JPH0839467A - Robot teaching device and robot teaching method - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To provide a robot teaching device and a robot teaching method, in which teaching work is simple and a robot can safely and accurately work a workpiece. A robot teaching device 10 reads work information relating to a work work operation to be taught to a robot 20 by a work information reading device 11 and processes work information given from the work information reading device 11 by a work information processing device 13. Then, the information necessary for the robot 20 to perform the work operation is created.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot teaching apparatus and a teaching method for teaching a working operation to a robot for working a workpiece by an end effector.

[0002]

2. Description of the Related Art Conventionally, as a robot teaching device of this type, a robot is indirectly operated by using a teaching device such as a teaching box, and information necessary for the robot to perform a work operation is provided as a work operation. What was taught directly to the robot in the order of was used. Also,
As this type of robot teaching device, a device for teaching such as a display or a link mechanism is used,
There has also been used a device which indirectly teaches the robot information necessary for the robot to perform a work operation without operating the robot, in the order of the work operation.

[0003]

However, in these robot teaching devices, the positions at which the end effector of the robot moves in the order of the work operation, the posture at each position, and the position from one position to the next position. Since it is necessary to directly teach all the moving state of the robot by the worker, the teaching work is complicated and there is a problem that the teaching work takes time. Further, in these robot teaching devices, since the position and orientation taught by the teaching work become the position and orientation of the end effector in the actual work as they are, there is a problem that the position and orientation must be taught accurately. As a result, there is a problem that a great deal of labor is required for teaching work. Further, there is a risk that the work piece or the end effector may be destroyed if the taught position and orientation have an error.

The present invention has been made in view of the above problems, and an object thereof is a robot teaching device and a robot teaching device which are simple in teaching work and in which a robot can safely and accurately work a workpiece. To provide a method.

[0005]

A robot teaching apparatus according to claim 1 is a robot teaching apparatus that teaches a work operation to a robot that works an object by an end effector, and relates to the work operation. Work information reading means for reading work information, and work information given by the work information reading means is processed to create information necessary for the robot to perform the work operation, and the work operation is performed on the robot. Work information processing means for teaching.

In this robot teaching device, the work information reading means reads the work information relating to the work work operation to be taught to the robot, and the work information processing means processes the work information given from the work information reading means to operate the robot. Create the information needed to perform a work operation.

According to a second aspect of the present invention, there is provided the robot teaching device according to the first aspect, wherein the work information reading means has work start instruction points and work pieces corresponding to the work start points of the work piece as work information. 3D coordinate information on the work end point corresponding to the work end point and the evacuation point corresponding to the evacuation point where the end effector is moved away from the workpiece and the shape near the work start point of the workpiece And shape information about the distinction between the shape in the vicinity of the work end point and the shape that does not hinder the movement, and the posture information about the work posture corresponding to the posture of the end effector at the work location. It is configured to read.

In this robot teaching device, the work information reading means, as the work information, the three-dimensional coordinate information about the work start designated point, the work finish designated point, and the retracted designated point, the shape near the work starting point, and the work finish point. Shape information regarding whether a nearby shape is a shape that does not hinder a motion or a shape that does not hinder a motion and posture information regarding a work posture are read.

According to a third aspect of the present invention, there is provided the robot teaching apparatus according to the first or second aspect, wherein the work information reading means approaches a teaching workpiece having the same shape or a similar shape to the workpiece. An instruction section for instructing work information, coordinate reading means for reading the three-dimensional coordinates indicated by the tip of this instruction section, and whether the shape of the work site of the work piece is an obstacle to operation. A shape reading unit for reading whether the shape is a shape that does not hinder an operation and a posture reading unit for reading the posture of the instruction unit are provided.

In this robot teaching apparatus, the three-dimensional coordinates designated by the instruction section are read by the coordinate reading means while the instruction section indicates the workpiece to be taught. Further, the shape reading means reads the distinction between the shape of the work place and the shape which does not hinder the operation. Further, while instructing the posture by the instructing unit, the posture instructing unit reads the posture instructed by the instructing unit.

According to a fourth aspect of the present invention, there is provided the robot teaching apparatus according to any one of the first to third aspects, wherein the work information processing means adds to the work information given by the work information reading means. Based on the information confirmed by the work location confirmation means for confirming the work location of the workpiece while operating the robot based on this information, the information necessary for the robot to perform the work work operation is displayed. Work motion teaching means for creating and teaching a work work motion to the robot.

In this robot teaching device, the work place confirmation means confirms the work place of the workpiece while operating the robot based on the work information provided by the work information reading means. Further, the work operation teaching means creates information necessary for the robot to perform the work operation based on the confirmed information, and teaches the robot the work operation.

According to a fifth aspect of the present invention, there is provided the robot teaching apparatus according to the fourth aspect, wherein the work place confirmation means gives a work start instruction point, a work end instruction point, and a retract instruction point given from the work information reading means. In a plane including and, while moving the end effector of the robot along two straight lines each passing through two points on a straight line connecting the work start designated point and the work end designated point, It is configured to confirm two points of the work place of the work piece.

In this robot teaching device, the work point confirmation means starts the end effector of the robot on a plane including the work start instruction point, the work end instruction point, and the retract instruction point given from the work information reading means. Two points on the straight line connecting the designated point and the end point of the machining are respectively passed, and while being moved along two straight lines perpendicular to the straight line, two points of the machined part of the workpiece are confirmed. .

According to a sixth aspect of the present invention, there is provided a robot teaching apparatus according to the fourth or fifth aspect, wherein the work motion teaching means is the work work motion confirmed by the work location confirming means. A first movement for the end effector to move on a line segment connecting two points of the work point, and a straight line connecting the two points from a point between the two points to a work starting point of the workpiece. A second movement for moving the end effector toward the third end, and a third movement for moving the end effector from a point between the two points on a straight line connecting the two points toward a working end point of the workpiece. The motion of the robot is configured to be taught to the robot.

In this robot teaching device, the work motion teaching means moves the end effector of the robot on a line segment connecting two points of the work place confirmed by the work place confirming means as a work work operation. On the straight line connecting the two points, and the second motion for moving from the point between the two points toward the work starting point of the workpiece on the straight line connecting the two points. And a third motion for moving the robot from a point between the two points toward the machining end point of the workpiece.

According to a seventh aspect of the present invention, there is provided a robot teaching apparatus according to the sixth aspect, wherein the second motion and the third motion taught by the work motion teaching means are confirmed by the work place confirming means. Stops the movement of the end effector when the force applied to the end effector becomes larger than the reference value or becomes smaller than the reference value while the end effector is moving on the straight line connecting two points of the work piece. It is configured to have an operation to perform.

In this robot teaching device, the force exerted on the end effector by the work motion teaching means while the end effector is moving on a straight line connecting two points of the work points of the workpiece confirmed by the work point confirming means. Is larger than the reference value or smaller than the reference value, the robot is instructed to perform the second operation and the third operation having the operation of stopping the movement of the end effector.

A robot teaching apparatus according to an eighth aspect is the robot teaching apparatus according to the sixth or the seventh aspect, wherein the second motion and the third motion taught by the work motion teaching means are shapes near a work starting point. Or, the operation after the end effector reaches the work start point or the work end point is configured to be different depending on whether the shape near the work end point hinders the motion or not. .

In this robot teaching device, the end effector is actuated by the work action teaching means depending on whether the shape in the vicinity of the work starting point or the shape in the vicinity of the work ending point interferes with the operation or does not interfere with the operation. The robot is taught a second motion and a third motion which are different in motion after reaching the work start point or the work end point.

According to a ninth aspect of the present invention, there is provided a robot teaching apparatus according to any one of the fourth to eighth aspects, wherein the work information processing means further includes a work given from the work information reading means. Information holding and reading means for holding the information and the information confirmed by the work place confirming means and giving the held information to the work operation teaching means are provided.

In this robot teaching device, the information holding and reading means holds the work information given by the work information reading means and the information confirmed by the work location confirming means,
The held information is given to the work motion teaching means.

A robot teaching apparatus according to a tenth aspect of the present invention is the robot teaching apparatus according to any one of the fourth to ninth aspects, wherein the work information processing means further includes a work given from the work information reading means. Coordinate conversion means for converting information from the coordinate system of the work information reading means into the coordinate system of the robot is provided.

In this robot teaching device, the work information given from the work information reading means is converted by the coordinate converting means into
The coordinate system of the work information reading means is converted to the coordinate system of the robot.

A robot teaching apparatus according to an eleventh aspect of the present invention is the robot teaching apparatus according to any one of the fourth to tenth aspects, wherein the work place confirmation means causes the robot to confirm the work place of the workpiece. Confirmation operation information creating means for creating necessary information for performing, confirmation operation information transmitting means for giving the confirmation operation information created by this confirmation operation information creating means to the robot, and start signal for confirmation operation information Alternatively, a confirmation operation control means for giving a stop signal to the robot, a force sensor for detecting a force applied to the end effector of the robot, and an end effector by comparing the signal given by the force sensor with a reference value. Determination means for determining whether or not the object has contacted the workpiece, and this determination means determines that the end effector has contacted the workpiece. A confirmation information reading means for reading the three-dimensional coordinates of the end effector when includes.

In this robot teaching device, the confirmation operation information forming means prepares information necessary for the robot to confirm the work place, and the confirmation operation information transmitting means gives the confirmation operation information to the robot. Further, the confirmation operation control means gives a start instruction or a stop instruction of confirmation operation information to the robot, and while the force sensor detects the force applied to the end effector of the robot, the determination means determines whether the end effector contacts the workpiece. Determine whether or not. When the determination means determines that the end effector has contacted the workpiece, the confirmation information reading means reads the three-dimensional coordinates of the end effector.

A robot teaching method according to a twelfth aspect of the present invention is a robot teaching method for teaching a robot for machining a workpiece by an end effector of a work operation, wherein a work start instruction corresponding to a work starting point of the workpiece. A coordinate information reading step for obtaining three-dimensional coordinate information about a point and a work end instruction point corresponding to a work end point of the workpiece and a retracting point corresponding to a retract point for separating the end effector from the workpiece A shape information reading step for obtaining shape information regarding distinction between a shape near a work start point and a shape near a work end point of a work piece that is a shape that does not hinder the operation or a shape that does not hinder the motion; The posture information reading step for obtaining the posture information regarding the work posture corresponding to the posture of the end effector at the work place of the work and the coordinate information reading step A work location confirmation step of confirming the work location of the workpiece while operating the robot based on the mark information and the posture information obtained in the posture information reading step, and the information confirmed in this work location confirmation step and the above After creating the information necessary for the robot to perform the work operation based on the shape information obtained in the coordinate information and the shape information reading step obtained in the coordinate information reading step, the information is stored. And a work motion teaching process to be given to the robot.

In this robot teaching method, the coordinate information reading step obtains three-dimensional coordinate information relating to the work start instruction point, the work end instruction point, and the retract instruction point, and the shape information reading step obtains the shape and the work end near the work starting point. Shape information relating to the distinction between the shape near the point and the shape that does not hinder the operation is obtained, and the attitude information regarding the work attitude is obtained by the attitude information reading step. Then, in the work place confirmation step, the work place of the workpiece is confirmed while operating the robot based on the coordinate information obtained in the coordinate information reading step and the posture information obtained in the posture information reading step. In addition, in the work operation teaching process, the robot is operated based on the information confirmed in the work place confirmation process, the coordinate information regarding the escape designated point obtained in the coordinate information reading process, and the shape information obtained in the shape information reading process. The information necessary to perform the work operation is created and the information is given to the robot.

A robot teaching method according to a thirteenth aspect of the present invention is the method according to the twelfth aspect, wherein in the step of confirming the work place, the end effector of the robot is instructed to start the work and the end of the work obtained in the step of reading the coordinate information. On a plane including the instruction point and the retract instruction point, the workpiece is machined from the retract instruction point side along a straight line that passes through a point on the line connecting the work start instruction point and the work end instruction point and is perpendicular to the straight line. A first step of moving the object toward the object, and a second step of detecting a force applied to the end effector by a force sensor while moving the end effector in the first step.
And the third step of comparing the force detected in the second step with a predetermined reference value to determine whether or not the end effector contacts the workpiece, and the third step. When it is determined that the end effector has come into contact with the workpiece in the step, a fourth step of stopping the movement of the end effector, and after stopping the movement of the end effector in the fourth step, And a fifth step of reading the original coordinates.

In this robot teaching method, in the first step, the end effector of the robot is machined on a plane including the work start designated point, the work end designated point, and the retract designated point obtained in the coordinate information reading step. The workpiece is moved from the side of the retracted instruction point toward the workpiece along a straight line that passes through a point connecting the start instruction point and the operation end instruction point and is perpendicular to the straight line. Also, during the second step, while moving the end effector in the first step,
The force sensor detects the force applied to the end effector. Then, in the third step, the force detected in the second step is compared with the reference value to determine whether or not the end effector has come into contact with the workpiece. When it is determined that the end effector has come into contact with the workpiece in the third step, the movement of the end effector is stopped in the fourth step. After that, in the fifth step, the three-dimensional coordinates of the end effector are read.

A robot teaching method according to a fourteenth aspect is the robot teaching method according to the twelfth aspect or the thirteenth aspect, wherein the work motion teaching step is one point and the other point confirmed in the work place confirming step. The first step of creating the information necessary for the end effector to move on the line segment connecting to and the straight line connecting one point confirmed in the work place confirmation step and another point , The one point and the other one
The second step of creating the information necessary for the end effector to move from the point between the two points toward the work start point of the workpiece and the work location confirmation step 1
Necessary for the end effector to move on a straight line connecting one point and another point from a point between the one point and the other one point toward the machining end point of the workpiece. The third step of creating specific information, the first step and the second step
The robot includes a step and a fourth step of providing the robot with the information created in the third step.

In this robot teaching method, one point and the other one confirmed in the work place confirmation step by the first step.
Create the information required for the robot's end effector to move on the line segment that connects two points. Further, in the second step, the straight line connecting the one point confirmed in the work place confirmation step and the other point is machined from a point between the one point and the other point. Create the information required for the robot's end effector to move toward the starting point of the object. Further, in the third step, the workpiece is machined on the straight line connecting the one point and the other point confirmed in the work place confirming step from the point between the one point and the other point. Create the information necessary for the robot's end effector to move toward the end point of the object's work. After that, in the fourth step, the robot is provided with the information created in the first step, the second step, and the third step.

[0033]

Embodiments of the robot teaching apparatus and the robot teaching method according to the present invention will be described below with reference to the drawings. In the present embodiment, for the purpose of facilitating the understanding of the present invention, a robot teaching device 10 and a robot teaching method for teaching a deburring work operation to a robot 20 that performs deburring of a workpiece W. explain.

FIG. 1 shows the entire configuration of a robot teaching apparatus 10 according to this embodiment and a robot 20 to which a work operation is taught by the robot teaching apparatus 10. The robot 20 is provided with a robot main body 22 for deburring the workpiece W placed on the work position (on the work table T in this embodiment) by the end effector 21. A robot controller 24 is connected to the robot body 22 via a connection line 23. The robot controller 24 causes the robot body 22 to use the end effector 21 to deburr the workpiece W. It is like this.

On the other hand, the robot teaching device 10 includes a work information reading device 11 for reading work information regarding the deburring work operation performed by the robot 20 on the workpiece W, and work information read by the work information reading device 11. To create the information necessary for the robot 20 to perform the deburring work operation (that is, a program for causing the robot 20 to perform the deburring work operation; hereinafter referred to as “work operation information”), and And a work information processing device 13 for teaching a picking work operation.

The work information reading device 11 approaches the teaching work Wt having the same shape or a similar shape as the work W to indicate an appropriate point of the teaching work Wt, and thereby the work information (for example, the work An instruction unit 111 for instructing a point corresponding to the deburring point W ₀ of the object W, and this instruction unit 11
1 and a moving arm 112 for moving the instruction unit 111 toward or away from the teaching workpiece Wt. The teaching workpiece Wt is not limited to the case where the teaching workpiece Wt is prepared separately from the workpiece W, and the workpiece W may be used as it is as the teaching workpiece Wt.

FIG. 2 shows the circuit configuration of the main part of the work information reading device 11 and the circuit configuration of the main part of the work information processing device 13. Work information reading device 1
The reference numeral 1 distinguishes between the coordinate reading unit 113 for reading the three-dimensional coordinates of the tip of the instruction unit 111 and whether the shape of the deburring location W _{0 is} a shape that hinders operation or a shape that does not hinder operation ( Hereinafter, a shape reading unit 114 for reading "shape distinction") and a posture reading unit 115 for reading the posture of the instruction unit 111 are provided. The output terminals of these reading units 113, 114, 115 are connected to the input terminals of the work information processing apparatus 13 via connection lines 12 so as to give the read information to the work information processing apparatus 13. .

The coordinate information read by the coordinate reading unit 113 is
A point corresponding to the deburring start point P1 of the workpiece W designated on the teaching workpiece Wt (that is, a deburring start instruction point P1).
t), a point corresponding to the deburring end point P2 of the workpiece W instructed on the teaching workpiece Wt (that is, a deburring termination instruction point P2t) and the end effector 21 instructed on the teaching workpiece Wt. Is a three-dimensional coordinate of a point corresponding to the point Q0 that is moved away from the workpiece W and is retracted (that is, the retracted instruction point Q0t). The coordinate information is stored in the instruction unit 111.
When the operation button (not shown) for instructing the reading of the coordinates is pressed in a state where the tip of the is held so as to instruct these instructing points P1t, P2t, Q0t, it is read by the coordinate reading unit 113. .

The shape information read by the shape reading unit 114 is
Shape discrimination near the deburring start instruction point P1t (that is, shape discrimination near the deburring start point P1) and deburring end position P
This is a distinction between shapes in the vicinity of 2 (that is, a shape in the vicinity of the deburring end point P2). These pieces of shape information are read into the shape reading unit 114 by pressing an operation button (not shown) instructing shape distinction.

The posture information read by the posture reading unit 115 is
The attitude of the instruction unit 111 corresponding to the attitude of the end effector 21 at the deburring location W ₀ (that is, the deburring attitude) and the attitude of the instruction unit 111 corresponding to the attitude of the end effector 21 at the escape point Q0 (that is, the escape attitude). . This attitude information is obtained by pressing an operation button (not shown) for instructing the reading of the posture when the instruction unit 11 is held in these postures.
Read in 5.

The work information processing device 13 has a coordinate system of the work information reading device 11 (hereinafter referred to as "reading device coordinate system") and a coordinate system of the robot 20 (hereinafter referred to as "robot coordinate system").
Based on the work information given from the work information reading device 11 via the coordinate transformation unit 131, the information holding and reading unit 132 for holding the given information, The work location confirmation unit 133 for confirming the actual deburring location W ₀ of the workpiece W while operating the robot 20, and the work movement information based on the information confirmed by the work location confirmation unit 133 and the like. A work operation teaching section 134 for creating and teaching the deburring work operation to the robot 20 is provided. The work information processing device 13 can be configured by, for example, a computer.

The input end of the coordinate conversion unit 131 is a coordinate reading unit 113, a shape reading unit 114, and a posture reading unit 115.
Is connected to the output end of the coordinate system, and the coordinate information, the shape information, and the posture information given from them are converted from the reading device coordinate system to the robot coordinate system. The coordinate-converted work information is supplied from the coordinate conversion unit 131 to the information holding / reading unit 132 and held therein. The code of the work information in the robot coordinate system is
"R" is added to the end of the code of the work information in the reading device coordinate system
It is indicated by attaching. The coordinate conversion unit 131 is not necessary when the reading device coordinate system and the robot coordinate system are the same. In this case, the information holding and reading unit 132 has its input end directly connected to the output ends of the coordinate reading unit 113, the shape reading unit 114, and the posture reading unit 115, and outputs the coordinate information, the shape information, and the posture information given from them. Hold.

The work place confirming unit 133, based on the work information read from the information holding and reading unit 132, the robot 20.
Creates the information necessary for the confirmation operation of the deburring point W ₀ (that is, a program for causing the robot 20 to perform the confirmation operation; hereinafter referred to as “confirmation operation information”), and thereby operates the robot 20 while operating the robot 20. The actual deburring location W ₀ of the workpiece W is confirmed. The confirmed information is supplied from the work location confirming unit 133 to the information holding and reading unit 132 and held therein.

In FIG. 3, the robot 2 is used by the work place confirmation unit 133 to confirm the actual deburring place W ₀ of the workpiece W.
It represents a movement position at which the zero end effector 21 is moved. The work position confirmation unit 133 moves the end effector 21 of the robot 20 to confirm the actual deburring position W ₀ of the workpiece W on the straight line L1 and the straight line L2. Here, the straight line L1 is a plane including a deburring start instruction point P1tr (hereinafter simply referred to as point P1tr), a deburring end instruction point P2tr (hereinafter simply referred to as point P2tr), and a save instruction point Q0tr (hereinafter simply referred to as point Q0tr). (Hereinafter referred to as “reference plane”) from point P1tr to point P
Pass point P1 ^* , which is appropriately separated toward 2tr, and pass point P1t
It is a straight line perpendicular to the straight line connecting r and the point P2tr (that is, the straight line P1trP2tr). Further, the straight line L2 is a straight line which passes through the point P2 ^* which is appropriately separated from the point P2tr toward the point P1tr on the reference plane and is perpendicular to the straight line P1trP2tr. That is, the work location confirmation unit 133 is configured to confirm the points R1 and R2 at which the straight line L1 or the straight line L2 intersects the workpiece W (specifically, the deburring location W ₀ ).

The actual work deburring location W ₀ of the workpiece W is confirmed by the working location confirming unit 133 when the deburring start instruction point P1tr and the deburring end instruction point P2tr are deburred on the workpiece W. This is to allow the robot 20 to accurately deburr the deburring location W ₀ even if the robot 20 is separated from the start point P1 and the deburring end point P2. Further, the work place confirmation unit 133 does not correct the deburring start instruction point P1tr and the deburring end instruction point P2tr to the deburring start point P1 and the deburring end point P2 of the workpiece W, but rather the deburring place W. ₀
Confirming two of the points (ie point R1 and point R2) is easier and more reliable than the correction.

FIG. 4 shows a circuit configuration relating to the main part of the work place confirmation section 133. Work place confirmation section 13
3, the information holding and reading unit 132 will be described more specifically.
Confirmation operation information creation unit 1331 for automatically creating confirmation operation information by performing appropriate arithmetic processing based on the coordinate information and posture information read from the confirmation operation information created by the confirmation operation information creation unit 1331. Confirmation information transmission unit 133 for giving the information to the robot controller 24
2 and the confirmation operation control unit 1333 for giving the activation signal or the stop signal of the confirmation operation information to the robot controller 24 based on the signal supplied from the confirmation operation information transmission unit 1332 and the signal supplied from the determination unit 1336. And are equipped with.

FIG. 5 shows operation information regarding the moving position of the end effector 21 of the robot 20 in the confirmation operation information created by the confirmation operation information creating unit 1331. This confirmation operation information is obtained from the state in which the end effector 21 of the robot 20 is retracted to the point Q0tr in the retracted posture, and then the point P is obtained.
1 ″, and then reciprocates between point P1 ″ and point P1 ′ in a deburring posture by linear movement (that is, movement of the end effector 21 becomes a straight line), and further moves to point P
In order to move linearly from 1 "to point P2" in the deburring posture, and to reciprocate between point P2 "and point P2 'in the deburring posture by linear movement, and finally to move from point P2" to point Q0tr. Is the operation information. The confirmation operation information is provided from the confirmation operation information creating unit 1331 to the information holding / reading unit 132 and held therein.

Here, the point P1 ″ is a point perpendicular to the straight line P1trP2tr on the reference plane and separated from the point P1tr toward the point P2tr by the distance d from the point P1 ^* toward the point Q0tr by the distance e ( 6 and 7.) A point P1 'is a point perpendicular to the straight line P1trP2tr on the reference plane and separated from the point P1 ^* by a distance c on the opposite side of the point Q0tr (see FIG. 8). , A straight line P1 on the reference plane
This is a point that is perpendicular to trP2tr and is separated from the point P2tr by a distance d toward the point P1tr by a distance e from the point P2 ^* toward the point Q0tr (see FIGS. 6 and 7). Point P2 '
Is a point P2 ^* perpendicular to the straight line P1trP2tr on the reference plane ^.
Is a point separated from the point Q0tr by a distance c (see FIG. 8). Note that d and e are points P1 and P, respectively.
It is set to an appropriate value that is larger than the distance from 1tr or the distance between the point P2 and the point P2tr (that is, the teaching error of the designated point).

The points P1 ^* and P2 ^* are the points P1
^* Is a point spaced from the point P1tr by d in the vector direction from the point P1tr to the point P2tr (that is, the vector P1trP2tr), and the point P2 ^* is a point P in the opposite direction of the vector P1trP2tr.
Based on the point separated from 2tr by d, the following equation 1
It is required by each.

[0050]

[Equation 1]

The points P1 'and P2' are opposite to the normal vector (that is, the normal vector n _P1trP2trQ0tr ) which is perpendicular to the straight line P1trP2tr and points toward the point Q0tr.
^Based on the fact that the point is separated from c by ^* c, and the point P2 ′ is separated from the point P2 ^* by c in the direction opposite to the normal vector n _P1trP2trQ0tr , the following equation 2 is obtained.

[0052]

[Equation 2]

The points P1 "and P2" are points P1 "separated from the point P1 ^* by e in the direction of the normal vector n _P1trP2trQ0tr , and the point P2" is the normal vector n.
Based on the fact that it is a point separated by e from the point P2 ^{* in} the direction of _P1trP2trQ0tr , it is obtained by the following equation 3.

[0054]

(Equation 3)

In the normal vector n _P1trP2trQ0tr , the outer product of the vector A and the vector B is the vector A and the vector B.
Based on the fact that they are perpendicular to and, respectively, the outer product k of the vector P and the vector P1trP2tr is obtained after calculating the outer product k of the vector (that is, the vector P1trQ0tr) from the point P1tr to the point Q0tr and the vector P1trP2tr as shown in the following equation 4. It is required by seeking.

[0056]

[Equation 4]

The confirming operation information transmitting unit 1332 reads the confirming operation information from the information holding and reading unit 132, gives the confirming operation information to the robot controller 24, and informs the robot controller 24 of the confirming operation information. A signal is given to the confirmation operation control unit 1333.

The work place confirming section 133 is also connected to the force sensor 1334 for detecting the force applied to the end effector 21 of the robot 20, and the signal from the force sensor 1334 is periodically connected to the force sensor 1334. The communication unit 1335 for receiving the reset signal to the force sensor 1334 and comparing the signal periodically given from the force sensor 1334 via the communication unit 1335 with a predetermined appropriate reference value ends. The determination unit 1336 for determining whether or not the effector 21 contacts the workpiece W is provided.

When a reset signal is given from the communication section 1335, the force sensor 1334 adjusts the force detected at that time to a zero value. The communication unit 1335 and the determination unit 1336 are activated when a confirmation signal is given from the confirmation operation control unit 1333, and are stopped when a stop signal is given. The determination unit 1336
A signal for the determination made based on the signal periodically given from the force sensor 1334 via the communication unit 1335 is periodically given to the confirmation operation control unit 1333.

The work location confirmation section 133 further includes a confirmation information reading section 1337 which is connected to the robot controller 24 and reads the coordinates of the end effector 21 as confirmation coordinate information. This confirmation information reading unit 1337
When a signal is given from the confirmation operation control section 1333, the reading coordinate information is read and given to the information holding and reading section 132 to be held.

FIG. 9 shows the movement position of the end effector 21 of the robot 20 in the work motion information created by the work motion teaching section 134. Work motion teaching section 13
4 indicates that the end effector 21 of the robot 20 has a line segment L
The work motion information is created so as to move on line 3, line segment L4, and line segment L5. put it here,
The line segment L3 is a line segment connecting the confirmation coordinate point R1 and the point R2 confirmed by the work place confirmation unit 133. The line segment L4 is a line segment connecting a point R1 ′ that is appropriately spaced from the point R1 to the point R2 and a point R1 ″ that is appropriately spaced from the point R1 to the opposite side of the point R2. L5 is the point R
Point R2 'and point R, which are appropriately spaced from 2 toward point R1
Point R appropriately separated from 1 toward the opposite side of point R2
It is a line segment connecting 1 ″.

More specifically, the work motion teaching section 134 creates work motion information for automatically creating deburring work motion information by performing appropriate arithmetic processing based on the information read from the information holding and reading section 132. Unit 1341 and work motion information transmission unit 134 connected to the robot controller 24.
2 and. The work motion information created by the work motion information creation unit 1341 is the work motion information creation unit 13
It is adapted to be given to the information holding and reading unit 132 from 41 and held. The work motion information is read from the information holding / reading unit 132 by the work motion information transmitting unit 1342 and given to the robot controller 24.

10 to 12 show the robot 2 in the work motion information created by the work motion information creating unit 1341.
The operation information regarding the movement position of the end effector 21 of 0 is represented. The work motion information created by the work motion information creation unit 1341 is motion information for the end effector 22 of the robot 20 to perform the following three motions. In the first motion, first, the end effector 21 moves from the state where the end effector 21 is retracted to the point Q0tr to the point Q1 and then the point Q1.
It is the operation of linearly moving from 1 to point R1 in the deburring posture, further moving from point R1 to point R2 in the deburring posture, and further moving linearly from point R2 to point Q2 in the deburring posture (FIG. 10).
reference). In the second operation, the end effector 21 first linearly moves from the point Q2 to the point Q1 ′ in the deburring posture, then moves linearly from the point Q1 ′ to the point R1 ′ in the deburring posture, and further from the point R1 ′ to the point. In the deburring posture toward R1 ″, linear movement is performed until the force applied to the end effector 21 becomes larger than a predetermined appropriate reference value or becomes smaller than the predetermined appropriate reference value, and additionally deburring is started. If the shape near the point P1 is a shape that obstructs the operation, the shape moves linearly in the deburring posture from the point where the movement is stopped to the point Q1 ', and the shape near the deburring start point P1 does not hinder the operation. If it is, the operation is a linear movement from the point where the movement is stopped to the point Q1 ″ in the deburring posture (see FIG. 11). In the third operation, the end effector 21 first linearly moves from the point Q1 ′ or the point Q1 ″ to the point Q2 ′ in the deburring posture, then moves linearly from the point Q2 ′ to the point R2 ′ in the deburring posture, and further, Linearly moves from the point R2 ′ to the point R2 ″ in a deburring posture until the force applied to the end effector 21 becomes larger than a predetermined appropriate reference value or becomes smaller than the predetermined appropriate reference value, In addition, when the shape near the deburring end point P2 is a shape that hinders the operation, a straight line is moved in the deburring posture from the point where the movement is stopped to the point Q2 ', and the shape near the deburring end point P2 moves. In the case of a shape that does not hinder the above, the movement is a linear movement from the stopped point to the point Q2 ″ in the deburring posture, and finally moves from the point Q2 ′ or the point Q2 ″ to the point Q0tr (see FIG. 12). ).

Here, the point R1 'is a point spaced from the point R1 toward the point R2 by a distance g, and the point R1 "
Is a point separated by a distance f from the point R1 toward the opposite side of the point R2. Further, the point R2 ′ is from the point R2 to the point R1.
Is a point separated by a distance g toward, and the point R2 ″ is
This is a point separated from the point R2 by a distance f toward the opposite side of the point R1 (see FIG. 13). Point Q1 is point Q0tr, point R
This is a point that is perpendicular to a straight line connecting the points R1 and R2 on a plane including 1 and the point R2 and is separated from the point R1 toward the point Q0tr by a distance h. Also, point Q1 ', point Q1 ", point Q
2, the point Q2 ′ and the point Q2 ″ are the same as the point Q1.
In a plane including 0tr, point R1 and point R2, point R1 ′, point R1 ″, and point R1 ′ are perpendicular to a straight line connecting point R1 and point R2.
From point R2, point R2 'and point R2 ", point Q0tr respectively
This is a point separated by a distance h to the side (see FIG. 14). Note that f is set such that the point R1 ″ is farther from the point R1 than the deburring start point P1 of the workpiece W and the point R2 ″ is farther from the point R2 than the deburring end point P2 of the workpiece W. Set. g and h are appropriately set.

Further, the points R1 ', R1 ", R2' and R2" are respectively obtained by the following equation 5 in the same way as the points P1 ^* and P2 ^* are obtained by the equation 1.

[0066]

(Equation 5)

Point Q1, point Q1 ', point Q1 ", point Q2, point Q2' and point Q2" are respectively calculated by the following equation 6 in the same manner as point P1 'and point P2' are obtained by equation 2. Desired.

[0068]

(Equation 6)

Next, the operation of the robot teaching apparatus 10 of this embodiment will be described.

Work information reading process

FIG. 15 shows the flow of the work information reading operation by the work information reading device 11. 16 to 20 specifically show the operation of the instruction unit 111 of the work information reading device 11 in the work information reading operation.

Before the work information reading device 11 reads the work information, the worker, like the work W placed on the work table T, teaches the work piece Wt for teaching on the teaching table Tt.
Are placed (step S101).

The worker mounts the teaching workpiece W on the teaching platform Tt.
After placing t, the robot teaching device 10 is activated,
The work information reading device 11 is caused to read the work information according to the instruction displayed on the display screen (not shown).

More specifically, the worker moves the work information reading device 11 in accordance with the instruction to input the deburring start instruction point P1t, and instructs the deburring start instruction point P1t at the tip of the instruction section 111. An operation button (not shown) for instructing the reading of coordinates is pressed (see FIG. 16; step S).
102). As a result, the coordinate reading unit 113 of the work information reading device 11 reads the coordinates and gives them to the work information processing device 13 as the coordinates of the deburring start instruction point P1t.

The worker then deburrs the start point P1.
By pressing an operation button (not shown) for instructing shape distinction in accordance with the shape distinction input instruction in the vicinity of t, the shape distinction in the vicinity of the deburring start instruction point P1t is read (step S103). Accordingly, the shape reading unit 114 of the work information reading device 11 reads the shape distinction,
The shape information in the vicinity of the deburring start instruction point P1t is given to the work information processing apparatus 13. By the way, the shape discrimination in the vicinity of the deburring start instruction point P1t in the present embodiment is a shape that does not hinder the operation.

The worker further sets the deburring end instruction point P2t.
According to the input instruction and the shape distinction input instruction near the deburring end instruction point P2t, the work information reading device 11 is moved, and in the same manner as the deburring start instruction point P1t, the coordinates of the deburring end instruction point P2t and the deburring end are performed. The shape distinction in the vicinity of the designated point P2t is read (steps S104 and S10).
5). As a result, the coordinate reading unit 113 of the work information reading device 11 reads the coordinates, and the deburring end instruction point P2t.
It is given to the work information processing device 13 as the coordinates of. Further, the shape reading unit 114 reads the shape distinction, and as the shape distinction near the deburring end instruction point P2t, the work information processing apparatus 1
Give to 3. Incidentally, the shape discrimination in the vicinity of the deburring termination instruction point P2t in the present embodiment is also a shape that does not hinder the operation.

In addition, the worker follows the work instruction reading device 11 in accordance with the instruction for the evacuation instruction point Q0t and the evacuation posture input.
Is operated to push the operation button (not shown) for instructing the reading of the coordinates and the posture while instructing the evacuation instructing point Q0t at the tip of the instructing unit 111 (step S106). Accordingly, the coordinate reading unit 113 of the work information reading device 11
Reads its coordinates and posture and saves the designated point Q0t
It is given to the work information processing device 13 as the coordinates and the retracted posture.

[0078] Incidentally, retracted indicated point Q0t, as shown by shaded in FIG. 17, point W ₀ corresponding to position W ₀ preparative Bali
It is preferable to indicate at an appropriate position in the area opposite to t. That is, when the teaching workpiece Wt is viewed from above, it is a region that does not overlap the teaching workpiece Wt around the location W ₀ t corresponding to the deburring location W ₀ , and the teaching workpiece Wt is on the side. When viewed from the side, it is an area located above the location W ₀ t corresponding to the deburring location W ₀ . If the vicinity of the deburring start instruction point P1t or the vicinity of the deburring end instruction point P2t has a shape that hinders the operation as shown in FIG. 18, an appropriate position in the area shaded in FIG. It is preferable to instruct the save point Q0t. That is, when the teaching workpiece Wt is viewed from above, it is an area that does not overlap the teaching workpiece Wt around the location W ₀ t corresponding to the deburring location W ₀ , and the deburring start instruction is given. This is an area around the side or surface adjacent to the point P1t or the deburring end instruction point P2t and not overlapping the teaching workpiece Wt.

After that, the worker moves the work information reading device 11 according to the instruction of the deburring posture input, and the instruction unit 1
While holding 11 in the deburring posture, an operation button (not shown) for instructing the reading of the posture is pressed (see FIG. 20;
Step S107). Thereby, the work information reading device 1
The posture reading unit 115 of No. 1 reads the posture and gives it to the work information processing apparatus 13 as a deburring posture.

If there is another deburring place W ₀ (step S108; Y), the worker repeats steps S102 to S107 for the other deburring place W ₀ . When there is no other deburring location W ₀ (step S108; N), the work information reading operation is ended.

As described above, according to the robot teaching device 10 and the robot teaching method of the present embodiment, not all the operations of the robot 20 are read according to the order of the deburring operation, but only the work information regarding the deburring operation is performed. Is read, the teaching work is simple and the work time can be shortened.

Work information processing process

FIG. 21 shows the flow of processing operations in the work information processing apparatus 13.

Coordinate conversion unit 131 of work information processing apparatus 13
Converts the work information given from the coordinate reading unit 113, the shape reading unit 114, and the posture reading unit 115 of the work information reading device 11 from the reading device coordinate system to the robot coordinate system (step S200).

The coordinate conversion unit 131 converts the work information into coordinates and then supplies the work information to the information holding and reading unit 132. The information holding / reading unit 132 holds the given work information (step S300).

The work place confirming unit 133 reads the work information from the information holding and reading unit 132, and confirms the deburring place W ₀ of the workpiece W while operating the robot 20 based on the work information (step S400). . As described above, according to the robot teaching device 10 and the robot teaching method of the present embodiment, the workpiece is processed while operating the robot 20 based on the work information provided from the work information reading device 11 via the coordinate conversion unit 131. Since the deburring point W ₀ of W is confirmed, the deburring start instruction point P1tr or the deburring end instruction point P
Even if 2tr is separated from the deburring start point P1 or the deburring end point P2 of the workpiece W, the deburring location W ₀ can be confirmed. That is, it is possible to eliminate the need to perform the work information reading process with high accuracy, and to simplify the teaching work. Further, even if the work information reading process is not performed with high accuracy, the robot 20 can safely and accurately deburr the workpiece. The specific contents of this work place confirmation operation will be described later as a work place confirmation step.

The work location confirming unit 133 has a deburring location W _0.
After confirming, the information holding and reading unit 132
Give to. The information holding and reading unit 132 holds the given confirmation information (step S500).

The work motion teaching unit 134 reads out necessary information from the information holding and reading unit 132, creates work motion information based on the necessary information, and teaches the robot 20 a deburring work motion (step S600). The robot 20 executes the deburring work of the workpiece W based on the taught deburring work operation. Thus, according to the robot teaching device 10 and the robot teaching method of the present embodiment, the robot 20
The deburring operation can be taught to the robot 20 without the operator having to teach the deburring operation in sequence. The specific contents of this work motion teaching operation will be described later as a work motion teaching process.

(Processing process confirmation step)

22 and 23 show the work place confirmation section 1
33 shows the flow of processing operations at 33.

First, the confirmation operation information creating unit 1331 of the work place confirmation unit 133 reads the coordinate information and the posture information from the information holding and reading unit 132 and performs appropriate arithmetic processing to create confirmation operation information (step S401). ). The process in which the confirmation operation information creating unit 1331 creates confirmation operation information is
It is as follows.

FIG. 24 shows the flow of the confirmation operation information creating operation in the confirmation operation information creating section 1331. The confirmation operation information creation unit 1331 firstly determines the information holding and reading unit 13
Deburring start instruction point P1tr from 2 and deburring end instruction point P2
The tr, the retract instruction point Q0tr, the deburring posture and the retract posture are read (step S421).

Next, the confirmation operation information creating section 1331
Based on the deburring start instruction point P1tr and the deburring end instruction point P2tr read from the information holding / reading unit 132, the point P1
^{* And the} point P2 ^* are obtained (see FIG. 6; step S42).
2).

The confirmation operation information creation unit 1331 determines that the point P1 ^*
And the point P2 ^* are obtained, and then the points P1 ′, P1 ″, P2 ′ and P2 ″ are obtained based on the points P1 ^* , P2 ^* and Q0tr (see FIGS. 7 and 8; step S423). ).

The confirmation operation information creating section 1331 displays the point P.
After determining 1 ', point P1 ", point P2', and point P2", confirmation operation information (see FIG. 5) is created based on the read retracting instruction point Q0tr, the deburring posture, and the retracting posture (step 5). S424). That is, the robot 2
The end effector 21 of 0 moves from the state retracted to the point Q0tr in the retracted posture to the point P1 ″, and then to the point P1 ″ and the point P.
1'reciprocates in a deburring posture by linear movement, and further moves linearly from point P1 "to point P2" in a deburring posture, and additionally in a deburring posture between points P2 "and P2 '. A robot program for reciprocating by linear movement and finally moving from point P2 ″ to point Q0tr is created.

After that, the confirmation operation information creating section 1331
Indicates that there is another deburring location W ₀ (step S425;
Y), with respect to another deburring location W _0, steps S421 to S424 are repeatedly executed. If there is no other deburring place W ₀ (step S425; N), the confirmation operation information creation is ended.

When the confirming operation information creating unit 1331 creates the confirming operation information in this manner, it provides the prepared confirming operation information to the information holding and reading unit 132. The information holding and reading unit 132 holds the given confirmation operation information (step S402).

Next, the confirmation operation information transmission unit 1332
The confirmation operation information is read from the information holding / reading unit 132 and given to the robot controller 24 (step S403). Upon receiving the confirmation operation information, the robot controller 24 gives a confirmation operation information reception signal to the confirmation operation information transmission unit 1332.

After receiving the confirmation operation information reception signal from the robot controller 24, the confirmation operation information transmitter 1332 confirms the signal (transmission completion signal) indicating that the confirmation operation information is given to the robot controller 24. Control unit 13
33 (step S404).

When the confirmation operation control section 1333 receives the transmission completion signal from the confirmation operation information transmission section 1332, the confirmation operation control section 1333 sends a signal (signal 1) indicating that the end effector 21 is moved from the point Q0tr to the point P1 ″ to the robot control. The robot controller 24 gives the end effector 21 from the point Q0tr to the point P1 ″ (step S405).
Move to. When the movement of the end effector 21 is completed, the robot controller 24 also gives a confirmation signal of completion of movement to the confirmation operation control unit 1333.

The confirmation operation control unit 1333 receives the movement completion signal from the robot control device 24, and then the communication unit 13
An activation signal is given to the controller 35 and the determination unit 1336 (step S406). As a result, the communication unit 1335 gives a reset signal to the force sensor 1334 and outputs 0 to the force sensor 1334.
The value adjustment is performed, the signal from the force sensor 1334 is started to be periodically received, and the signal is periodically given to the determination unit 1336. In addition, the determination unit 1336 is the communication unit
The signal from 35 is periodically received, the signal is compared with a predetermined appropriate reference value, and the result is periodically given to the confirmation operation control unit 1333.

Then, the confirmation operation control section 1333 gives the robot controller 24 a signal (signal 2) to execute the movement of the end effector 21 from the point P1 ″ to the point P1 ′, and the deburring point W ₀ is detected. One of the points R1 is confirmed (step S407) The process of confirming the point R1 is as follows.

FIG. 25 shows the flow of the confirmation operation of the point R1. The confirmation operation control unit 1333 gives a signal 2 to the robot controller 24 (step S431). As a result, the robot controller 24 moves from the point P1 ″ to the point P1 ″.
Start moving the end effector 21 to 1 '. Here, the force sensor 1334 has not yet detected a force larger than the reference value, and the determination unit 1336 gives a “non-contact” signal to the confirmation operation control unit 1333 (step S432; N). .

When the end effector 21 comes into contact with the workpiece W after an appropriate time has elapsed, the force sensor 1334 is
A force larger than the reference value is detected, and the signal is transmitted to the communication unit 13
It is given to the judgment unit 1336 via 35. As a result, the determination unit 1336 confirms the “contact” signal by the confirmation operation control unit 13
33 (step S432; Y).

The confirmation operation control section 1333 has a judgment section 133.
When the "contact" signal is received from 6, the movement stop signal is given to the robot controller 24 (step S433). As a result, the robot controller 24 causes the end effector 2 to
Stop the movement of 1. When the movement of the end effector 21 is stopped, the robot control device 24 also gives a movement stop signal to the confirmation operation control unit 1333.

When confirming the point R1 in this way, the confirmation operation control unit 1333 gives a signal (reading instruction signal) for instructing the reading of the coordinates of the end effector 21 of the robot 20 to the confirmation information reading unit 1337 (step S4).
08). Upon receipt of the read instruction signal, the confirmation information reading unit 1337 reads the coordinates of the end effector 21 at that time from the robot controller 24.

The confirmation information reading unit 1337 reads the coordinates of the end effector 21, and then supplies the information to the information holding and reading unit 132 as confirmation coordinate information. The information holding and reading unit 132 holds the given confirmation coordinate information (step S409). When the information holding and reading unit 132 holds the confirmation coordinate information, the information holding and reading unit 132 gives the confirmation operation control unit 1333 a signal indicating that the holding is completed.

The confirmation operation control unit 1333 receives a signal from the information holding / reading unit 132 indicating that the holding has been completed, and then sends a signal (signal 3) indicating that the end effector 21 is moved to the point P2 ″ to the robot. It is given to the controller 24 (step S410), whereby the robot controller 24 is provided.
Is from the point where the end effector 21 is stopped to the point P
Move to point P2 ″ via 1 ″. When the movement of the end effector 21 is completed, the robot controller 24 gives a signal indicating completion of movement to the confirmation operation control unit 1333.

After receiving the movement completion signal from the robot controller 24, the confirmation operation control unit 1333 sends a signal (signal 4) indicating that the end effector 21 should be moved from the point P2 ″ to the point P2 ′ to the robot. The other one point R2 of the deburring point W ₀ is given to the controller 24 (step S411) The step of confirming the point R2 is the signal 2 given to the robot controller 24 in the step of confirming the point R1. Is the same as the step of confirming the point R1 except that is replaced with the signal 4.

When confirming the point R2, the confirmation operation control unit 1333 gives a signal (reading instruction signal) for instructing the reading of the coordinates of the end effector 21 of the robot 20 to the confirmation information reading unit 1337 (step S412). Upon receipt of the read instruction signal, the confirmation information reading unit 1337 reads the coordinates of the end effector 21 at that time from the robot controller 24.

The confirmation information reading unit 1337 reads the coordinates of the end effector 21, and then supplies the information to the information holding and reading unit 132 as other confirmation coordinate information. The information holding / reading unit 132 holds the given other confirmation coordinate information (step S413). The information holding / reading unit 132
When the other confirmation coordinate information is held, a signal indicating that the holding is completed is given to the confirmation operation control unit 1333.

If there is another deburring location W ₀ (step S414; Y), the confirmation operation control section 1333 receives a signal from the information holding / reading section 132 indicating that the holding has been completed,
A signal (signal 5) indicating that the end effector 21 is moved to another point Q0tr is given to the robot controller 24 (step S415). Thereby, the robot controller 24 moves the end effector 21 from the stopped point to another point Q0tr. When the movement of the end effector 21 is completed, the robot controller 24 gives a signal indicating completion of movement to the confirmation operation control unit 1333.

The confirmation operation control unit 1333 receives the movement completion signal from the robot controller 24, and then the force sensor 1
A signal indicating that a reset signal is to be given to 334 (reset generation signal) is given to communication section 1335 (step S41).
6). Accordingly, the communication unit 1335 causes the force sensor 133 to
A reset signal is given to 4 to adjust the zero value of the force sensor 1334. After that, the confirmation operation control unit 1333 performs steps S407 to S4 regarding the other deburring location W _0.
Repeat up to 13.

If there is no other deburring place W ₀ (step S414; N), the confirming operation control section 1333 receives the receiving section 1.
A stop signal is given to 335 and the determination unit 1336 (step S417), and the work place confirmation operation is ended.

As described above, according to the robot teaching device 10 and the robot teaching method of the present embodiment, the deburring location W ₀ of the workpiece W can be confirmed reliably and easily.

(Working operation teaching process)

FIG. 26 shows a flow of processing operation in the work operation teaching section 134.

First, the work motion information creating unit 1341 of the work motion teaching unit 134 reads out necessary information from the information holding and reading unit 132 and performs appropriate arithmetic processing to create work motion information (step S610). The process in which the work motion information creation unit 1341 creates work motion information is as follows.

FIG. 27 shows the flow of the work motion information creating operation in the work motion information creating unit 1341. The work operation information creation unit 1341 firstly, the information holding and reading unit 13
From 2 to point R1, point R2, save instruction point Q0tr, shape demarcation in the vicinity of deburring start instruction point P1tr, deburring end instruction point P2tr
The shape distinction, the retracted posture and the deburring posture in the vicinity are read (step S611).

Next, the work motion information creating section 1341
Based on the points R1 and R2 read from the information holding / reading unit 132, points R1 ′, R1 ″, R2 ′ and R2 ″
Is calculated (see FIG. 13; step S612).

The work motion information creating section 1341 displays the point R
1 ′, point R1 ″, point R2 ′ and point R2 ″ are obtained, and based on these points and point Q0tr, point Q1, point Q1 ′,
A point Q1 ″, a point Q2, a point Q2 ′, and a point Q2 ″ are obtained (see FIG. 14; step S613).

The work motion information creating section 1341 determines the point Q1,
Point Q1 ', point Q1 ", point Q2, point Q2' and point Q2"
After the calculation, the motion information for the end effector 21 of the robot 20 to perform the first motion is created (step S614). That is, first, the end effector 21 of the robot 20 moves from the state of retracting to the point Q0tr in the retracted posture to the point Q1, then linearly moves from the point Q1 to the point R1 in the deburring posture, and further deburrs from the point R1 to the point R2. A robot program (see FIG. 10) for linearly moving in the posture and additionally in the deburring posture from the point R2 to the point Q2 is created.

Next, the work motion information creation unit 1341 creates motion information for the end effector 21 of the robot 20 to perform the second motion (step S615). That is, the end effector 21 linearly moves from the state at point Q2 in the deburring posture to point Q1 ', then linearly moves in the deburring posture from point Q1' to point R1 ', and further from point R1' to point R1 ". End effector 21 in a deburring position facing
The linear movement is performed until the force applied to the force becomes larger than a predetermined appropriate reference value or becomes smaller than the predetermined appropriate reference value, and in addition, the shape near the deburring start point P1 hinders the operation. If it is, the linear movement is performed in the deburring posture from the point where the movement is stopped to the point Q1 ′, and the deburring start point P1
This is a robot program (see FIG. 11) for linearly moving in the deburring posture from the point where the movement is stopped to the point Q1 ″ when the shape in the vicinity does not hinder the operation.

Further, the work motion information creation unit 1341 creates motion information for the end effector 21 of the robot 20 to perform the third motion (step S616). That is, the end effector 21 linearly moves from the state at the point Q1 'or the point Q1 "in the deburring position to the point Q2' in the deburring position, and then in the deburring position from the point Q2 'to the point R2'. Further, linear movement is performed from the point R2 ′ to the point R2 ″ in a deburring posture until the force applied to the end effector 21 becomes larger than a predetermined appropriate reference value or becomes smaller than the predetermined appropriate reference value. In addition, when the shape in the vicinity of the deburring end point P2 is a shape that hinders the operation, a straight line is moved in the deburring posture from the point where the movement is stopped to the point Q2 ', and the shape in the vicinity of the deburring end point P2 is If the shape does not hinder the movement, the robot program moves straight from the stopped point to the point Q2 ″ in the deburring posture, and finally moves from the point Q2 ′ or the point Q2 ″ to the point Q0tr (Fig. 1 It is a reference).

Here, a robot program corresponding to L3, L4, and L5 in FIG. 9, namely, a straight line movement from the point R1 to the point R2 (L3) and a straight line movement from the point R1 'to the point R1 "(L4), When creating a robot program relating to the linear movement (L5) from the point R2 ′ to the point R2 ″, the program may be such that the pressing force of the end effector 21 against the workpiece W is kept constant if desired.

If there is another deburring place W ₀ (step S617; Y), the work operation information creating section 1341 will carry out steps S611 to S6 regarding the other deburring place W _0.
Repeat up to 16. If there is no other deburring place W ₀ (step S617; N), the work operation information creation is ended.

When the work motion information creating unit 1341 creates the work motion information in this way, it supplies the created work motion information to the information holding and reading unit 132. The information holding / reading unit 132 holds the given work operation information (step S620).

Next, the work motion information transmission section 1342
The work operation information is read from the information holding / reading unit 132 and given to the robot controller 24 (step S630). As a result, the robot controller 24 moves the end effector 21 of the robot 20 to execute the deburring work.

As described above, according to the robot teaching device 10 and the robot teaching method of this embodiment, the robot 20 can deburr the workpiece W with high accuracy and easily.

The present invention has been described with reference to the examples.
The present invention is not limited to the above embodiment, but can be variously modified within the scope of equivalents thereof. For example, the present invention
The present invention is applicable not only to deburring work, but also to work work such as chamfering work performed along a side of a work.

[0131]

As described above, according to the robot teaching device of the first to eleventh aspects, the work information read by the work information reading means processes the work information by the work information processing means so that the robot performs the work operation. Since the information necessary for performing the work is created, it is possible to avoid teaching the information necessary for the robot to perform the work work operation directly by the worker in the order of the work work operation. The effect is that it can be simplified and the working time can be shortened.

Particularly, according to the robot teaching device of the fourth to eleventh aspects, the work place of the workpiece is operated while the robot is operated based on the work information given by the work information reading means by the work place confirming means. Since the robot creates the information necessary for the robot to perform the work operation based on the information confirmed by the work operation teaching means,
Even if the work information given from the work information reading means includes an error, the work place of the work can be confirmed. Therefore, it is possible to eliminate the need to read the work information by the work information reading means with high accuracy, and it is possible to simplify the teaching work. In addition, even if the work information reading means does not read the work information with high accuracy, the robot can safely and accurately work the workpiece.

According to the robot teaching device of the fifth to eleventh aspects, the work confirmation means causes the end effector of the robot to have the work start instruction point and the work end instruction point given from the work information reading means. On a plane including the evacuation instruction point, the object to be machined is moved while passing through two points on a straight line connecting the work start instruction point and the work end instruction point and along two straight lines perpendicular to the straight line. Since two points of the work place of the object are confirmed, it is possible to surely and easily confirm the work place of the workpiece.

Furthermore, according to the robot teaching device of the sixth to eleventh aspects, the end effector of the robot is one of the work locations confirmed by the work location confirming means as the work work operation by the work operation teaching means. The first movement for moving on the line segment connecting the two points and the first movement for moving on the straight line connecting the two points from the point between the two points toward the work starting point of the workpiece. Since the robot is taught the second motion and the third motion for moving on the straight line connecting the two points from the point between the two points toward the machining end point of the workpiece, This has the effect that the robot can accurately and easily machine the workpiece.

According to the robot teaching method of the twelfth to fourteenth aspects, after the work information is obtained by the coordinate information reading step, the shape information reading step, and the posture information reading step,
Confirm the work place of the workpiece by the work place confirmation process,
Since the robot creates the information necessary for the robot to perform the work operation based on the information confirmed by the work operation teaching process, the information necessary for the robot to perform the work operation is stored in the order of the work operation. Therefore, it is possible to prevent the operator from directly teaching the robot. Therefore,
The teaching work can be simplified and the working time can be shortened. Further, even if the work information obtained in the work information reading process includes an error, the work location of the workpiece can be confirmed, so that it is possible to eliminate the need for performing the work information reading process with high accuracy, and teaching work. There is an effect that can be simplified. In addition, even if the work information reading process is not performed with high accuracy, the robot can safely and accurately work the workpiece.

[Brief description of drawings]

FIG. 1 is a perspective view showing a configuration of a robot teaching device according to an embodiment of the present invention.

FIG. 2 is a block circuit diagram showing configurations of a work information reading device and a work information processing device of the embodiment shown in FIG.

FIG. 3 is an explanatory diagram for explaining a movement position where an end effector of a robot is moved by a work place confirmation unit of the embodiment shown in FIG. 1 in order to confirm an actual deburring place of a workpiece.

FIG. 4 is a block circuit diagram showing a configuration of a work place confirmation unit of the embodiment shown in FIG.

FIG. 5 is an explanatory diagram for explaining confirmation operation information created by a confirmation operation information creation unit of the embodiment shown in FIG. 1;

6 is an explanatory diagram for explaining points P1 ^* and P2 ^* in the confirmation operation information created by the confirmation operation information creation unit of the embodiment shown in FIG. 1. FIG.

FIG. 7 is an explanatory diagram for explaining points P1 ″ and P2 ″ in the confirmation operation information created by the confirmation operation information creation unit of the embodiment shown in FIG. 1;

8A and 8B are explanatory diagrams for explaining points P1 'and P2' in the confirmation operation information created by the confirmation operation information creation unit of the embodiment shown in FIG.

FIG. 9 is an explanatory diagram for explaining a movement position of the end effector of the robot in the work motion information created by the work motion teaching unit of the embodiment shown in FIG.

FIG. 10 is an explanatory diagram for explaining work motion information created by a work motion information creation unit of the embodiment shown in FIG. 1;

FIG. 11 is an explanatory diagram for explaining work motion information created by a work motion information creation unit of the embodiment shown in FIG. 1;

FIG. 12 is an explanatory diagram for explaining work motion information created by a work motion information creation unit of the embodiment shown in FIG. 1;

FIG. 13 is an explanatory diagram for explaining points R1 ′, R1 ″, point R2 ′, and point R2 ″ in the work motion information created by the work motion information creation unit of the embodiment shown in FIG. 1;

FIG. 14 is a point Q1, a point Q1 ′, and a point Q in the work motion information created by the work motion information creation unit of the embodiment shown in FIG.
It is explanatory drawing for demonstrating 1 ", point Q2, point Q2 ', and point Q2".

15 is a flow chart for explaining a work information reading operation by the work information reading device of the embodiment shown in FIG.

16 is a deburring start instruction point P1t and a deburring end instruction point P2t in the work information reading process of the embodiment shown in FIG.
FIG. 9 is an explanatory diagram for explaining an instruction operation of a save instruction point Q0t.

17 is an explanatory diagram for explaining an instruction operation of a save instruction point Q0t in the work information reading process of the embodiment shown in FIG. 1. FIG.

18 is an explanatory diagram for explaining an instruction operation of a save instruction point Q0t in the work information reading step of the embodiment shown in FIG. 1. FIG.

19 is an explanatory diagram for explaining an instruction operation of a save instruction point Q0t in the work information reading process of the embodiment shown in FIG. 1. FIG.

FIG. 20 is an explanatory diagram for explaining a deburring posture instructing operation in the work information reading process of the embodiment shown in FIG. 1;

21 is a flow chart for explaining work information processing operation in the work information processing apparatus of the embodiment shown in FIG. 1. FIG.

22 is a flow chart for explaining a work place confirming operation in the work place confirming unit of the embodiment shown in FIG. 1. FIG.

23 is a flow chart for explaining a work place confirming operation in the work place confirming unit of the embodiment shown in FIG. 1. FIG.

FIG. 24 is a flow chart for explaining a confirmation operation information creating operation in a confirmation operation information creating unit of the embodiment shown in FIG.

25 is a flow chart for explaining a confirmation operation of a point R1 in the embodiment shown in FIG.

FIG. 26 is a flow chart for explaining a work motion teaching operation in the work motion teaching unit of the embodiment shown in FIG.

27 is a flow chart for explaining a work motion information creating operation in the work motion information creating unit of the embodiment shown in FIG. 1. FIG.

[Explanation of symbols]

 10 robot teaching device 11 work information reading device 111 instruction unit 113 coordinate reading unit 114 shape reading unit 115 posture reading unit 13 work information processing device 131 coordinate conversion unit 132 information holding and reading unit 133 work place confirmation unit 1331 confirmation operation information creation unit 1332 Confirmation operation information transmission unit 1333 Confirmation operation control unit 1334 Force sensor 1335 Communication unit 1336 Judgment unit 1337 Confirmation information reading unit 134 Work movement teaching unit 1341 Work movement information creation unit 1342 Work movement information transmission unit 20 Robot 21 End effector 24 Robot controller W Workpiece Wt Teaching Workpiece

Claims (14)

[Claims] 1. A robot teaching device that teaches a work operation to a robot that works a workpiece by an end effector, and a work information reading means for reading work information relating to the work operation, and the work information reading means. And a work information processing unit for processing the work information given by the means to create information necessary for the robot to perform the work work operation, and for teaching the robot the work work operation. Robot teaching device. 2. The work information reading means receives a work start instruction point corresponding to a work start point of a workpiece, a work end instruction point corresponding to a work end point of the workpiece, and an end effector as work information. Three-dimensional coordinate information about the evacuation point corresponding to the evacuation point that is separated from the workpiece and retracted,
The shape information regarding the distinction between the shape near the work start point and the shape near the work end point of the work piece is a shape that does not hinder the operation and the shape of the end effector at the work location. The robot teaching apparatus according to claim 1, wherein posture information regarding a corresponding work posture is read. 3. The work information reading means approaches a teaching work piece having the same shape or a similar shape as the work piece to indicate work information, and a tip of the instruction section gives an instruction. Coordinate reading means for reading the three-dimensional coordinates, and shape reading means for reading the distinction between the shape of the work place of the workpiece and the shape that does not hinder the operation, The robot teaching apparatus according to claim 1 or 2, further comprising: posture reading means for reading the posture of the instruction unit. 4. The work information processing means, a work location confirmation means for confirming a work location of a workpiece while operating a robot based on the work information given from the work information reading means, and the work location confirmation means. And a work operation teaching means for creating information necessary for the robot to perform a work operation based on the information confirmed by the location confirmation means and teaching the robot a work operation. The robot teaching apparatus according to any one of claims 1 to 3. 5. The work start point and the work end instruction on a plane including the work start instruction point, the work end instruction point, and the shunt instruction point given from the work information reading means. It is necessary to confirm two points of the work place of the workpiece while moving the end effector of the robot along two straight lines that are perpendicular to the straight line connecting the points and the two points. Claim 4 characterized by the above-mentioned.
The described robot teaching device. 6. The end effector is moved by the work operation teaching means as a work operation on a line segment connecting two points of the work place of the workpiece confirmed by the work place confirming means. The first operation and the second operation for moving the end effector on the straight line connecting the two points from the point between the two points toward the work starting point of the workpiece are connected to the two points. A third operation for moving the end effector on a straight line from a point between the two points toward a machining end point of the workpiece is taught to the robot. The robot teaching apparatus according to claim 5. 7. The second motion and the third motion taught by the work motion teaching means end on a straight line connecting two points of the work points of the workpiece confirmed by the work point confirming means. 7. The robot teaching according to claim 6, further comprising an operation of stopping the movement of the end effector when the force applied to the end effector during movement of the effector becomes larger or smaller than a reference value. apparatus. 8. The second motion and the third motion taught by the work motion teaching means do not become an obstacle when the shape near the work start point or the shape near the work end point becomes an obstacle to the operation. The robot teaching apparatus according to claim 6 or 7, wherein the operation of the end effector after reaching the work start point or the work end point is different depending on the case. 9. The work information processing means further holds work information given from the work information reading means and information confirmed by the work location confirmation means, and holds the held information in the work operation teaching. 9. The robot teaching apparatus according to claim 4, further comprising information holding and reading means for giving the means. 10. The work information processing means further comprises coordinate conversion means for converting the work information given from the work information reading means from the coordinate system of the work information reading means to the coordinate system of the robot. 10. The robot teaching device according to claim 4, wherein the robot teaching device is a robot teaching device. 11. The confirming operation information creating means for producing information necessary for the robot to perform confirming operation of the producing area of the workpiece by the robot, and the confirming operation information creating means. Confirmation operation information transmission means for giving the confirmed operation information to the robot, confirmation operation control means for giving the start signal or stop signal of the confirmation operation information to the robot, and for detecting the force applied to the end effector of the robot. Of the force sensor and a judgment means for judging whether or not the end effector has contacted the workpiece by comparing the signal given from the force sensor with the reference value, and the end effector is judged by this judgment means. It is characterized in that it is provided with a confirmation information reading means for reading the three-dimensional coordinates of the end effector when it is determined that the workpiece is touched. The robot teaching apparatus according to any one of claims 4 to 10, which is a characteristic. 12. A robot teaching method for teaching a working operation to a robot for working a work piece by an end effector, comprising: a work start instruction point corresponding to a work start point of the work piece; and a work end of the work piece. A coordinate information reading process for obtaining three-dimensional coordinate information about a work end instruction point corresponding to a point and an evacuation point corresponding to the evacuation point where the end effector is moved away from the workpiece, and a work start point of the workpiece A shape information reading step for obtaining shape information regarding the distinction between the shape in the vicinity and the shape in the vicinity of the work end point as a shape that does not hinder the movement or a shape that does not hinder the movement, and an end effector at the work place of the workpiece Posture information reading step for obtaining posture information on a work posture corresponding to the posture, and the coordinate information and the posture information reading step obtained in the coordinate information reading step. A work location confirmation step of confirming the work location of the workpiece while operating the robot based on the obtained posture information, and the information obtained in this work location confirmation step and the save obtained in the coordinate information reading step. After creating the information necessary for the robot to perform the work operation based on the coordinate information regarding the designated point and the shape information obtained in the shape information reading step, a work operation teaching step of giving the information to the robot is performed. A robot teaching method comprising: 13. The work place confirmation step includes a step of instructing the end effector of the robot on a plane including a work start instruction point, a work end instruction point, and a retract instruction point obtained in the coordinate information reading step. A first step of moving along a straight line that passes through a point connecting a point and the work end instruction point and is perpendicular to the straight line toward the workpiece from the retract instruction point side; During the process of moving the end effector in the process of, the second step of detecting the force applied to the end effector by the force sensor and the force detected in the second step are compared with a predetermined reference value. , A third step of determining whether or not the end effector has come into contact with the workpiece, and in the third step, if it is determined that the end effector has come into contact with the workpiece, the movement of the end effector is changed. 13. A fourth step of stopping and a fifth step of reading the three-dimensional coordinates of the end effector after stopping the movement of the end effector in the fourth step. Robot teaching method. 14. The work operation teaching step creates information necessary for an end effector to move on a line segment connecting one point confirmed in the work place confirmation step and another one point. The first step and the straight line connecting the one point confirmed in the work place confirmation step and the other point are machined from a point between the one point and the other one point. On the straight line that connects the second step of creating the information necessary for the end effector to move toward the working start point of the object and the one point confirmed in the working point confirmation step and the other one point And a third step of creating information necessary for the end effector to move from a point between the one point and the other one point toward a machining end point of the workpiece. The information created in the first step, the second step, and the third step is robotized. Fourth step and claim 12 or claim 13 robot teaching method according to comprising the giving bets.