JP2016083705A - Robot teaching device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot teaching device that allows a robot to perform smoothly predetermined set motions regardless of an operation capability of an operator.SOLUTION: An operator makes an input portion 21 to input mathematical-expression data into which a moving route of a robot 10 at the time when the robot performs predetermined set operation is modeled and mathematized. The inputted mathematical-expression data is converted into a driving program at a conversion portion 22 of a robot teaching device 20. A control portion 23 operates servo motors 11 of the robot 10 on the basis of the driving program converted at the conversion portion 22.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a robot teaching apparatus.

  2. Description of the Related Art Conventionally, a robot position teaching apparatus that teaches a moving position to a robot is known (see, for example, Patent Document 1).

  Patent Document 1 discloses a robot drive system based on data such as a robot operation axis and a movement angle by operating a teaching box operation switch while visually recognizing the movement operation of the robot and moving the robot to a target position. Generating a program is disclosed.

Japanese Patent Laid-Open No. 07-132475

  However, when the robot driving program is generated by actually operating the robot while operating the operation switch as in the past, the quality of the robot driving program varies depending on the operation ability of the operator. There is.

  Specifically, when a new operator operates rather than a veteran operator with abundant experience in robot operation, even if it is a relatively simple operation of moving the robot to a predetermined position in a predetermined posture, It seems that it is difficult to move the robot smoothly because it becomes awkward. For this reason, for example, when the robot performs a complicated motion modeling a human motion such as drawing a figure of 8 by turning the palm upside down, the difference in the operation ability becomes more remarkable.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a robot teaching apparatus capable of smoothly performing a predetermined setting operation on a robot without being affected by the operation ability of the operator. Is to provide.

  The present invention is directed to a robot teaching device for causing a robot having a plurality of servo motors to perform a predetermined setting operation, and has taken the following solution.

That is, the first invention is an input unit for inputting mathematical formula data obtained by modeling the movement path of the robot when performing the setting operation,
A conversion unit that converts the mathematical formula data input by the input unit into a drive program for driving the servo motor of the robot;
And a control unit that operates the robot based on the drive program converted by the conversion unit.

  In the first invention, the robot is operated based on the drive program by converting the mathematical formula data obtained by modeling the movement path of the robot when performing the predetermined setting operation into a drive program.

  With such a configuration, for example, even if it is a complicated movement that models a human movement that draws a figure of 8 by turning the palm upside down, formula data that formulates this movement is created in advance. Thus, the drive program can be generated without being influenced by the operation ability of the operator.

According to a second invention, in the first invention,
A redundant part for adding a redundant program for performing a redundant operation different from the setting operation to the drive program converted by the converter,
The control unit is configured to operate the robot based on the redundant program when a predetermined condition is satisfied during the setting operation.

  In the second invention, by adding a redundant program to the drive program, the robot can perform a redundant operation during the setting operation. Here, the redundant operation is, for example, an operation in which the robot moves to a target position while avoiding the obstacle when the robot collides with the obstacle during the movement or immediately before the collision. It is to have a certain movement. Thereby, the robot can be operated with a motion closer to that of a human.

According to a third invention, in the first or second invention,
The input unit is configured to be able to input movable range data indicating a movable range of the robot,
The control unit is configured to operate the robot based on the movable range data input from the input unit so that the setting operation is performed within the movable range. It is.

  In the third invention, the setting operation of the robot is performed within the movable range input by the input unit. For example, when performing the operation of drawing the figure of 8 by turning the palm upside down, the robot can be set within the movable range by setting the start position, end position, amplitude, etc. of the figure 8. It can be operated.

  According to the present invention, even if it is a complicated movement that models a human movement, a driving program can be generated without depending on the operation ability of the operator by preparing mathematical data obtained by formulating the movement in advance. Can be generated.

It is a side view which shows the structure of the robot teaching apparatus which concerns on this embodiment. It is a block diagram which shows the internal structure of a robot teaching apparatus. It is a flowchart figure which shows a teaching procedure. It is a figure which shows a movement path | route when a robot is operated so that the figure of 8 may be drawn. FIG. 5 is a view corresponding to FIG. 4 when the movable range of the robot is changed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that the following description of the preferred embodiment is merely illustrative in nature and is not intended to limit the present invention, its application, or its use.

  As shown in FIG. 1, the robot 10 is composed of a six-axis articulated robot having six servomotors 11, and a tool 13 corresponding to the work purpose is attached to the tip of the robot arm 12. . The tool 13 can perform fine work by controlling various actuators such as an air cylinder, an electric cylinder, and a motor (not shown), and can grasp and transport a workpiece (not shown).

  The J1 axis of the robot 10 is the center of rotation when the entire robot 10 is turned. The J2 axis is the center of rotation when the robot arm 12 is moved back and forth. The J3 axis is the center of rotation when the robot arm 12 is moved up and down.

  The J4 axis of the robot 10 is the rotation of the wrist 14 of the robot arm 12, the J5 axis is the swing of the wrist 14 of the robot arm 12, and the J6 axis is the rotation center when the wrist 14 of the robot arm 12 is rotated. is there.

  The J1 axis to J6 axis of the robot 10 are independently controlled by a servo amplifier 24 (see FIG. 2), and can be moved to that position accurately by designating the coordinates of the robot 10. Here, when the robot 10 is operated, an orthogonal coordinate system that takes the origin in the free space and each axis coordinate system given to each axis of the robot 10 and associates the origin to the tip of the tool 13 of the robot 10 is established. Used.

  A robot teaching device 20 for causing the robot 10 to perform a predetermined setting operation is connected to the robot 10 via a cable 15. An input unit 21 for inputting predetermined data to the robot teaching device 20 is connected to the robot teaching device 20 via a cable 15.

  The input unit 21 is configured by a pendant having a display unit 21a and input keys 21b, for example. When the operator wants the robot 10 to perform a predetermined setting operation (for example, an operation of drawing a figure of 8 by turning the palm upside down), the movement path of the robot 10 at the time of performing this setting operation is modeled. The converted mathematical formula data is input using the input key 21 b of the input unit 21.

  Here, the mathematical formula data can be created in advance by modeling and formulating the movement path of the robot 10 when performing the setting operation using kinematics calculation and dynamics calculation. The kinematics calculation means how many axes of the robot 10 are moved and how much other axes rotate, that is, the angles of the axes of the robot 10 and the position and orientation of the tool 13 on which the robot 10 operates ( The relationship with the Cartesian coordinate system is obtained. Dynamic calculation is to derive the center of gravity, force and rotational moment.

  As shown in FIG. 2, the robot teaching device 20 includes a conversion unit 22, a control unit 23, a servo amplifier 24, and a redundant unit 25.

  The conversion unit 22 converts the mathematical formula data input by the input unit 21 into a drive program for driving the servo motor 11 of the robot 10 using, for example, kinematic geometry and algebra.

  The control unit 23 is for causing the robot 10 to perform a setting operation based on the drive program converted by the conversion unit 22. The control unit 23 includes a processor, a DSP (Digital Signal Processor), a dedicated arithmetic device, a memory, and the like. The control unit 23 instantaneously derives the moving positions of the six axes from the product-sum operation from the three-dimensional positional relationship between the standard orthogonal coordinates of the robot 10 and the orthogonal coordinates of the robot 10 set by the operator, and sends them to the servo amplifier 24. Output a control signal.

  The servo amplifier 24 is connected to the 6-axis servo motor 11 and outputs a pulse corresponding to the control signal output from the servo amplifier 24 to the servo motor 11 so that the robot 10 can move as taught. Let it be done.

  The redundancy unit 25 adds a redundancy program for performing a redundancy operation different from the setting operation to the drive program converted by the conversion unit 22. Here, the redundant operation is, for example, an operation in which the robot 10 moves to a target position while avoiding the obstacle when the robot 10 collides with an obstacle or immediately before the collision.

  Hereinafter, a procedure for teaching the robot 10 to draw an 8-character by turning the palm upside down will be described. As shown in FIG. 3, first, in step S101, mathematical expression data obtained by formulating the operation of drawing the figure 8 is input to the robot teaching device 20 by the input unit 21, and the process proceeds to step S102.

  In step S102, the conversion unit 22 converts the mathematical formula data into a drive program, and the process proceeds to step S103.

  In step S103, the coordinates of the start and end positions of the figure 8 are set, and the process proceeds to step S104. In step S104, an amplitude is set for how large the figure is to be drawn, and the process proceeds to step S105. As described above, by executing Step S103 and Step S104, movable range data indicating the movable range of the robot 10 is input.

  In step S105, the moving speed of the robot 10 is set, and the process proceeds to step S106. In step S106, a rotation angle for rotating the wrist 14 of the robot 10 is set so that the palm is reversed, and the process proceeds to step S107.

  In step S107, the number of repetitions of how many times the figure 8 is drawn is set, and the process proceeds to step S108.

  In step S108, it is determined whether a redundant operation is necessary. If “YES” at step S108, the process branches to step S109. If the determination in step S108 is “NO”, the teaching process is terminated.

  In step S109, the redundant program is added to the drive program, and the teaching process is terminated. Thus, by adding a redundant program, when a predetermined condition is satisfied during the setting operation, for example, when the robot 10 collides with an obstacle while moving, the target position is avoided while avoiding the obstacle. So that the movement has a sufficient degree of freedom. Note that a camera, a sensor, or the like (not shown) may be attached to the robot 10 and control may be performed so as to avoid the obstacle immediately before colliding with the obstacle.

  With such a configuration, even if it is a complex movement modeling human movement that draws the figure of 8 by flipping the palm upside down, formula data that formulates this movement must be created in advance. Thus, the drive program can be generated without being affected by the operation ability of the operator.

  Further, the start and end positions of the figure 8 are set in step S103, the amplitude of the figure 8 is set in step S104, and movable range data indicating the movable range of the robot 10 is input, so that 8 of the robot 10 is input. The movement of the character can be performed within the movable range.

  Specifically, as shown in FIG. 4, when the X coordinate (X1, X2) and Z coordinate (Z1, Z2) of the movable range are set, and as shown in FIG. 5, the X coordinate (X1 ′ of the movable range). , X2 ′) and the Z coordinate (Z1 ′, Z2 ′), the basic figure 8 pattern is the same, but the figure 8 size is different so as to be within the movable range. Yes.

  Here, in this embodiment, the robot 10 is moved in the two-dimensional space in the X direction and the Z direction. However, if the robot 10 is moved in the three-dimensional space, the movable range in the Y direction is set in the same manner. That's fine.

  In addition, after teaching the operation of drawing the figure 8, it is preferable to set this drive program as ROM as basic software and set a dedicated command command. In this way, from the next time onward, the operator can perform the operation of drawing the figure by simply calling the command command using the input unit 21 and setting various parameters.

<< Other Embodiments >>
About the said embodiment, it is good also as following structures.

  In the present embodiment, the operation of drawing the figure 8 is described as the setting operation to be executed by the robot 10, but the present invention is not limited to this configuration. For example, as a movement close to human movement, stroking along a spherical surface (stroking the head), pouring liquid into a container, pouring with a fan, stirring the liquid inside a cup, moving along a plane and a curved surface The present invention can also be applied to operations such as (scratching an itchy place) and turning around a wrist if mathematical data that is modeled by modeling this motion is created in advance.

  As described above, the present invention can achieve a highly practical effect that the robot can smoothly perform a predetermined setting operation without being affected by the operation ability of the operator. It is useful and has high industrial applicability.

DESCRIPTION OF SYMBOLS 10 Robot 11 Servo motor 20 Robot teaching apparatus 21 Input part 22 Conversion part 23 Control part 25 Redundant part

Claims (3)

A robot teaching device for causing a robot having a plurality of servo motors to perform a predetermined setting operation,
An input unit for inputting mathematical formula data obtained by modeling the movement path of the robot when performing the setting operation;
A conversion unit that converts the mathematical formula data input by the input unit into a drive program for driving the servo motor of the robot;
A robot teaching device, comprising: a control unit that operates the robot based on the drive program converted by the conversion unit. In claim 1,
A redundant part for adding a redundant program for performing a redundant operation different from the setting operation to the drive program converted by the converter,
The robot teaching apparatus, wherein the control unit is configured to operate the robot based on the redundancy program when a predetermined condition is satisfied during the setting operation. In claim 1 or 2,
The input unit is configured to be able to input movable range data indicating a movable range of the robot,
The robot is configured to operate the robot based on the movable range data input from the input unit so that the setting operation is performed within the movable range. Teaching device.

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