JPS60167005A - Teaching method of industrial robot - Google Patents
Teaching method of industrial robotInfo
- Publication number
- JPS60167005A JPS60167005A JP2157884A JP2157884A JPS60167005A JP S60167005 A JPS60167005 A JP S60167005A JP 2157884 A JP2157884 A JP 2157884A JP 2157884 A JP2157884 A JP 2157884A JP S60167005 A JPS60167005 A JP S60167005A
- Authority
- JP
- Japan
- Prior art keywords
- sensor
- robot
- hand
- industrial robot
- output
- 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
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
-
- 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
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36417—Programmed coarse position, fine position by alignment, follow line, path adaptive
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
（技術分野）
本発明は、産業用ロボットの教示方法に関するものであ
る。DETAILED DESCRIPTION OF THE INVENTION (Technical Field) The present invention relates to a teaching method for an industrial robot.
（背景技術）
はじめに、産業用ロボットの教示作業について説明する
。(Background Art) First, the teaching work of an industrial robot will be explained.
一般に産業用ロボットは１作業における繰り返し精度は
良いが、絶対精度が悪い、このため、設計などのデータ
による直接のプログラミングはできず、必ず現物による
位置補正作業すなわち教示作業が必要である。In general, industrial robots have good repeatability in one task, but have poor absolute precision.For this reason, direct programming using design data is not possible, and position correction work, that is, teaching work, using the actual robot is always required.
さて従来の教示作業の実際を、第１図に示すような、プ
リント基板に電子部品を挿入する簡単な組み立て作業を
例にとり考えてみる。第１図において、 １１は基板、
１２は電子部品、１３はロボットハンド、１４は基板１
１に設けられた部品挿入穴、１５は部品リードである。Now, let us consider the actual practice of conventional teaching work, taking as an example a simple assembly work of inserting electronic components into a printed circuit board, as shown in FIG. In FIG. 1, 11 is a substrate;
12 is an electronic component, 13 is a robot hand, and 14 is a board 1
1 is a component insertion hole provided, and 15 is a component lead.
電子部品１２はロボットハンドにチャックされている。The electronic component 12 is chucked by a robot hand.
教示作業の手順は次の通りである。The teaching procedure is as follows.
（１）部品挿入位置付近のポイントを入力し、ロボット
を動かす。この時設計データがあれば、それを入力して
もよい。(1) Input a point near the part insertion position and move the robot. If design data is available at this time, it may be input.
（２）ロボットをＸ方向に動かすスイッチを押して、電
子部品のＸ方向の位置がプリント基板の部品挿入位置と
一致すると思われるところまでロボットを動かす。(2) Press the switch to move the robot in the X direction, and move the robot to the point where the position of the electronic component in the X direction is thought to match the component insertion position on the printed circuit board.
（３）上記（２）と同様にＹ方向にロボットを動かす。(3) Move the robot in the Y direction in the same way as in (2) above.
（４）ロボットをＺ方向に動かすスイッチを押して、電
子部品をプリント基板に挿入してみる。(4) Press the switch that moves the robot in the Z direction and try to insert the electronic component into the printed circuit board.
正しい位置にロボットが来ていれば、電子部品は無享挿
入されるが、位置がずれていれば、挿入ミスとなりｃ２
）、 （３）、 （４）の作業をロボットが正しい位置
に来るまで繰り返す。If the robot is in the correct position, the electronic component will be inserted without any trouble, but if the robot is in the wrong position, it will be inserted incorrectly and c2
), (3), and (4) are repeated until the robot is in the correct position.
しかしこの方法は、目視で位置を測るため、電子部品の
リード１５と部品挿入穴１４のすきまが小さい場合には
、何度やってもうまくいかないことが多い上に作業者が
ロボットハンド１３の近くへ顔を近づけねばならず、大
変危険である。However, since this method measures the position visually, if the gap between the lead 15 of the electronic component and the component insertion hole 14 is small, it often does not work no matter how many times it is tried, and the operator is too close to the robot hand 13. You have to get your face close to it, which is very dangerous.
さらに位置のずれている所へ、部品を強制的に押し込も
うとするわけであるから、対象部品を損傷したりロボッ
トやハンドの精度を狂わせる原因となる。Furthermore, since the part is forced to be pushed into a position that is out of position, it may cause damage to the target part or disrupt the accuracy of the robot or hand.
このような従来の位置決め方法は、多くの欠点を持つ上
に、対象作業によっては、既に組み上げられた他の部品
や、ロボットそれ自体またはハンド自体に邪魔され位置
ずれが目視では観測できない場合が多い。Such conventional positioning methods have many drawbacks, and depending on the work being done, positional deviations are often obstructed by other assembled parts, the robot itself, or the hand itself, making it impossible to visually observe positional deviations. .
（発明の課題）
本発明の目的は、これらの欠点を解決するため、組立作
業等のティーチングを容易にすることができるようにし
た産業用ロボットの教示方法を提供することにあり、以
下詳細に説明する。(Problems to be solved by the invention) In order to solve these drawbacks, an object of the present invention is to provide a teaching method for an industrial robot that can facilitate teaching of assembly work, etc., and will be described in detail below. explain.
（発明の構成及び作用） 先ず１本発明の第１の実施例について説明する。(Structure and operation of the invention) First, a first embodiment of the present invention will be described.
第２図は本発明の第１の実施例であって、部品１２ （
第１図）と同外形で、部品リード１５と同じ位置にセン
サ２１を取り付けた冶具２２をロボットハンド１３でチ
ャックしているものである。FIG. 2 shows a first embodiment of the present invention, in which the part 12 (
A jig 22 having the same external shape as in FIG. 1) and having a sensor 21 attached at the same position as the component lead 15 is chucked by a robot hand 13.
以下この実施例の動作につき第３図〜第５図を参照して
説明する。なお第３図Ａ−Ｃは基板に対するセンサ２１
のセンシングスポットを表わし、第４図は本発明を実施
する装置を示すブロック図、第５図は本実施例の動作を
説明するためのフローチャートである。The operation of this embodiment will be explained below with reference to FIGS. 3 to 5. Note that FIGS. 3A to 3C show the sensor 21 for the board.
FIG. 4 is a block diagram showing an apparatus for implementing the present invention, and FIG. 5 is a flowchart for explaining the operation of this embodiment.
最初に、センサ２１のセンシングスポット３１は、第３
図Ａに示すように、部品挿入穴！４に対して十分小さく
、また図示のように偏心した位置（ｘ、ｙ）にあるもの
とする、この時センサ２１の出力はＯＦＦであり、この
ＯＦＦ信号は増幅器４１を介して制御回路４２に供給さ
れる。制御回路４２は、ロボットを−Ｘ軸方向（左方向
）へ所定ピッチ（例えばロボット最小移動量）移動させ
るためサーボアンプ４３に信号を送り、ロボット各軸の
モータ４４を駆動させる（第５図のステップＳ４）。Initially, the sensing spot 31 of the sensor 21 is located at the third
As shown in Figure A, the parts insertion hole! At this time, the output of the sensor 21 is OFF, and this OFF signal is sent to the control circuit 42 via the amplifier 41. Supplied. The control circuit 42 sends a signal to the servo amplifier 43 to move the robot in the -X axis direction (leftward) by a predetermined pitch (for example, the robot's minimum movement distance), and drives the motor 44 of each axis of the robot (as shown in FIG. 5). Step S4).
そしてロボットが所定ピッチ移動した後、センサ２１の
出力がＯＮになったかどうか判断しくステップＳ５ ）
、 ＮｏであればステップＳ４にもどり、ＹＥＳとな
るまでこのルーチンを繰り返す。センサ２１の出力がＯ
Ｎになったら、すなわちセンサ２１が部品挿入穴１４の
Ｘ軸のマイナス方向の縁の位置座標を検出したら、制御
回路４２はそのＸ座標をＸｉとして記憶部４５に記憶さ
せる（ステップＳ８）。After the robot moves by a predetermined pitch, it is determined whether the output of the sensor 21 is turned ON (step S5).
, If the answer is No, the process returns to step S4, and this routine is repeated until the answer is YES. The output of sensor 21 is O
When N, that is, when the sensor 21 detects the position coordinate of the edge of the component insertion hole 14 in the negative direction of the X axis, the control circuit 42 stores the X coordinate as Xi in the storage unit 45 (step S8).
同様にして、＋Ｘ軸方向（右方向）に関して上記の動作
を行なわせ、センサ２１の出力がＯＮとなったときのＸ
軸方向の座標、すなわち部品挿入穴１４のＸ軸のプラス
方向の縁の位置座標をｘ２として記憶部４５に記憶させ
る（ステップＳ７〜Ｓ８）。Similarly, the above operation is performed in the +X axis direction (right direction), and when the output of the sensor 21 is turned on,
The coordinate in the axial direction, that is, the position coordinate of the edge of the component insertion hole 14 in the positive direction of the X axis is stored as x2 in the storage unit 45 (steps S7 to S8).
制御回路４２は、記憶された座標Ｘｉ、Ｘ２により演算
部４８で部品挿入穴１４のＸ軸方向の中結果を記憶部４
５に記憶させる（ステップ５ｔｌＯ及びＳ１１．）、。The control circuit 42 uses the stored coordinates Xi,
5 (steps 5tlO and S11.).
次に、第３図Ｂに示すようにロボット制御装置４７によ
り、記憶したＸ軸方向の中心位置Ｘ′にロボットハンド
１３を移動させ（ステップ！９１２ ）、Ｙ軸方向につ
いても同様な動作を行ない、Ｙ軸方（ステップＳ１３〜
Ｓ２０ ） 。Next, as shown in FIG. 3B, the robot controller 47 moves the robot hand 13 to the memorized center position X' in the X-axis direction (step! 912), and performs the same operation in the Y-axis direction. , Y-axis direction (step S13~
S20).
以上の手順により、穴の中心位置ｘ’ 、ｙ”（至）３
図Ｃ）を部品挿入位置として記憶し、この情報に基づい
て所望の作業を行なう。By the above procedure, the center position of the hole x', y" (to) 3
Figure C) is stored as the component insertion position, and the desired work is performed based on this information.
以上説明したように、＃Ｉｌの実施例では、部品に対応
する冶具２２と、精度の良いセンサ１本で、簡単に教示
作業を自動化することができる。As described above, in the #Il embodiment, the teaching work can be easily automated using the jig 22 corresponding to the component and one highly accurate sensor.
従って、教示作業時間の短縮や作業の安全性の向上及び
設計データによる直接のプログラミングなどが可能とな
る。Therefore, it becomes possible to shorten teaching work time, improve work safety, and perform direct programming using design data.
前述の第１の実施例では、センサ２１を取付けた部品対
応の冶具２２を作成したものにより本発明の教示方法を
説明してきたが、本発明によれば、第６図に示す如く、
ロボット先端５１に固定されるセンサ固定冶具５２を作
成することもできる。このようにすると、前述の第１の
実施例の効果に加えて、対応部品が変わってハンド交換
が行なわれる作業においても、１つの冶！ ５２により
数種の部品に対する教示が行なえるという効果がある。In the first embodiment described above, the teaching method of the present invention has been explained by creating a jig 22 corresponding to a component to which a sensor 21 is attached, but according to the present invention, as shown in FIG.
It is also possible to create a sensor fixing jig 52 that is fixed to the robot tip 51. By doing this, in addition to the effects of the first embodiment described above, even in work where the corresponding parts are changed and the hands are replaced, one tool can be used! 52 has the effect that it is possible to teach several types of parts.
（発明の効果）
以上説明してきた様に、本発明によれば、簡易な近接セ
ンナのＯＮ 、ＯＦＦ信号のみに基づいて教示作業が実
行できるので、組立作業だけに限らず、他の加工作業等
に応用できることは明らかで又、使用する産業用ロボッ
トの精度及び作業に要求される精度により各種センサを
利用できる利点があり、安全で短時間の教示作業により
多種少量生産に対応し易くする−ことができる。(Effects of the Invention) As explained above, according to the present invention, teaching work can be performed based only on ON/OFF signals of a simple proximity sensor, so it is not limited to assembly work, but can also be used for other machining work, etc. It is obvious that it can be applied to various types of products, and it also has the advantage of being able to use various sensors depending on the precision of the industrial robot used and the precision required for the work, and makes it easier to handle high-mix, low-volume production with safe and short-time teaching work. I can do it.
第１図は従来の教示作業を表わす図、第２図は本発明の
一実施例の図、第３図Ａ−Ｃは基板に対するセンサのセ
ンシングスポットを表わす図、第４図は本発明を実施す
る装置を示すブロック図、第５図は第４図の装置の動作
を説明するためのフローチャート、第６図は本発明の別
の実施例を示す図である。
１１−ｍ−プリント基板、 １２−ｍ−電子部品、１３
−ｍ−ロボットハンド、
１４−一部品挿入穴、１５−−一部品リード、２１−〜
−センサ、 ２２−一一センサ固定冶具、３Ｉ−一一セ
ンシングスポット、４１−ｍ−増幅器、４２−ｍ−制御
回路、 ４３−ｍ−サーボアンプ。
４４−ｍ−す−ポモータ、 ４５−ｍ−記憶部、４Ｂ−
ｍ−演算部、４７−−−ロボツト制御装置。
（Ｘ、Ｙ）−ｍ−最初の部品挿入位置データ、Ｘｌ、Ｘ
２．Ｙｌ、Ｙ２−一部品挿入穴の各軸土方向の縁の位置
データ、
（Ｘ’、Ｙ’）−ｍ−演算による部品挿入位置データ。
特許出願人
沖電気工業株式会社
特許出願代理人
弁理士 山本恵−FIG. 1 is a diagram showing a conventional teaching operation, FIG. 2 is a diagram of an embodiment of the present invention, FIGS. 3A to C are diagrams representing sensing spots of a sensor on a substrate, and FIG. FIG. 5 is a flowchart for explaining the operation of the device shown in FIG. 4, and FIG. 6 is a diagram showing another embodiment of the present invention. 11-m-printed circuit board, 12-m-electronic component, 13
-m-robot hand, 14-one part insertion hole, 15--one part lead, 21-~
-Sensor, 22-11 sensor fixing jig, 3I-11 sensing spot, 41-m-amplifier, 42-m-control circuit, 43-m-servo amplifier. 44-m-su-pomota, 45-m-storage section, 4B-
m-computation unit, 47---robot control device; (X, Y)-m-first component insertion position data, Xl, X
2. Yl, Y2 - position data of the edge of each component insertion hole in the axis direction, (X', Y') - m - component insertion position data by calculation. Patent applicant: Oki Electric Industry Co., Ltd. Patent application agent: Megumi Yamamoto
Claims (1)
するセンサをもうけ、前記産業用ロボットのハンド先端
を所定ピッチずつ移動させ、前記センサにより前記所定
ピッチ毎に検出される信号に基づいて前記被作業物体の
位置を制御装置で演算してその演算結果の座標値を記憶
し、該記憶された座標値に基づいて所望の作業を行なう
ことを特徴とする産業用ロボット教示方法。A sensor for detecting the presence or absence of an object to be worked is provided at the tip of the hand of the industrial robot, and the tip of the hand of the industrial robot is moved by a predetermined pitch, and the tip of the hand of the industrial robot is moved based on the signal detected by the sensor at each predetermined pitch. 1. A method for teaching an industrial robot, which comprises calculating the position of a work object using a control device, storing the coordinate values of the calculation results, and performing a desired work based on the stored coordinate values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2157884A JPS60167005A (en) | 1984-02-10 | 1984-02-10 | Teaching method of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2157884A JPS60167005A (en) | 1984-02-10 | 1984-02-10 | Teaching method of industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60167005A true JPS60167005A (en) | 1985-08-30 |
Family
ID=12058914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2157884A Pending JPS60167005A (en) | 1984-02-10 | 1984-02-10 | Teaching method of industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60167005A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017121691A (en) * | 2016-01-07 | 2017-07-13 | 鴻富錦精密電子（鄭州）有限公司 | Robot point position adjustment control method and system |
-
1984
- 1984-02-10 JP JP2157884A patent/JPS60167005A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017121691A (en) * | 2016-01-07 | 2017-07-13 | 鴻富錦精密電子（鄭州）有限公司 | Robot point position adjustment control method and system |
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