JPH0916260A - Setting method for easy jog coordinate system of robot - Google Patents

Abstract

PURPOSE: To lighten the burden of teaching operation by setting the easy jog coordinate system for jog feeding in an arbitrary direction. CONSTITUTION: The easy jog coordinate system is selected first by operating the coordinate system key of the jog operation part 40 of a teaching operation board 30. Then when a +X key is pressed with the coordinate key and a shift key is pressed at the same time, the robot position P1 at this time is taught as a 1st point. Then another proper three-dimensional coordinate system is selected by operating the coordinate system key and a job movement to a point P2 in a desired direction of jog movement is made by a conventional system. Further the easy jog coordinate system is again selected by operating the coordinate key. When a -X key is pressed while the coordinate system and shift key are pressed at the same time, a teaching command for a 2nd point is outputted and the robot position P2 at this time is taught as the 2nd point. The CPU 11 of a robot controller 10 calculates the components of the unit vector representing the direction of the directional straight line from P1 to P2 on the basis of the positions of the taught points P1 and P2 and stores them. The easy jog coordinate system is set through the operation and processing.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for setting a coordinate system (hereinafter referred to as "jok coordinate system") for jog feed of an industrial robot (hereinafter simply referred to as "robot"). More specifically, the present invention relates to a method for easily setting a jog coordinate system suitable for jog feed in an arbitrary direction.

[0002]

2. Description of the Related Art As a typical method for moving a robot toward a target position, there are a method of reproducing an operation program and a method of jog feed. The latter method by jog feed is used when the operation program in the former is created by the teaching / playback method. The robot movement by jog feed is executed by designating the movement direction of the robot (depressing the jog key) on the teaching operation panel.

Jog feed is continued by pressing the jog key,
Although a simple method for moving the robot by an operation such as interruption is provided, there are the following restrictions regarding the designation of the moving direction. That is, the movement direction of the robot that can be specified by the conventional jog feed is the direction (+ X, -X, + Y, etc.) along the coordinate axis of the set coordinate system (world coordinate system, user coordinate system, tool coordinate system, etc.). -Y, + Z,-
Z) or the direction (+ W,
-W, + P, -P, + R, -R) and each axis feed for the designated robot axis (+ J1, -J1, + J2)
, -J2 ...).

Due to such restrictions, when the robot is actually moved to a desired position, unless the target position is in the direction along the coordinate axes, selection and pressing of the jog key is repeated by trial and error and asymptotically. A complicated operation of reaching the target position was required. Further, since it is not always easy to accurately recognize the correspondence between the coordinate axis direction of each coordinate system and the direction in the working space, it requires skill to perform efficient jog feed.

Particularly, in various applications such as spot welding and arc welding, when teaching a large number of points arranged in a straight line, it is not possible to freely perform jog feed along the straight line on which these points lie. It was a problem. If you newly set another three-dimensional coordinate system having coordinate axes that match the desired movement direction, a tentative solution can be obtained, but in order to set the three-dimensional coordinate system, teach the positions of at least three points, At least 9 based on taught position
Parameters (3 for origin position, 6 for orientation) must be calculated / stored.

[0006]

SUMMARY OF THE INVENTION An object of the present invention is to eliminate the above-mentioned problems of the prior art. That is, the present invention is intended to provide a method for setting a jog coordinate system in which the setting operation and the internal processing for the setting are simple and the robot can be accurately jogged in a desired direction. In addition, through this, it is intended to facilitate the jog feed of the robot in an arbitrary direction and reduce the burden of teaching work.

[0007]

The present invention teaches a robot two points before and after movement of the robot by using a manual input means connected to a robot controller, and based on this, a one-dimensional simple jog is performed. The technical problem is solved by setting the coordinate system. That is, the position of the robot at that time is taught as the first point to the robot controller using the manual input means, and then the coordinate axis of the simple jog coordinate system to be set from the first point of the robot is set. Move to a position in the forward or reverse direction. Then, the position of the robot after the movement is taught as the second point by using the manual input means, and from the taught first point to the second point (in the case of forward direction) or the second point.
A one-dimensional simple jog coordinate system having a directional straight line from the point to the first point (in the case of the opposite direction) as the coordinate axis is set.

As the data to be stored at the time of setting, the taught first point to the second point (in the case of forward direction)
Alternatively, it is sufficient to store the vector data representing the direction of the directed straight line from the second point to the first point (in the case of the opposite direction), and it is not necessary to store the origin data of the simple jog coordinate system.

As a manual input means for setting the simple jog coordinate system, an ordinary three-dimensional Z coordinate system (base coordinate system, work coordinate system, etc.) set in the robot controller is used.
It also serves as a manual input means used for jog feed conforming to, and the manual input means has an operation mode for setting a simple jog coordinate system and a jog feed operation mode conforming to the set simple jog coordinate system. It is preferable to do so.

[0010]

In general, the jog feed of the robot causes the robot controller to perform translational movement in one direction or rotational movement around a straight line having that direction by using the output of the manual input means. Therefore, it is not necessary to specify three coordinate axes to specify the jog feed direction, and even if the translational or rotational direction (sign) is taken into consideration, it is sufficient to specify the directed straight line that represents the jog feed direction. Is. The present invention focuses on this point.

In order to specify one directed line, the robot should be taught two points. Therefore, in the present invention, first, the position of the robot at that time is taught as the first point to the robot controller by using the manual input means. If the robot is moved to a position in the forward or reverse direction of the coordinate axis of the simple jog coordinate system to be set from the first point and the robot position after the movement is taught as the second point, these teachings are given. One-dimensional with a directed straight line from the first point to the second point (in the forward direction) or a directed straight line from the second point to the first point (in the reverse direction) in the coordinate axes A simple jog coordinate system can be set.

Here, the essential information for specifying the direction of jog feed is the first point to the second point (in the case of forward direction) or the second point to the first point (in the reverse direction). Data) indicating the direction of the directed straight line toward the case), and the information on the existing position in the space is not essential information.

Therefore, as the data to be stored when setting the simple jog coordinate system, the taught first point to the second point (in the case of forward direction) or the second point to the first point are taught.
It is sufficient to store the vector data representing the direction of the directed straight line toward the point (in the case of the opposite direction), and it is not necessary to store the origin data of the simple jog coordinate system.

As a manual input means for setting the simple jog coordinate system, an ordinary three-dimensional Z coordinate system (base coordinate system, work coordinate system, etc.) set in the robot controller is used.
It can also be used as a manual input means (usually equipped as a teaching operation panel) used for jog feed in conformity with. In that case, the manual input means
In addition to the normal jog feed operation mode based on the three-dimensional coordinate system, an operation mode for setting the simple jog coordinate system and a jog feed operation mode based on the set simple jog coordinate system are prepared. .

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram showing a main part of a robot controller which can be used when the method for setting a simple jog coordinate system for a robot according to the present invention is carried out. First, referring to FIG. 1, a robot controller 10 has a central processing unit (hereinafter referred to as a CPU) 11, and the CPU 11 includes a memory 12 composed of a ROM, a memory 13 composed of a RAM, a non-volatile memory 14, Input / output device 15 that serves as an interface function with an external device, teaching operation panel 30
A robot axis control section 17 for controlling the operation of each axis of the interface 16 and the robot mechanism section 20 for this purpose via a servo circuit 18 is connected to each other via a bus 19.

The ROM 12 stores a program for controlling the entire system including the robot controller 10 itself. The RAM 13 is used for temporary storage of data for the processing performed by the CPU 11. In the non-volatile memory 14,
In addition to the operation program data of the robot and various set values related to the operation of each part of the system, a program and various data related to the setting of a jog coordinate system described later and the jog feed based on the setting are stored.

The teaching operation panel 30 connected to the interface 16 has a jog operating section 40 capable of outputting a command to the robot controller 10 by manual input. This jog operation unit 40 outputs a jog feed command based on the set simple jog coordinate system and a function of setting a simple jog coordinate system by an operation procedure described later, in addition to a function for performing a jog feed by a conventional method. It has a function.

It is conceivable to add an operation key to the jog operation section 40 in order to newly provide such a function, but in the present embodiment, in order to make the teaching operation panel 30 compact, a conventional three-dimensional view is used. Use the operation keys for jog feed based on the coordinate system.

FIG. 2 is a view exemplifying the key arrangement of the jog operating unit 40 used in this embodiment, and the arrangement itself is basically the same as the conventional arrangement. In the figure,
The function of each key is as follows. In the following description, an example will be described in which the simple jog coordinate system is set in the forward direction and a directed straight line representing the direction of the coordinate axis of the one-dimensional simple jog coordinate system is designated.

The coordinate system key 41 is a key for selecting a coordinate system. In addition to the selection of a reference coordinate system (three-dimensional coordinate system such as a base coordinate system and a work coordinate system) at the time of a jog operation according to the conventional method, a primary system according to the present invention is used. The original jog coordinate system can be selected. The shift key 42 is a key for shifting the function mode by pressing it simultaneously with other keys.
When the coordinate system key 41 is pressed while pressing the shift key 42 while the jog coordinate system is selected with the coordinate system key 41, the jog coordinate system setting mode is set.

Keys 43A, 43B, 44A. 44B, 4
The functions of 5A and 45B are as follows. (1) When a normal coordinate system (coordinate system other than the jog coordinate system) is selected with the coordinate system key 41; 1-1. When pressed alone (without pressing the shift key 42 at the same time)
, A command for translational jog feed movement in the + X axis, + Y axis, or + Z axis direction of each selected coordinate system is output. 1-2. When the shift key 42 and the shift key 42 are simultaneously pressed, a command for rotational jog feed movement in the + direction around the X axis, Y axis, or Z axis of each selected coordinate system is output.

(2) When the jog coordinate system coordinate system is selected with the coordinate system key 41; 2-1. When the shift key 42 and the coordinate system key 42 are simultaneously pressed in advance, the jog coordinate system setting mode is set. In this state, if any one of the keys 43A, 44A, 45A (for example, 43A) is selected and pressed alone, a command to store the robot position at that time as the first point for setting the jog coordinate system is given. Is output.

After moving the robot to another position, the key 43 corresponding to the key pressed when the first point is designated.
If B, 44B, or 45B (for example, the key 43B corresponding to the key 43A) is pressed alone, the jog coordinate system is calculated based on the data of the robot position (the second point) and the position of the first point at the time after the movement. A command for setting JG1 (simple X jog coordinate system), JG2 (simple Y jog coordinate system) or JG3 (simple Z jog coordinate system) is output. For example, when the keys 43A and 43B are sequentially pressed in pairs, the simple X jog coordinate system JG1 is set.

2-2. Without pressing the shift key 42 and the coordinate system key 42 at the same time in advance, the keys 43A, 44A, 45A
If any one of these (for example, the key 43A) is selected and pressed alone, the jog coordinate system JG1, JG2, or JG3.
A command for executing the translational jog movement in the + direction (for example, JG1 when the key 43A is pressed), that is, in the direction from the first point to the second point when the jog coordinate system is set is output.

2-3. Without pressing the shift key 42 and the coordinate system key 42 at the same time in advance, the keys 43B, 44B, 45B
If any one of the above (for example, the key 43B) is selected and pressed alone, the jog coordinate system JG1, JG2, or JG3.
A command for executing the translational jog movement in the-direction (for example, JG1 when the key 43B is pressed), that is, in the direction from the second point to the first point when the jog coordinate system is set is output.

2-4. Without pressing the shift key 42 and the coordinate system key 42 at the same time in advance, the keys 43A, 44A, 45A
If any one of them (for example, the key 43A) is selected and the shift key 42 is pressed at the same time, the jog coordinate system JG1, J
G2 or JG3 (for example, JG when key 43A is pressed)
A command for executing the rotational jog movement in the + direction around 1) is output.

2-5. Without pressing the shift key 42 and the coordinate system key 42 at the same time in advance, the keys 43B, 44B, 45B
If any one of them (for example, the key 43B) is selected and the shift key 42 is pressed at the same time, the jog coordinate system JG1, J
G2 or JG3 (For example, when key 43B is pressed, JG
A command for executing the rotational jog movement in the-direction around 1) is output.

Given the system configuration and functions described above, the situation shown in FIG. 3 is assumed here, and an example of the key operation performed by the operator and an outline of the processing executed by the CPU 11 will be described with reference to the flowchart shown in FIG. Explain. In FIG. 3, points Q1, Q2, ... Q10 represent teaching desired points arranged in a straight line. Such teaching points are often taken by spot welding or the like. now,
It is assumed that the robot has completed the movement to the point P1 which coincides with the first desired teaching point Q1 by the normal jog feed and stopped.

In such a situation, if the position teaching of each point from point Q2 to point Q10 is performed by the conventional jog feed, the three-dimensional coordinate system Σ as shown in FIG.
0; O-XYZ (for example, base coordinate system) is designated as the jog feed coordinate system, and translational movements in the X-axis direction, Y-axis direction, and Z-axis direction are repeated by trial and error, and points Q2, Q3.・
It is necessary to come to Q9, Q10.

In the present invention, in order to avoid such complicated work, the jog operating section 4 of the teaching operation panel 30 is performed in the following procedure.
A key operation of 0 and processing based on the output thereof are performed. First, when the "simple jog coordinate system" is selected by operating the coordinate system key 41, the robot controller 10 enters the simple jog coordinate system setting mode, and proceeds from step S1 to step S2. Next, when the coordinate system key 41 and the shift key 42 are pressed simultaneously and then the + X key 43A is pressed, a teaching instruction for the first point is output, and the process proceeds from step S2 to step S3. Then, in step S3, the robot position P1 at that time is taught as the first point.

Next, the coordinate system key 41 is operated to select another appropriate three-dimensional coordinate system (for example, the base coordinate system) (step S4), and the point P2 in the desired jog movement direction is selected.
(Here, it matches with the eighth teaching desired point Q8.)
To the conventional method of jog movement (step S
5).

Further, the coordinate system key 41 is operated again to reselect the "simple jog coordinate system", and the process proceeds from step S6 to step S7. Next, coordinate system key 41 and shift key 4
When the -X key 43A is pressed after pressing 2 at the same time, a teaching instruction for the second point is output, and the process proceeds from step S7 to step S8. In step S8, the robot position P2 at that time is taught as the second point.

Based on the taught positions of the first point P1 and the second point P2, the CPU 11 of the robot controller 10 directs the directed straight line g from the first point P1 to the second point P2.
[E x, e y, e of the unit vector <e> representing the direction of
z] is calculated and stored (step S9). The simple jog coordinate system JG1 is set by the above operation and processing.

The above description describes the method of teaching the direction of the coordinate axis of the simple jog coordinate system in the forward direction, and conversely, the method of teaching the direction of the coordinate axis of the simple jog coordinate system in the reverse direction. There is also. When the teaching method in the reverse direction is adopted, in step S9, the sign is inverted instead of the unit vector <e> representing the direction of the directed straight line from the first point P1 to the second point P2. The component [-ex, -ey, -ez] of-<e> may be calculated and stored.

When it is desired to set another jog coordinate system JG2, JG3, the + X key 43 in the above operation procedure is set.
+ Y key 44A, -Y instead of A, -X key 43B
Key 44B, or + Z key 45A, -Z key 4
5B may be used. In this example, a total of three simple jog coordinate systems can be set arbitrarily.

Jog feed based on the simple jog coordinate systems JG1, JG2, JG3 set in this way is executed in the following procedure. 1. Move the robot to the desired start point for jog feed (due to conventional jog feed, etc.). For example, the robot is returned to P1 shown in FIG. 2. Operate the coordinate system key 41 to display the "simple jog coordinate system".
Select

3. [If translational movement is desired]; From the preset simple jog coordinate systems JG1, JG2, JG3, select the key corresponding to the direction of movement 43A, 43B,
Select from 44A ... 45B and press it alone.
The CPU 11 of the robot controller 10 calculates the moving direction of the robot according to the pressed key, and jogs the robot in that direction. For example, when the key 43A is pressed in the example shown in FIG. 3, the robot is jogged along the direction parallel to the directed straight line g.

When the robot is started from P1, jog feed is realized so that the robot follows the directed straight line g. Therefore, the burden of the teaching work performed by sequentially moving the robot from Q1 onward to Q2, Q3 ... Q10 is remarkably reduced as compared with the conventional method that relies on jog feed.

[If you wish to rotate the movement]: Press the key 4
When selecting from 3A, 43B, 44A, ... 45B and pressing the shift key 42 at the same time, the CPU 11 of the robot controller 10 calculates the rotational movement direction of the robot according to the pressed key. Then, the robot is jogged in that direction. For example, if the key 43A is pressed in the example shown in FIG. 3, the robot is jog-rotated in the + direction around the directed straight line g. This function is effective for efficiently teaching the robot posture at each of the teaching points Q1, Q2, Q3, ... Q10 in FIG.

[0040]

According to the present invention, there is provided a method of setting a jog coordinate system which enables simple setting operation and internal processing for setting, and enables the robot to accurately jog in a desired direction. Also, through that, you can easily perform jog feed in any direction of the robot,
The burden of teaching work is reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a main part of a robot control device that can be used when implementing a simple jog coordinate system setting method for a robot according to the present invention.

FIG. 2 is a diagram exemplifying a key arrangement of a jog operation unit used in this embodiment.

FIG. 3 is a diagram illustrating a situation assumed in the embodiment.

FIG. 4 is a flowchart outlining a process executed in the embodiment.

[Explanation of symbols]

 10 Robot Controller 11 Central Processing Unit (CPU) 12 ROM 13 RAM 14 Nonvolatile Memory 15 External Device Input / Output Device 16 Teaching Control Panel Interface 17 Robot Axis Control Unit 18 Servo Circuit 19 Bus 20 Robot Mechanism Unit 30 Teaching Operation Panel 40 Jog operation unit 41 Coordinate system key 42 Shift key 43A + X key 43B -X key 44A + Y key 44B -Y key 45A + Z key 45B -Z key

Claims (5)

[Claims] 1. A method for setting a one-dimensional simple jog coordinate system by using a manual input means connected to a robot controller, wherein the manual input means is used to inform the robot controller of the robot at that time. Teaching the position as a first point; moving the robot to a position in the forward direction of the coordinate axis of the simple jog coordinate system to be set when viewed from the first point; A one-dimensional simple jog having the coordinate position of a directed straight line from the taught first point to the second point is taught to the robot control device by using the position of the robot after the movement as a second point. A method for setting a simple jog coordinate system of the robot, wherein a coordinate system is set. 2. A method of setting a one-dimensional simple jog coordinate system using a manual input means connected to a robot controller, wherein the manual input means is used to inform the robot controller of the robot at that time. Teaching the position as a first point; moving the robot to a position in the forward direction of the coordinate axis of the simple jog coordinate system to be set when viewed from the first point; The position of the robot after the movement is taught to the robot controller as a second point by using the vector data representing the direction of the directed straight line from the taught first point to the second point. By doing so, I set up a one-dimensional simple jog coordinate system.
A method for setting a simple jog coordinate system of the robot. 3. A method for setting a one-dimensional simple jog coordinate system using a manual input means connected to a robot controller, wherein the manual input means is used to inform the robot controller of the robot at that time. Teaching the position as a first point; moving the robot to a position opposite to the coordinate axis of the simple jog coordinate system to be set when viewed from the first point; A one-dimensional simple jog having the coordinate of the directed straight line from the taught second point to the first point is taught to the robot controller by using the position of the robot after the movement as the second point. A method for setting a simple jog coordinate system of the robot, wherein a coordinate system is set. 4. A method for setting a one-dimensional simple jog coordinate system by using a manual input means connected to a robot controller, wherein the manual input means is used to inform the robot controller of the robot at that time. Teaching the position as a first point; moving the robot to a position opposite to the coordinate axis of the simple jog coordinate system to be set when viewed from the first point; The position of the robot after the movement is taught to the robot control device as a second point by using the vector data representing the direction of the directed straight line from the taught second point to the first point is stored. By doing so, I set up a one-dimensional simple jog coordinate system.
A method for setting a simple jog coordinate system of the robot. 5. The manual input means for setting the simple jog coordinate system is also used as the manual input means for jog feed based on the three-dimensional Z coordinate system set in the robot controller. The operation mode for setting the simple jog coordinate system and the operation mode for jog feed in accordance with the set simple jog coordinate system are included, according to any one of claims 1 to 4. How to set the simple jog coordinate system of the robot.