JPS58137590A - Robot instruction device - Google Patents
Robot instruction deviceInfo
- Publication number
- JPS58137590A JPS58137590A JP2060582A JP2060582A JPS58137590A JP S58137590 A JPS58137590 A JP S58137590A JP 2060582 A JP2060582 A JP 2060582A JP 2060582 A JP2060582 A JP 2060582A JP S58137590 A JPS58137590 A JP S58137590A
- Authority
- JP
- Japan
- Prior art keywords
- teaching
- point light
- light source
- dimensional
- instruction device
- 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.)
- Pending
Links
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明はロＩット教示装置、特に口ｌットに所望の動作
を行なわせるためにその動作を教示する装置に関するも
のである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot teaching device, and more particularly to a device for teaching a robot to perform a desired motion.
この種ロＩット教示装置として従来は、ロ？ットアーム
先端の三次元空間における座標点を決定するＸ軸、１輪
及び２軸設定押釦を有するパネルスイッチを使用し、教
示の際には・母ネルスイッチを押しながら口がットアー
ム先端を所望の移動経路に沿って移動させて順次その座
標点を記憶させるようＫしているのが一般的である。Conventionally, as this kind of robot teaching device, the robot? A panel switch with X-axis, 1-wheel, and 2-axis setting pushbuttons is used to determine the coordinate point of the tip of the cut arm in three-dimensional space.When teaching, move the tip of the cut arm as desired while pressing the mother tongue switch. Generally, K is moved along a route and its coordinate points are sequentially memorized.
然し乍らこのような従来装置によると、口がットアーム
の移動及び・豐ネルスイッチの操作を伴うので教示に時
間が掛り、しかも設定押釦の誤操作を生じ易くこのため
口がットアームをワークＫｍ突させたヤ、作業者を傷つ
叶る等の事故を起す要因となる等の欠点を有するもので
あり九。However, with such a conventional device, teaching takes time because it involves moving the cut arm and operating the toll switch, and moreover, it is easy to misoperate the setting button. However, it has drawbacks such as being a cause of accidents such as injury to workers.
本発明は前述した従来の課題に鑑み為され九ものであり
、その目的は口がットアームを移動させることなく教示
を行なうようにして教示時間の短縮、誤教示の防止を計
ることＫよって前記従来装置の欠点を解消し得る新規な
ローット教示装置を提供することにある。The present invention has been made in view of the above-mentioned conventional problems, and its purpose is to shorten the teaching time and prevent erroneous teaching by teaching without moving the mouth arm. It is an object of the present invention to provide a new lot teaching device that can eliminate the drawbacks of the device.
上記目的を達成するために１本発明は、２台の撮倫機を
使用して３次元空間中の点光源位置を検出する３次元位
置検出装置と、該３次元位置検出装置の検出信号を所要
のサンプリング周期で記憶する記憶装置と、該記憶装置
に記憶され九データに応じてロゲットアームの移動を制
御する制御鋏置とを具備することを特徴とする。。In order to achieve the above object, the present invention provides a three-dimensional position detecting device that detects the position of a point light source in a three-dimensional space using two photography machines, and a detection signal of the three-dimensional position detecting device. The present invention is characterized by comprising a storage device that stores data at a required sampling period, and a control scissors device that controls the movement of the loget arm in accordance with the data stored in the storage device. .
以下、図面に基づいて本発明の好適な実施例を説明する
。Hereinafter, preferred embodiments of the present invention will be described based on the drawings.
図中、１０は発光ダイオード等の点光源であって、その
点灯タイミングが点灯制御回路１２によって制御される
。In the figure, 10 is a point light source such as a light emitting diode, and its lighting timing is controlled by a lighting control circuit 12.
１４及びｌ＠は彼達するロゲット本体２６のアーム移動
可能領域中の３次元空間の点光源１００座樟位置を検出
する撮像機としてのテレビカメラであって、これらカメ
ラ１４．１６から得られる点光源１９の位置を表わすア
ナログ検出出力がアナログ・ディジタル変換器（以下ム
／Ｄ変換器と称す）１８によってディジタル化されて演
算制御回路２０［入力される。14 and 1 are television cameras serving as imaging devices that detect the positions of 100 point light sources in three-dimensional space in the arm movable area of the logget main body 26, and the point light sources obtained from these cameras 14 and 16. An analog detection output representing the position of 19 is digitized by an analog-to-digital converter (hereinafter referred to as a MU/D converter) 18 and inputted to an arithmetic control circuit 20.
演算制御回路２０は、ム／Ｄ変換器１８から供給される
ディジタル位置信号に基づき３次元位置座標を演算して
その値を記憶装置２２に格納すると共に点光源１００点
灯とカメラ１４．１ｇによる検出のタイミングを制御す
るため点灯制御回路１２を駆動する。The calculation control circuit 20 calculates three-dimensional position coordinates based on the digital position signal supplied from the MU/D converter 18, stores the values in the storage device 22, and also lights up the point light source 100 and detects it by the camera 14.1g. The lighting control circuit 12 is driven to control the timing.
２４は記憶装置２２の配憶データに基づき口がット本体
２６の動作を制御するロゲット制御装置である。24 is a logget control device that controls the operation of the mouthpiece main body 26 based on the data stored in the storage device 22.
以上が本発明の一例構成であるが次にその動作を説明す
る。The above is an example of the configuration of the present invention, and its operation will be explained next.
先ず、教示すべきロ♂ット本体２６のアームの３次元空
間中の所望の運動軌跡に沿って点光源１Ｇを移動させ、
その点光源１Ｇの３次元位置をカメラ１４．１６で連続
的に検出する。カメラ１４．１６の検出出力はＡ ／
Ｄ変換器１８でディジタル化されて演算制御回路２０に
供給されるので、この回路２０で順次点光源１０の３次
元位置が算出され、これが記憶回路２２に移動位置デー
タとして順次格納され、ロゲット本体２６の移動経路が
教示される。First, the point light source 1G is moved along a desired movement locus in the three-dimensional space of the arm of the robot body 26 to be taught.
The three-dimensional position of the point light source 1G is continuously detected by cameras 14 and 16. The detection output of camera 14.16 is A/
Since it is digitized by the D converter 18 and supplied to the arithmetic control circuit 20, the three-dimensional position of the point light source 10 is sequentially calculated by this circuit 20, and this is sequentially stored in the storage circuit 22 as movement position data. 26 movement routes are taught.
移動経路の教示が完了した後口ゲット本体２６に教示経
路に従った動作を行なわせるには、記憶装置２２に記憶
された位置データを読み出し、これに基づいてロ？ット
制御装置２４によってロゲット本体２６を制御して教示
経路を再現する。After the teaching of the moving route has been completed, in order to cause the get body 26 to perform an operation according to the taught route, the position data stored in the storage device 22 is read out, and the position data is read out based on this. The logget main body 26 is controlled by the target control device 24 to reproduce the taught route.
尚、上記実施例では点光源１０が１点である場合につい
て説明し九が複数の点光源を同時に用いても同様の作業
が得られること勿論である。Incidentally, in the above embodiment, the case where there is one point light source 10 will be explained, but it goes without saying that the same operation can be obtained even if a plurality of point light sources are used simultaneously.
以上のように本発明によれば、点光源を教示経路に沿っ
て３次元空間中に移動させるだけｆロｌット動作の教示
を行なうことができ、この丸め教示に要する時間が大幅
に短縮されると共に、教示ミスを未然に防止することが
できるので安全性を向上し得る等の優れた効果が得られ
る。As described above, according to the present invention, it is possible to teach the f-rot motion by simply moving the point light source in a three-dimensional space along the teaching path, and the time required for this rounding teaching is greatly reduced. At the same time, excellent effects such as improved safety can be obtained since teaching errors can be prevented.
図は本発明による口がット教示装置の一実施例を示すブ
ロック図である。図中１０は点光源、１４．１１＊はテ
レビカメラ、２０は演算制御回路、２２は記憶回路、２
６はロ１ｒット本体である。
代理人 弁理士 葛 野 信 −
（ほか１名）The figure is a block diagram showing an embodiment of the mouth teaching device according to the present invention. In the figure, 10 is a point light source, 14.11* is a television camera, 20 is an arithmetic control circuit, 22 is a memory circuit, 2
6 is the rotor body. Agent: Patent attorney Shin Kuzuno - (1 other person)
Claims (1)
源位置を検出する３次元位置検出装置と、該３次元位置
検出装置の検出信号を所要のサンプリング周期で記憶す
る記憶装置と、骸記憶装置に記憶されたデータに応じて
口がットアームの移動を制御する制御装置とを具備する
ことを特徴とするローット教示装置。(1) A three-dimensional position detection device that detects the position of a point light source in three-dimensional space using two O imagers, and a storage device that stores the detection signal of the three-dimensional position detection device at a required sampling period. 1. A rotor teaching device comprising: a control device for controlling movement of a rotary arm according to data stored in a rotary memory device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2060582A JPS58137590A (en) | 1982-02-10 | 1982-02-10 | Robot instruction device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2060582A JPS58137590A (en) | 1982-02-10 | 1982-02-10 | Robot instruction device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS58137590A true JPS58137590A (en) | 1983-08-16 |
Family
ID=12031893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2060582A Pending JPS58137590A (en) | 1982-02-10 | 1982-02-10 | Robot instruction device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58137590A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5988298A (en) * | 1982-11-12 | 1984-05-22 | 川崎重工業株式会社 | Method of guiding body |
-
1982
- 1982-02-10 JP JP2060582A patent/JPS58137590A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5988298A (en) * | 1982-11-12 | 1984-05-22 | 川崎重工業株式会社 | Method of guiding body |
| JPH048191B2 (en) * | 1982-11-12 | 1992-02-14 | Kawasaki Heavy Ind Ltd |
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