial Science & Technology | Attitude variable direct teaching module |
| CN108687746A (en) * | 2017-03-31 | 2018-10-23 | 发那科株式会社 | Robot system |
| CN108687746B (en) * | 2017-03-31 | 2019-07-26 | 发那科株式会社 | Robot system |
| CN111356559A (en) * | 2017-11-27 | 2020-06-30 | 阿自倍尔株式会社 | Direct teaching device of manipulator and method thereof |
| JP2020089958A (en) * | 2018-12-07 | 2020-06-11 | ファナック株式会社 | Control apparatus for robot manually operated with operation device |
| US11858130B2 (en) | 2018-12-07 | 2024-01-02 | Fanuc Corporation | Controller of robot for performing manual operation by operation device |
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