JPS6211907A - Teaching system for robot action - Google Patents

Abstract

PURPOSE:To perform both the coating and surface polishing jobs at a high speed by producing automatically the action data on a robot to race adversely a locus from the data which gives the forward teaching and therefore decreasing the number of teaching processes. CONSTITUTION:When the surface of a work 7 is polished by a robot 1, a series of polishing jobs are indicated while the arm of the robot 1 is moved alone an actual action route. Then this action data is sent to an electronic computer 5 connected by on-line to a robot controller 2 and stored there. The computer 5 produces the action data to trace adversely the shift locus of an operation head. Thus the robot 1 performs the polishing job by means of the data produced manually in each even time and then by means of the data produced by the computer 5 in each even time respectively. In such a way, the number of teaching processes is decreased and the jobs can be performed by the robot 1 at a high speed.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a robot that memorizes a series of operations and repeatedly performs operations by reproducing them, and particularly relates to a robot whose operations are suitable for painting, surface polishing, etc. Regarding motion teaching method.

[Background of the invention]

Works such as painting or surface polishing (hereinafter simply referred to as polishing) generate a large amount of sprayed paint and dust from the polishing, creating a very poor working environment. Recently, the number of cases in which robots are replacing such tasks that were traditionally performed manually is rapidly increasing.

By the way, in order to make a robot perform a desired task,
Humans must teach the robot how to perform the work. If the surface to be worked on is limited to a rectangular plane, the robot's motion data can be automatically created by teaching three representative points, as shown in Japanese Patent Laid-Open No. 52-17015. can do. However, if the surface of the workpiece is a free-form surface, the method disclosed in the published patent cannot be applied, and conventional manual teaching must be relied upon. However, in painting or polishing operations, the same workpiece surface is often painted or polished many times, so it is necessary to teach the robot all the reciprocal movement trajectories. However, this requires a huge amount of time and effort for teaching, so in reality, teaching is done in the forward direction (hereinafter referred to as the forward direction).
By teaching only the ``return direction'' is called the reverse direction,
4 At this time, the paint or polishing tool attached to the tip of the robot (hereinafter referred to as the operation head) returns to the first teaching point after completing the work in the forward direction. That is, the user returns to the work starting point in the forward direction and starts the same work again.

However, in a work that is repeated many times, the operation head is frequently moved in the forward direction to the work start point.

Furthermore, if the area of the surface to be worked on is large, the distance traveled will also be long. As a result, the ratio of the operating head movement time to the entire working time also increases.

From the above background, the following two problems arise when having a robot perform painting or polishing work.

(1) In order to speed up the work, forward direction, reverse direction 1
It is necessary to teach both movement trajectories, which requires an enormous amount of time and effort.

(2) In order to reduce teaching man-hours, forward work must be repeated many times, leading to a decrease in work efficiency.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to simultaneously solve the problems of the prior art described above, that is, to provide a motion teaching method that speeds up painting and surface polishing operations without teaching in the opposite direction.

[Summary of the invention]

In order to achieve the above object, the present invention is characterized in that motion data of a robot that follows a previous trajectory in the reverse direction is automatically created from data taught in the forward direction.

Specifically, in the work on the workpiece surface 101 in FIG. 1(a), the operation head 102 moves from point P to point P.
, from the data taught in the direction shown in Figure 1 (
As shown in FIG. 1(a), as shown in FIG. 1(a), motion data that traces a trajectory in the opposite direction is automatically created using a computer without relying on manual teaching.

[Embodiments of the invention]

Hereinafter, the present invention will be explained in detail using the present example.

FIG. 2 shows the appearance of a robot performing polishing work on the surface of a workpiece. In Fig. 2, 1 is a polishing robot, 2 is a robot controller, 3 is a driving hydraulic power source, 4 is a teaching box, 5 is a computer, 6 is a polishing head, 7 is a workpiece, and 8 is a transport device. . When polishing the surface of a workpiece with such a hardware configuration, the work may be performed according to the procedure shown in FIG.

Below, those steps will be explained.

Step 301: A series of operations for polishing work is taught while moving the arm of the robot 1 along an actual operation path.

Step 302: - The teaching data obtained in step 301 above is transmitted to the electronic computer 5 connected online to the robot controller 2. The transmitted data is stored in the memory in a table format as shown in FIG.

Step 303 A computer is used to create motion data that traces the movement trajectory of the operating head taught in step 301 in the opposite direction. Specifically, the teaching data 501 shown in FIG. 5, which was stored in the table in step 302, is stored in order from the top of the table 502 in descending order of sequence number.

Step 304 The motion data created in step 303 is sent to the robot controller 2 which is connected online to the computer 5. The transmitted data is stored in the memory in the computer 2 in a format that the robot controller 2 can interpret.

Step 305: Execute a polishing operation by the robot.

FIG. 6 shows the processing flow. That is, when the number of polishing operations for the same workpiece is an odd number, the data in the table 401 in FIG. Using each of the created motion data, the polishing work is executed for the specified number of repetitions.

Through the following step-1-, it is possible to reduce the number of man-hours required for teaching the robot and further speed up the polishing work.

〔Effect of the invention〕

According to the present invention, there are the following results.

(1) Since the computer creates motion data for the robot that follows the trajectory in the jφ force direction, the number of teaching steps can be reduced.

(2) Since there is no time for moving the operating head to the work start point in the forward direction, the work can be done faster.

[Brief explanation of drawings]

Fig. 1 is a detailed explanatory diagram of the invention, Fig. 2 is a hardware configuration diagram of an embodiment of the invention, Fig. 3 is a flowchart of a polishing work teaching procedure, and Fig. 4 is an example of a teaching data storage table. FIG. 5 is a diagram showing a method of creating motion data tracing the movement locus of the operating head, and FIG. 6 is a flowchart of a procedure for controlling execution of polishing work. 1st Country (Su 2nd 1q- 3rd 4th Figure 5 Figure 6 Ward

Claims (1)

[Claims] In a robot teaching system comprising a robot that performs a predetermined work on a work surface, a controller of the robot, and a calculation device connected online to the controller, teaching data on the work surface is transmitted to the calculation device. A robot motion teaching method characterized by creating motion data that follows the movement trajectory obtained through teaching in the opposite direction.