JPH10329068A - Robot teaching device - Google Patents

Abstract

(57) [Problem] To provide a robot teaching device capable of performing a teaching operation in a short time without requiring skill in the teaching operation and further improving the coating quality. The present invention includes a robot having an articulated manipulator, a coating gun attached to a tip of the manipulator, and a controller for driving and controlling the manipulator. Based on the position data of the point P1 ′, the teaching point P0 point, P0 point
For an L-shaped trajectory connecting one point and P2 point,
Generate a trajectory having a predetermined curvature.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching device for a robot used for manufacturing industrial products.

[0002]

2. Description of the Related Art Conventionally, in a so-called teaching playback type robot, various teaching devices have been used as devices for teaching a work trajectory. As a teaching device for this type of robot, for example, as disclosed in JP-A-6-43928 and JP-A-7-64622, position data, acceleration data relating to a plurality of teaching points taught in advance, 2. Description of the Related Art There is known a device that automatically creates work trajectory data by interpolating between teaching points based on moving speed data or the like. Further, as a teaching device of a robot, for example, as disclosed in Japanese Patent Publication No. 6-105412, a smooth and continuous work trajectory data is automatically generated based on each point of an orthogonal space taught in advance. It is known to create them.

[0003]

In a conventional robot teaching device, a smooth and continuous work trajectory is automatically generated based on position data and the like relating to a taught teaching point. If the robot is not operated, the operator cannot confirm the work trajectory generated during reproduction. Under such circumstances, the conventional robot teaching device has the following problems. (1) Since the teaching points must be corrected several times including the preceding and following teaching points, only a skilled person can perform the teaching operation. (2) Even a skilled person needs several corrections to obtain a desired work trajectory, so that a long time is required for teaching work and, consequently, the downtime of the production line becomes long. (3) At the time of teaching, since the work trajectory cannot be confirmed unless the robot is actually operated, interference may occur in which the robot comes into contact with the work to be worked. Further, in the conventional robot teaching device, it is possible to make a setting that the work trajectory to be generated passes the teaching point and a setting that the work trajectory does not pass the teaching point. Can not guarantee the specified speed. Therefore, the conventional robot teaching device has a problem that it is difficult to maintain the coating quality during reproduction. The present invention has been made under such a background, and provides a teaching device for a robot capable of performing a teaching operation in a short time without requiring skill in the teaching operation and further improving coating quality. The purpose is to do.

[0004]

According to a first aspect of the present invention, there is provided a robot for performing a work on a work disposed on a work surface by a work tool attached to a distal end portion of a manipulator. Storage means for storing position data of the plurality of teaching points, and a line segment which divides an angle between two straight lines intersecting a specific teaching point among the plurality of teaching points into two and passes through the specific teaching point A line trajectory data generating means for generating trajectory data, and when the manipulator is driven so that the working tool moves along the line trajectory, and when a teaching point on the line trajectory is instructed by an operator. Drive control means for stopping driving of the manipulator; and passing the teaching points on the line segment trajectory based on the position data of the teaching points on the line segment trajectory and the position data stored in the storage means. Characterized by comprising the trajectory data generating means for generating data of the track to be. According to the first aspect of the present invention, since the manipulator is actually operated to visually teach the teaching points on the line segment trajectory, the teaching work can be performed in a short time without skill. Can be performed, and the coating quality can be further improved. The invention according to claim 2 is
2. The robot teaching device according to claim 1, wherein the trajectory data generating unit is on the line segment trajectory located inside two straight lines connecting the specific teaching point and the teaching points before and after the specific teaching point. 3. When a teaching point is specified by the operator, trajectory data including an arc trajectory passing through the preceding and following teaching points and a teaching point on the line segment trajectory is generated. According to the second aspect of the present invention, since the trajectory data generation means automatically generates the trajectory data including the arc trajectory passing through the teaching point on the line segment trajectory,
A trajectory including an arc trajectory can be easily obtained only by a simple operation of designating a teaching point on a line segment trajectory. Therefore, according to the second aspect of the present invention, a teaching operation can be performed without skill even on a complicated trajectory including an arc trajectory. According to a third aspect of the present invention, in the robot teaching device according to the first aspect, the trajectory data generating unit connects the specific teaching point with the teaching points before and after the specific teaching point. Of the trajectory including the specific teaching point, the preceding and following teaching points, and the loop trajectory passing through the teaching point on the line segment trajectory when the teaching point on the line segment trajectory located outside the robot is instructed by the operator. It is characterized by generating data. According to the third aspect of the present invention, similarly to the second aspect, the trajectory data including the loop trajectory including the loop trajectory passing through the teaching point on the line segment trajectory is automatically generated by the trajectory data generating means. Since it is generated, a trajectory including a loop trajectory can be easily obtained only by a simple operation of designating a teaching point on a line segment trajectory. Therefore, according to the third aspect of the present invention, a teaching operation can be performed without skill even on a complicated trajectory including a loop trajectory. According to a fourth aspect of the present invention, in the robot teaching apparatus according to any one of the first to third aspects, the line segment trajectory data generating means includes a plurality of the teaching points of the plurality of teaching points stored in the storage means. Vibration or the like does not occur in the manipulator based on the position data and the moving speed of the work tool set in advance,
A settable range of the teaching point on the line segment trajectory is obtained. According to the fourth aspect of the present invention, since the settable range is obtained by the line segment trajectory data generating means, vibration and the like do not occur in the manipulator, and the teaching accuracy can be improved.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing an external configuration of a robot teaching device according to an embodiment of the present invention. In this figure, reference numeral 1 denotes a robot having a multi-joint type manipulator 1a, and each joint is driven by a driving device (motor) (not shown). 1b is a coating gun attached to the tip of the manipulator 1a,
The paint is sprayed onto a work (not shown) to be painted, which is disposed below, along a work track described later.

Reference numeral 2 denotes a controller for driving and controlling the manipulator 1a. The controller 2 prepares teaching data based on data of a plurality of teaching points taught in advance, coating speed data, and the like. Details of the operation of the controller 2 will be described later. Reference numeral 3 denotes a teaching pendant used for controlling the operation of the manipulator 1a and inputting the above-mentioned coating speed data, and has a plurality of keys.

FIG. 2 is a block diagram showing an electrical configuration of the controller 2 shown in FIG. 1 and each device connected to the controller 2. In this figure, parts corresponding to the respective parts in FIG. 1 are denoted by the same reference numerals, and description thereof is omitted. In the controller 2 shown in FIG.
(Central processing unit), which controls various operations such as creation of teaching data of the robot and each device. The details of the processing performed by the CPU 4 will be described later.

Reference numeral 5 denotes a ROM (Read Only Memory), which stores a program used in the CPU 4. 6 is a RAM (random access memory)
It stores the taught position data, parameters associated with painting, and the like. A motor driver 7 drives the motor 8 based on a motor drive signal Sm supplied from the CPU 4. The motor 8 includes a manipulator 1a (see FIG. 1).
Drive each joint. Further, the motor 8 outputs a position signal Sp indicating the position of each joint, in other words, the position of the coating gun 1 b to the CPU 4 via the motor driver 7.

Next, the operation of each section of the apparatus according to the above-described embodiment will be described in detail. However, the processing operation described below is for a two-dimensional plane area in order to simplify the description. In practice, this processing operation is performed on a three-dimensional space. The operations described in detail below relate to the teaching operation at the time of [coarse] setting and the teaching operation at the time of [fine] setting.

<Teaching operation when [Coarse] is set>
The teaching operation at the time of setting [coarse] will be described with reference to FIG. FIG. 3 shows the CPU when [Coarse] or [Fine] is set.
FIG. 14 is a PAD diagram showing a processing procedure of No. 4; First, the operator moves the coating gun 1b (see FIG. 1) to the point P0 shown in FIG.
The teaching pendant 3 is operated to teach three points, one point and P2 point.

That is, the operator operates the teaching pendant 3 to teach the point P0. As a result, a signal for driving the manipulator 1a is supplied from the teaching pendant 3 to the CPU 4, and then a motor drive signal Sm corresponding to the signal is supplied from the CPU 4 to the motor driver 7. As a result, the motor 8 is driven, the joints of the manipulator 1a are driven, and the coating gun 1b moves toward the point P0 shown in FIG.

When the coating gun 1b is located at the point P0, the operator operates the teaching pendant 3. Accordingly, a stop signal is output from the teaching pendant 3 to the CPU 4, and the CPU 4 stops outputting the motor drive signal Sm. Therefore, the manipulator 1
In a, the coating gun 1b is stopped in a state where the coating gun 1b is located at the point P0.

Next, the CPU 4 fetches the motor drive signal Sm output from the motor 8 and then stores the position data of the point P0 obtained from the motor drive signal Sm in the RAM 6
Write to Here, the position data of the point P0 is shown in FIG.
Are the x-coordinate component x0 and the y-coordinate component y0 of the point P0 shown in FIG.

Thereafter, the operator sequentially teaches the points P1 and P2 shown in FIG. 4 in the same manner as the teaching operation of the point P0 described above. When the teaching of the points P1 and P2 is completed, the RAM 6 stores the position data (x1, y
1) and the position data (x2, y2) of point P2 are written.

Next, the operator inputs the point P0, P
The “coarse” setting or the “fine” setting for the P1 point out of the 1 point and the P2 point is performed by operating the teaching pendant 3. Here, the [coarse] setting and the [fine] setting will be described in detail. First, the coarse setting
This refers to a setting for generating a trajectory having a predetermined curvature with respect to an L-shaped trajectory connecting points P0, P1, and P2 as teaching points shown in FIG. In other words, the [coarse] setting refers to a setting for generating a trajectory that does not pass through the taught point P1.

The trajectory having the above-mentioned predetermined curvature passes through the path shown by P0 → A0 → P1 ′ → A1 → P2 shown in FIG.
The trajectory passing through the point path is arc-shaped. The curvature increases as the distance d1 between the point P1 and the point P1 ′ located inside the point P1 decreases, while the distance d increases.
The smaller the value of 1, the larger the value. The position of the point P1 'is set in advance by the operator.

Further, the coating gun 1b is moved along the above-mentioned orbit.
Is moved, the CPU 4 outputs the motor drive signal Sm so that the speed pattern shown in FIG. 7 is obtained. The moving speed V shown in this figure is the vector sum of the speed component V0 in the x direction and the speed component V1 in the y direction. That is, between the point P0 and the point A0 shown in FIG. 6, the speed component V0 is a constant value, while the speed component V1 is zero. A0
From the point to the point A1, the speed component V0 decreases at a constant decreasing rate and becomes zero at the point A1, whereas the speed component V0 decreases.
1 increases at a constant increase rate and becomes a constant value at point A1, and further, at point P1 ', both the velocity component V0 and the velocity component V1 have the same value. Also, between points A1 and A2,
While the speed component V0 is zero, the speed component V1 has a constant value.

On the other hand, the [fine] setting means that the point P1 and the point outside the point P1 are located on the L-shaped trajectory connecting the points P0, P1 and P2 as the teaching points shown in FIG. This is a setting for generating a trajectory to which a loop trajectory passing through the point P1 'is added. In other words, the Fine setting is
This is a setting for generating a trajectory passing through the taught point P1.

The trajectory having the loop trajectory is a point P0 →
The loop trajectory passes through the route of point P1 → point P1 ′ → point P1 → point P2. The curvature of the loop trajectory increases as the distance d2 between the points P1 and P1 ′ decreases, while the distance d
The smaller the value of 2, the larger the value. The position of the point P1 'is set in advance by the operator.

Further, the coating gun 1b is moved along the above-mentioned track.
Is moved, the CPU 4 outputs the motor drive signal Sm so that the speed pattern shown in FIG. 9 is obtained. That is, between the points P0 and P1 shown in FIG. 8, the speed component V0 is a constant value, while the speed component V1 is zero.
Further, during the period from the point P1 to the point P1 ′, the speed component V0 decreases at a constant decreasing rate, while the speed component V1 increases at a constant increasing rate in the negative direction, and then increases at a constant rate in the positive direction. Increase at an increasing rate. At the point P1 ', both the speed component V0 and the speed component V1 have the same value.

During the period from the point P1 'to the point P1, the speed component V0 decreases at a constant decreasing rate, then increases at a constant increasing rate and becomes zero at the point P1. In contrast, P1 '
From the point to the point P1, the speed component V1 increases at a constant rate of increase and becomes a constant value at the point P1. Also, P
From the point 1 to the point P2, the speed component V0 is zero, while the speed component V1 has a constant value. Therefore, P0
The moving speed of the coating gun 1b specified by the operator is guaranteed in each straight line portion from the point to the point P1 and from the point PP to the point P2.

In this case, it is assumed that the operator has set [coarse] for the point P1 using the teaching pendant 3. As a result, a signal indicating the [coarse] setting is output from the teaching pendant 3 to the CPU 4, and the CPU 4 recognizes that the [coarse] setting has been made for the point P1.

Next, the operator uses the teaching pendant 3 to input data of the moving speed V of the coating gun 1b. Here, the moving speed V is represented by the vector sum of the speed component V0 in the x direction and the speed component V1 in the y direction shown in FIG. The data of the moving speed V is CP
After being input to U4, it is written to RAM6 by CPU4.

Now, when the teaching pendant 3 is operated by the operator, a signal indicating this is output to C.
Output to PU4. Accordingly, the CPU 4 proceeds to step S1 shown in FIG. 3, substitutes zero for the internal variable i, and then proceeds to step S2.

In step S2, while the internal variable i is smaller than the number N of teaching points, the CPU 4 performs the processing in step S3 and subsequent steps. Here, the number of teaching points N is the total number of teaching points. Therefore, in this case, since the points P0, P1 and P2 shown in FIG. 4 are taught, the number N of teaching points is
"3".

In step S3, the CPU 4 proceeds to step S4 until the coating gun 1b reaches the Pi point which is a teaching point.
And the processing of S5. Here, the subscript i of the Pi point
Corresponds to the internal variable i described above.

In step S4, the CPU 4 determines whether or not the "forward key" of the teaching pendant 3 (see FIG. 2) has been pressed by the operator. Here, the "forward key" is a key for instructing movement of the manipulator 1a. Then, when the “forward key” is pressed by the operator, a signal indicating that the “forward key” is pressed is output from the teaching pendant 3 to the CPU 4.

After recognizing that the "forward key" has been pressed, the CPU 4 proceeds to step S5. In step S5, the CPU 4 reads the paint gun 1b from the RAM 6.
After reading the position data (x0, y0) of the point P0, which is the destination of the movement, a motor drive signal Sm is output to the motor driver 7 so as to move the coating gun 1b to the point P0 shown in FIG. As a result, the motor 8 is driven by the motor driver 7, and the manipulator 1a is driven. And
The painting gun 1b moves toward the point P0. During this movement, the CPU 4 captures the position signal Sp output from the motor 8, and monitors the position data of the coating gun 1b obtained from the position signal Sp.

Now, when the coating gun 1b is positioned at the point P0, that is, the position data obtained from the position signal Sp is stored in the RAM 6 at the position data (x
(0, y0), the CPU 4 stops outputting the motor drive signal Sm, and then proceeds to step S6. As a result, when the manipulator 1a stops, the coating gun 1b stops in a state where it is located at the point P0.

In step S6, the CPU 4 determines whether or not the above-mentioned [coarse] or [fine] setting has been set for the Pi point. If the same has been set, the process proceeds to step S7, while the same setting is made. If not, step S
Proceed to 19. In this case, since neither “coarse” nor “fine” is set for the point P0, the CPU 4
Proceed to step S19.

In step S19, after the internal variable i is incremented by one, the process proceeds to step S2. In this case, the internal variable i is “1”. In step S2, the CPU
In No. 4, the process proceeds to step S3 because the internal variable i (= 1) is smaller than the number of teaching points N (= 3). In step S3,
The CPU 4 performs the processing of steps S4 and S5 until the coating gun 1b reaches the point P1 shown in FIG.

In step S4, the CPU 4 determines whether or not the "forward key" of the teaching pendant 3 (see FIG. 2) is pressed by the operator in the same manner as the above-described operation. Then, when the “forward key” is pressed by the operator, the CPU 4 sets the “forward key”
After recognizing that has been pressed, the process proceeds to step S5. In step S5, the CPU 4 reads the position data (x1, y1) of the point P1 from the RAM 6, and then sends the motor drive signal Sm to the motor driver 7 so as to move the coating gun 1b to the point P1 shown in FIG. Output. As a result,
The motor 8 is driven by the motor driver 7, and the manipulator 1a is driven. And the painting gun 1b is P
Move toward one point.

When the paint gun 1b is now positioned at the point P1, that is, when the position data obtained from the position signal Sp matches the position data (x1, y1) of the point P1 stored in the RAM 6, the CPU 4 Stops the output of the motor drive signal Sm, and then proceeds to step S6. As a result, when the manipulator 1a stops, the coating gun 1b stops with the painting gun 1b positioned at the point P1.

In step S6, the CPU 4 proceeds to step S7 because [coarse] is set for the point P1. In step S7, the CPU 4 determines the Pi-1 point, Pi
From the position data of the point and the Pi + 1 point,
Data of a line segment L passing through the point i (see FIG. 4) is obtained.
In this case, since the internal variable i is “1”, the line segment L shown in FIG. 4 passes through the point P1 and connects the points P0 and P1, and the points P1 and P2. Is divided into two equal angles with the line segment connecting. Then, after obtaining the data of the line segment L shown in FIG. 4, the CPU 4 proceeds to step S8.

In step S8, the CPU 4 determines that Pi-1
Point, Pi point and Pi + 1 point position data, painting gun 1
The position data (xmin, ymin) of the Pmin point and the position data of the Pmax point (xmin, ymin) on the line segment L based on the speed component V0 of the moving speed V in the x direction and the moving speed V1 of the moving speed V in the y direction. xmax, ymax) and then step S
Go to 9. Here, the Pmin point is a critical point at which the coating gun 1b can move without vibration or the like in the [coarse] setting. On the other hand, the Pmax point is a critical point at which the coating gun 1b can move without vibration or the like in the [fine] setting.

In step S9, the CPU 4 determines whether or not the "enter key" or "cancel key" of the teaching pendant 3 has been pressed by the operator. If not, the CPU 4 makes the following determination. That is, when the above-mentioned [coarse] is set, the CPU 4
While the process proceeds to step S10, if [fine] is set, the process proceeds to step S11. In this case, the "Enter key" or "Cancel key" is not pressed, and [Coarse]
Since the setting has been made, the CPU 4 proceeds to step S13.

In step S13, the CPU 4 sets [rough]
Since the setting has been made, the processing of steps S14 and S15 is performed. In step S14, the CPU 4 sets the paint gun 1
If b is not located at the point Pmin shown in FIG. 4, the process proceeds to step S15. In this case, since the coating gun 1b is located at the point P1, the CPU 4 proceeds to step S15.

In step S15, the CPU 4 sets the RAM
After reading the position data (xmin, ymin) of the Pmin point from No. 6, the position data (xmin, ym) is moved to move the coating gun 1b on the line L from the point P1 shown in FIG.
in), and outputs the motor drive signal Sm to the motor driver 7, and then returns to step S9. As a result, the motor 8 and the manipulator 1a are driven, and the coating gun 1b moves on the line segment L toward the point Pmin.

When the "decision key" of the teaching pendant 3 is pressed by the operator when the coating gun 1b is located at the point P1 'on the line L shown in FIG. A signal corresponding to the “enter key” is output to the CPU 4. Thereby, the CPU 4 changes the determination result of step S9 to “YES”.
And proceeds to step S16. In step S16, C
The PU 4 proceeds to step S17 because the “Enter key” has been pressed.

In step S17, the CPU 4 stops outputting the motor drive signal Sm and stops driving the motor 8. Thereby, the coating gun 1b is moved to P1 'shown in FIG.
Stops at the point. Next, after taking in the position signal Sp outputted from the motor 8, the CPU 4 obtains the data on the current position of the coating gun 1b obtained from the position signal Sp, that is, the position data of the point P1 'shown in FIG. After substituting (xd1, yd1) for the variable P1 ', the process proceeds to step S18.

In step S18, the CPU 4 sets the currently set "0" ([fine]
Setting) or “1” ([coarse] setting). Here, the subscript i of the fine / coarse setting flag FPi corresponds to the subscript of the teaching point Pi set to [fine] or [coarse]. Therefore, in this case, since the point P1 is set to “coarse”, the CPU 4 stores “1” in the fine / coarse setting flag FP1, and then proceeds to step S19.

In step S19, the CPU 4 increments the internal variable i by one (i = 2), and then proceeds to step S19.
Return to 2. In step S2, the CPU 4 determines that the internal variable i
Since (= 2) is smaller than the number of teaching points N (= 3), the process proceeds to step S3, and the process regarding the point P2 (see FIG. 4) is performed in the same manner as the above-described process.

That is, in step S4, when the "forward key" of the teaching pendant 3 (see FIG. 2) is pressed by the operator, the CPU 4 proceeds to step S5.
Proceed to. In step S5, the CPU 4 reads the position data (x2, y2) of the point P2 shown in FIG. 4 to which the coating gun 1b moves, from the RAM 6, and then outputs a motor drive signal Sm to the motor driver 7.

Thus, the motor 8 is driven, and the coating gun 1b moves toward the point P2. If the position data obtained from the position signal Sp now matches the position data (x2, y2) of the point P2 stored in the RAM 6, the CPU 4 stops outputting the motor drive signal Sm, and then proceeds to step S6. move on.

In step S6, the CPU 4 executes the P2
Since the above-described [coarse] or [fine] setting has not been performed for the point, the process proceeds to step S19, and the internal variable i is set to 1
After the increment (i = 3), the process returns to step S2. In step S2, since the internal variable i (= 3) is equal to the number of teaching points N (= 3), the CPU 4 proceeds to step S20.
Proceed to.

In step S20, the CPU 4 waits whether or not the "save key" of the teaching pendant 3 has been pressed by the operator, that is, until a signal corresponding to the "save key" is input from the teaching pendant 3. . Then, when the "save key" is pressed by the operator, the CPU 4 proceeds to step S21. In step S21, the CPU 4 writes the variable Pi 'and the fine / fine setting flag FPi described above into the RAM 6.

<Reproduction Operation at [Coarse] Setting> Next, [Coarse]
The reproducing operation at the time of setting will be described with reference to FIG. FIG.
FIG. 8 is a PAD diagram showing a processing procedure of the CPU 4 when setting [rough] or [fine]. Now, when the "play key" of the teaching pendant 3 is pressed by the operator,
From the teaching pendant 3, a signal corresponding to the “reproduction key” is output to the CPU 4.

Thus, the CPU 4 proceeds to step S31 shown in FIG. 5, and stores the position data of the above-described teaching points P0 to Pi, the position of the Pi ′ point which is the fine and coarse setting point, stored in the RAM 6. Data and fine setting flag FP
i is read from the RAM 6. In this case, the CPU 4
The position data (x0, y0), (x1, y1) and (x2, y) of the points P0, P1, and P2 shown in FIG.
2), and position data (xd1, yd) of point P1 ′
1) and the coarse / fine setting flag FP1 (= 1) in RAM
After reading from step 6, the process proceeds to step S32.

In step S32, the CPU 4 substitutes zero for the internal variable i, and then proceeds to step S33. In step S33, the CPU 4 determines that the internal variable i is the number of teaching points N
While it is smaller than the above, the processing after step S34 is performed. In step S34, the CPU 4 sets the fine / coarse setting flag FPi +
In step 1, it is determined whether the [fine] setting (= 0) is set, the [coarse] setting (= 1) is set, or none is set.

That is, the CPU 4 sets [fine] (=
If neither “0” nor “coarse” setting (= 1) is set, the process proceeds to step S35, where “0” is set in the trajectory pattern flag GF, and then the process proceeds to step S55.
In step S55, the CPU 4 outputs the motor drive signal Sm to the motor driver 7 so as to move the coating gun 1b along the speed pattern shown in FIG. 10, and then proceeds to step S56, where the internal variable i is incremented by one. Thereafter, the process returns to step S33. The speed pattern shown in FIG. 11 is a vector sum of a speed component V0 which is an x-direction component of the moving speed V and a speed component V1 which is a y-direction component.

According to the speed pattern shown in FIG. 10, the speed component V0 of the moving speed V takes a constant value from the point P0, and decreases at a constant rate when the coating gun 1b is positioned before the point P1. I do. Then, the speed component V0 takes zero from the point P1 to the point P2. On the other hand, the speed component V1 of the moving speed V takes zero from the point P0 to the point P1,
When the paint gun 1b is located at the point P1, the value increases at a constant rate, and when the paint gun 1b is located at a point before the point P2, it takes a constant value. As a result, the coating gun 1b moves along a substantially L-shaped trajectory of point P0 → point P1 → point P2 shown in FIG.

On the other hand, the CPU 4 sets the fine / coarse setting flag FPi +
1, the [fine] (= 0) or the [coarse] setting (=
If any one of 1) is set, step S36
Proceed to. In this case, the fine / fine setting flag FP1 (= FP0 +
Since [Coarse] setting (= 1) is set in 1), CP
U4 proceeds to step S36.

In step S36, the CPU 4 determines the trajectory change start point Ai based on the position data of the Pi point, Pi + 1 point as the teaching point, and Pi + 1 'point as the fine / coarse setting point. Here, the orbit change start point Ai is Pi point and Pi point
The point on the straight line connecting the +1 point and the painting gun 1b (FIG. 1)
Is the point at which the trajectory changes. The subscript i of the orbit change start point Ai corresponds to the internal variable i.

Specifically, in the example shown in FIG. 6, since the internal variable i is zero, the Pi point is the P0 point, the Pi + 1 point is the P1 point, and the Pi + 1 'point is the P1' point. is there. The position data of the points P0, P1 and P1 ′ are
(X0, y0), (x1, y1) and (xd1, yd)
1). Further, the trajectory change start point Ai is the point A0, and the point A0 is a point located on a straight line connecting the points P0 and P1. Next, the CPU 4 determines the line segment P0 shown in FIG.
Assuming that the angle between the point -P1 and the line segment P1 -P2 point is θ, the ratio between the distance d1 and the line segment P1 point-0 point (not shown) is obtained as follows. Here, the point O is a center point of the arc from the point A0 to the point P1 ′. ((1 / sin θ) -1): 1 Here, ((1 / sin θ) -1) is represented by H. Next, the CPU 4 calculates the coordinates (xO, yO) of the point O as follows. O (x, y) = O ((x1-xd1) / H, (y1-y
d1) / H) Next, the CPU 4 sets the intersection of the straight line passing through the obtained O (x, y) point and orthogonal to the line segment P0-P1 with the line P0-P1 as the point A0. (Ax0, AyO). After obtaining the position data (Ax0, Ay0) of the point A0, the CPU 4 proceeds to step S37.

In step S37, the CPU 4 sets the teaching point Pi + 1 in the same manner as the trajectory change start point Ai described above.
The trajectory change start point Ai + 1 is obtained based on the position data of the point, Pi + 2, and the point Pi + 1 'which is the fine / coarse setting point. Here, the trajectory change start point Ai + 1 is a point on a straight line connecting the Pi + 1 point and the Pi + 2 point, and is a coating gun 1b (see FIG. 1).
Is the point at which the trajectory changes.

Specifically, in the example shown in FIG. 6, since the internal variable i is zero, the Pi + 1 point is the P1 point, the Pi + 2 point is the P2 point, and the Pi + 1 'point is the P1'. Is a point. In addition, each of the position data of the points P1, P2, and P1 ′ is
(X1, y1), (x2, y2) and (xd1, yd)
1). Further, the trajectory change start point Ai is the point A1, which is a point located on a straight line connecting the points P1 and P2. Then, the CPU 4 obtains the position data (Ax1, Ay1) of the point A1, and thereafter, proceeds to step S38.
Proceed to.

In step S38, the CPU 4 determines the distance from the point at which the speed component Vi, which is a constant value of the moving speed V in the x direction, of the coating gun 1b between the point Pi and the point Pi + 1 is reduced to zero. Find Bi. In the example shown in FIG. 6, the distance Bi is B0, and this distance B0 is A0
This is the distance from the point near the point to the point P1, and the speed component V0 of the moving speed V in the x direction decreases from the point near the point A0 and becomes zero at the point P1. Specifically, the CPU 4
The preset maximum acceleration a, P0 of the coating gun 1b
The distance B0 is obtained by substituting the velocity V0 from the point to the point P1 into the following equation. B0 = (１ ／) · a · (V0 / a) ² Therefore, in this case, the CPU 4 determines that the distance B
After obtaining 0 (see FIG. 6), the process proceeds to step S39.

In step S39, the CPU 4 sets Pi + 1
From the point to the point Pi + 2, the distance Bi + 1 from the point at which the velocity component Vi + 1 of the moving velocity V in the y direction of the coating gun 1b is changed from zero to a constant value is determined. In the example shown in FIG. 6, the distance Bi + 1 is B1, and this distance B1 is the distance from the point P1 to a point near the point A1, and
The speed component V1 in the direction increases from the point P1 to A1
The value becomes constant at a point near the point. Specifically, the distance B1
Is represented by the following equation. B1 = (１ ／) · a · (V1 / a) ² Therefore, in this case, the CPU 4 calculates the distance B1 (see FIG. 6) as the distance Bi + 1, and then proceeds to step S40.

In step S40, the CPU 4 checks the setting from the fine / coarse setting flag FPi + 1. That is, CP
U4 indicates that the fineness setting flag FPi + 1 is “0”
After confirming that [fine] has been set, step S4
On the other hand, if the fine / coarse setting flag FPi + 1 is “1”, it is confirmed that [coarse] is set, and then the process proceeds to step S41. In this case, the fine / fine setting flag FP1 (F
Pi + 1) is “1” and [Coarse] is set,
The CPU 4 proceeds to step S41.

In step S41, the CPU 4 compares the distance between the point Ai calculated in step S36 and Pi + 1 with the distance Bi calculated in step S38. On the other hand, if the distance Bi is large, the process proceeds to step S45.
In the example shown in FIG. 6, since the distance B0 is smaller than the distance between the points A0 and P1, the CPU 4 proceeds to step S42.

In step S42, the CPU 4 determines the distance between the point Ai + 1 and the point Pi + 2 calculated in step S37 and the distance Bi + 1 calculated in step S39.
If the distance Bi + 1 is small, the process proceeds to step S4
If the distance Bi + 1 is large while proceeding to step S3, step S4
Proceed to 4. In the example shown in FIG. 6, the distance B1 is between the point A1 and the point P2.
Since the distance is smaller than the distance to the point, the CPU 4 proceeds to step S43.

In step S43, the CPU 4 sets 1 to the trajectory pattern flag GF, and then proceeds to step S55.
Proceed to. In step S55, the CPU 4 outputs a motor drive signal Sm to the motor driver 7 so as to move the coating gun 1b along the speed pattern shown in FIG. The speed pattern shown in the figure is a vector sum of a speed component V0 which is an x-direction component of the moving speed V and a speed component V1 which is a y-direction component.

According to the speed pattern shown in FIG. 11, the speed component V0 of the moving speed V takes a constant value from the point P0, and decreases at a constant decreasing rate when the coating gun 1b slightly passes through the point A0. The velocity component V0 becomes zero at a point before the point A1, and thereafter becomes zero from the point before the point to the point P2. On the other hand, the speed component V1 of the moving speed V is zero from the point P0, and when the coating gun 1b slightly passes through the point A0,
The speed component V0 increases at a constant increase rate at the point P1 '.
Takes the same value as The velocity component V1 takes a constant value at a point before the point A1, and thereafter takes a constant value from the point before the point to the point P2.

As a result, the coating gun 1b moves along the trajectory shown in FIG. 6, that is, the point P0 → the point slightly passing through the point A0 → the point P1 ′ → the point before the point A1 → the point P2. The curvature of this trajectory is larger than that of the trajectory indicated by the solid line in FIG. 7, that is, the trajectory generated by the velocity pattern shown in FIG.

On the other hand, in step S42, the distance Bi +
If 1 is greater than the distance between points Ai + 1 and Pi + 2,
Specifically, if the distance B1 shown in FIG. 6 is larger than the distance between the point A1 and the point P2, the CPU 4 proceeds to step S4
Proceed to 4.

In step S44, the CPU 4 sets 2 to the trajectory pattern flag GF, and then proceeds to step S55.
Proceed to. In step S55, the CPU 4 outputs a motor drive signal Sm to the motor driver 7 so as to move the coating gun 1b along the speed pattern shown in FIG.

According to the speed pattern shown in FIG. 12, the speed component V0 of the moving speed V takes a constant value from the point P0, and decreases at a constant rate when the coating gun 1b passes the point A0 slightly. The velocity component V0 becomes zero at a point before the point A1, and thereafter becomes zero from the point before the point to the point P2. On the other hand, the speed component V1 of the moving speed V is zero from the point P0, and increases when the coating gun 1b passes a point before the point A0 at a constant increasing rate. Take. Then, the speed component V1 takes a constant value at a point slightly passing through the point A1, and thereafter takes a constant value from the point before the above to the point P2.

On the other hand, in step S41, the distance Bi
Is larger than the distance between the points Ai and Pi + 1, specifically, if B0 shown in FIG. 6 is larger than the distance between the points A0 and P1, Proceed to S45. In step S45, the CPU 4 determines in step S37
The distance between the points Ai + 1 and Pi + 2 calculated in
Comparing the distance Bi + 1 calculated in step S39, the process proceeds to step S46 if the distance Bi + 1 is small, whereas the process proceeds to step S46 if the distance Bi + 1 is large. In this case, assuming that distance B1 shown in FIG. 6 is smaller than the distance between point A1 and point P2, CPU 4 proceeds to step S46.

In step S46, the CPU 4 sets 3 in the trajectory pattern flag GF, and then proceeds to step S55.
Proceed to. In step S55, the CPU 4 outputs a motor drive signal Sm to the motor driver 7 to move the coating gun 1b along the speed pattern shown in FIG.

According to the speed pattern shown in FIG. 13, the speed component V0 of the moving speed V takes a constant value from the point P0 and decreases at a constant rate when the coating gun 1b passes a point before the point A0. I do. Then, the velocity component V0 becomes zero at a point slightly passing through the point A1, and thereafter becomes P0 from the passing point.
It is zero up to two points. On the other hand, the speed component V1 of the moving speed V
Is zero from the point P0, increases when the coating gun 1b passes the point A0 slightly, and increases at a constant increase rate, and takes the same value as the velocity component V0 at the point P1 '. And the speed component V1
Takes a constant value at a point before the point A1, and then takes a constant value from the point before the point to the point P2.

On the other hand, if it is determined in step S45 that the distance B1 shown in FIG. 6 is larger than the distance between the points A1 and P2, the CPU 4 proceeds to step S47. In step S47, the CPU 4 sets the trajectory pattern flag GF to 4
Is set, and the process proceeds to step S55.

In the step S55, the CPU 4 executes the processing shown in FIG.
The motor drive signal Sm is output to the motor driver 7 so as to move the coating gun 1b according to the speed pattern shown in FIG.

According to the speed pattern shown in FIG. 14, the speed component V0 of the moving speed V takes a constant value from the point P0, and decreases at a constant rate when the paint gun 1b passes a point before the point A0. I do. Then, the velocity component V0 becomes zero at a point slightly passing through the point A1, and thereafter becomes P0 from the passing point.
It is zero up to two points. On the other hand, the speed component V1 of the moving speed V
Is zero from the point P0, increases when the paint gun 1b passes a point before the point A0, at a constant increase rate, and takes the same value as the velocity component V0 at the point P1 '. The velocity component V1 takes a constant value at a point slightly passing through the point A1, and thereafter takes a constant value from the passing point to the point P2.

<Teaching operation at the time of setting [fine]> [Coarse]
The teaching operation at the time of setting will be described with reference to FIG. First, the operator teaches the points P0, P1, and P2 shown in FIG. When the teaching operation is completed, the data (x0, y0), (x1, y1), (x1, y1) and (x) of the points P0, P1, and P2 are stored in the RAM 6 under the control of the CPU 4.
2, y2) has been written.

Next, the operator inputs the point P0, P
It is assumed that the operator has set [fine] using the teaching pendant 3 for the point P1 of the point 1 and the point P2. Thereby, teaching pendant 3
Thereafter, a signal indicating the [fine] setting is output to the CPU 4, and the CPU 4 recognizes that the [fine] setting has been made for the point P1.

Now, when the teaching pendant 3 is operated by the operator, a signal indicating this is output to C
Output to PU4. Accordingly, the CPU 4 proceeds to step S1 shown in FIG. 3, substitutes zero for the internal variable i, and then proceeds to step S2.

Thereafter, the CPU 4 executes the processing of steps S2 to S6 in the same manner as the operation described above. Step S
In step 6, since the [fine] setting or the [fine] setting described above has not been performed for the point P0, the process proceeds to step S19, where the internal variable i is incremented by 1 (i = 1).
It returns to step S2.

Then, the CPU 4 returns to steps S2 to S5.
6 is executed. In step S6, P1
Since the point is set to [fine], the CPU 4
Proceed to step S7. In step S7, data of the line segment L passing through the point P1 shown in FIG.

In step S8, the CPU 4 executes the position data (xmin, ymin) of the Pmin point and the position data (xmax, ymax) of the Pmax point on the line segment L in the same manner as described above.
ymax), the process proceeds to step S9.

In step S9, the CPU 4
Since [fine] is set, the process proceeds to step S10. In step S10, the CPU 4 performs the processing of steps S11 and S12 since [fine] is set. In step S11, if the coating gun 1b is not located at the point Pmax shown in FIG. 4, the CPU 4 proceeds to step S12.

At the step S12, the CPU 4
After reading the position data (xmax, ymax) of the Pmax point from No. 6, a motor drive signal Sm corresponding to this movement is generated to move the coating gun 1b from the P1 point to the Pmax point shown in FIG. Is output to the motor driver 7,
It returns to step S9. As a result, the motor 8 and the manipulator 1a are driven, and the coating gun 1b moves on the line L from the point P1 to the point Pmax.

When the "decision key" of the teaching pendant 3 is pressed by the operator when the coating gun 1b is located at the point P1 'on the line L shown in FIG. A signal corresponding to the “enter key” is output to the CPU 4. Thereby, the CPU 4 changes the determination result of step S9 to “YES”.
And proceeds to step S16. In step S16, C
The PU 4 proceeds to step S17 because the “Enter key” has been pressed.

In step S17, the CPU 4 stops outputting the motor drive signal Sm and stops driving the motor 8. Thereby, the coating gun 1b is moved to P1 'shown in FIG.
Stops at the point. Next, the CPU 4 fetches the position signal Sp outputted from the motor 8, and then obtains data relating to the current position of the coating gun 1b obtained from the position signal Sp, that is, the position data of the point P1 'shown in FIG. After substituting (xd1, yd1) for the variable P1 ', the process proceeds to step S18.

In step S18, since [fine] is set at the point P1, the CPU 4 sets the fine / fine setting flag FP1.
After that, the process proceeds to step S19. In step S19, the CPU 4 increments the internal variable i by 1 (i = 2), and then returns to step S2. Hereinafter, CP
U4 repeats the operation described above.

<Reproduction Operation when [Fine] is Set> Next, [Fine]
The reproducing operation at the time of setting will be described with reference to FIG. Now, the "play key" of the teaching pendant 3
Is pressed, the teaching pendant 3 outputs a signal corresponding to the “reproduction key” to the CPU 4.

Thus, the CPU 4 proceeds to step S31 shown in FIG.
Is read from the RAM 6, the position data of the teaching points P0 to Pi, the position data of the point Pi 'which is a fine and coarse setting point, and the fine / fine setting flag FPi stored in the RAM 6. In this case, the CPU 4 calculates the points P0, P1 and P2 shown in FIG.
The position data (x0, y0), (x1, y1) and (x2, y2) of the point and the position data (xd
1, yd1) and a fine / fine setting flag F indicating the fine setting
After reading P1 (= 0) from the RAM 6, step S
Go to 32.

In step S32, after substituting zero for the internal variable i, the CPU 4 proceeds to step S33, and performs the processing after step S34 while the internal variable i is smaller than the number N of teaching points. In step S34, the CPU 4 sets [fine] to the fine / coarse setting flag FP1 (= FP0 + 1) (=
0) is set, the CPU 4 proceeds to step S3
Proceed to 6.

In step S36, the CPU 4 determines the orbit change start point Ai as the orbit change start point A0, and then proceeds to step S37. In the example shown in FIG. 8, the orbit change start point A0 is the same as the point P1. In step S37, the CPU 4 obtains the trajectory change start point Ai + 1 in the same manner as the trajectory change start point Ai described above, and then proceeds to step S38. In the example shown in FIG. 8, the trajectory change start point Ai + 1 is the point P1.

In step S38, the CPU 4 sets Pi + 1
The distance Bi from the point at which the speed component Vi, which is a constant value of the moving speed V in the x direction, between the point and the point Pi + 1 'is reduced to zero is obtained, and the process proceeds to step S39. In the example shown in FIG. 8, the distance Bi is B0, and this distance B0 is a distance in the x direction from a point near the point P1 to a point P1 ′.

In step S39, the CPU 4 determines whether Pi +
After calculating the distance Bi + 1 from the point 1 'to the point Pi + 2 until the velocity component Vi + 1 of the moving velocity V in the y direction of the coating gun 1b is changed from zero to a constant value, the process proceeds to step S40. move on. In the example shown in FIG. 8, the distance Bi + 1 is B1, and this distance B1 is the distance from point P1 'to point P2.

In step S40, the CPU 4 confirms the setting from the fine / fine setting flag FPi + 1 in the same manner as the operation described above. In this case, the fine / fine setting flag FP1 (FPi +
Since 1) is “0” and [fine] is set, CP
U4 proceeds to step S48.

In step S48, the distance between the points Pi + 1 and Pi + 1 'is compared with the distance Bi calculated in step S38.
If the distance Bi is small while proceeding to step S9, step S52
Proceed to. In the example shown in FIG. 8, the CPU 4
The distance between the point 1 ′ and the distance B0 is compared, and the distance B
It is assumed that 0 is large, and therefore, the process proceeds to step S49.
In step S49, the CPU 4 compares the distance between the points Pi + 1 'and Pi + 2 with the distance Bi + 1 calculated in step S39. If the distance Bi + 1 is small, the CPU 4 proceeds to step S50. On the other hand, if the distance Bi + 1 is large, the process proceeds to step S51. In the example shown in FIG. 8, the CPU 4
The distance between the point and the point P2 is compared with the distance B1, and if the distance B1 is small in this case, the process proceeds to step S50.

In step S50, the CPU 4 sets 5 to the trajectory pattern flag GF, and then proceeds to step S55.
Proceed to. In step S55, the CPU 4 outputs a motor drive signal Sm to the motor driver 7 so as to move the coating gun 1b along the speed pattern shown in FIG. The speed pattern shown in the figure is a vector sum of a speed component V0 which is an x-direction component of the moving speed V and a speed component V1 which is a y-direction component.

According to the speed pattern shown in FIG. 15, the speed component V0 of the moving speed V takes a constant value from the point P0 shown in FIG. 8, and when the coating gun 1b slightly passes through the point P1, it has a constant decreasing rate. Decrease. And the speed component V0 is P1 '
After passing through the point, it increases in the minus direction, and further increases in the plus direction slightly before the point P1. The velocity component V0 becomes zero before the point P1, and thereafter becomes zero from the point before the point P2. On the other hand, the speed component V1 of the moving speed V is zero from the point P0, and
After passing through the point a little, it increases in the negative direction at a constant increase rate, and takes the same value as the velocity component V0 at the point P1 '. Then, after further increasing in the plus direction, the speed component V1 takes a constant value at a point before the point P1, and thereafter takes a constant value from the point before the point to the point P2.

As a result, the coating gun 1b has a trajectory having a loop trajectory slightly crushed from the loop trajectory shown in FIG. 8, that is, the point P0 → point P1 → point P1 ′ → point P1 →
It moves along the trajectory P2.

On the other hand, in step S49, the distance B1
Is larger than the distance between the points P1 ′ and P2, the CPU 4 proceeds to step S51. Step S5
In 1, the CPU 4 sets the trajectory pattern flag GF to 6, and then proceeds to step S55. In step S55, the CPU 4 outputs a motor drive signal Sm to the motor driver 7 so as to move the coating gun 1b along the speed pattern shown in FIG.

According to the speed pattern shown in FIG. 16, the speed component V0 of the moving speed V takes a constant value from the point P0 shown in FIG. 8, and when the coating gun 1b slightly passes through the point P1, it has a constant decreasing rate. Decrease. And the speed component V0 is P1 '
After passing through the point, it increases in the minus direction, and further increases in the plus direction slightly before the point P1. The velocity component V0 becomes zero before the point P1, and thereafter becomes zero from the point before the point P2. On the other hand, the speed component V1 of the moving speed V is zero from the point P0, and
After passing through the point, it increases in the negative direction at a constant increase rate, and after passing through the point P1, it takes the same value as the velocity component V0 at the point P1 '. Then, after further increasing in the plus direction, the speed component V1 takes a constant value at a point before the point P1, and thereafter takes a constant value from the point before the point to the point P2.

On the other hand, in step S48, the distance between the point P1 and the point P1 'is compared with the distance B0, and if the distance B0 is now smaller, the CPU 4 proceeds to step S5.
Proceed to 2. In step S52, the CPU 4 compares the distance between the point Pi + 1 and the point Pi + 2 with the distance Bi + 1 calculated in step S39. If the distance Bi + 1 is small, the CPU 4 proceeds to step S53. On the other hand, if the distance Bi + 1 is large, the process proceeds to step S54. In the example shown in FIG.
4 compares the distance between the point P1 and the point P2 with the distance B1, and assuming that the distance B1 is now small, a step S
Go to 53.

In step S53, the CPU 4 sets 7 in the trajectory pattern flag GF, and then proceeds to step S55.
Proceed to. In step S55, the CPU 4 outputs a motor drive signal Sm to the motor driver 7 to move the coating gun 1b along the speed pattern shown in FIG.

According to the speed pattern shown in FIG. 17, the speed component V0 of the moving speed V takes a constant value from the point P0 shown in FIG. 8, and when the coating gun 1b slightly passes through the point P1, the rate decreases at a constant rate. Decrease. And the speed component V0 is P1 '
After passing through the point, it increases in the minus direction, and further increases in the plus direction slightly before the point P1. Then, the speed component V0 becomes zero at a point slightly passing through the point P1, and thereafter becomes zero from the passing point to the point P2.

On the other hand, the speed component V1 of the moving speed V is P0
It is zero from the point, and when the coating gun 1b slightly passes through the point P1, it increases in the negative direction at a constant increase rate, and takes the same value as the velocity component V0 at the point P1 '. Then, after further increasing in the plus direction, the speed component V1 takes a constant value at a point before the point P1, and thereafter takes a constant value from the point before the point to the point P2.

On the other hand, in step S52, the distance B1
Is larger than the distance between the points P1 and P2 and the distance B1, the CPU 4 proceeds to step S54. In step S54, the CPU 4 determines whether the trajectory pattern flag GF
Is set to 8, and the process proceeds to step S55. In step S55, the CPU 4 outputs a motor drive signal Sm to the motor driver 7 so as to move the coating gun 1b along the speed pattern shown in FIG.

According to the speed pattern shown in FIG. 18, the speed component V0 of the moving speed V takes a constant value from the point P0 shown in FIG. 8, and becomes constant when the coating gun 1b passes a point before the point P1. Decreases at a decreasing rate. And the velocity component V0
Increases in the minus direction after passing through the point P1 ', and further increases in the plus direction slightly before the point P1. Then, the speed component V0 becomes zero at a point slightly passing through the point P1, and thereafter becomes zero from the passing point to the point P2.

On the other hand, the speed component V1 of the moving speed V is P0
It is zero from the point, and when the paint gun 1b passes just before the point P1, it increases in the negative direction at a constant increase rate, and P1 '
It takes the same value as the velocity component V0 at the point. Then, after the velocity component V1 further increases in the plus direction, it takes a constant value at a point passing through the point P1, and thereafter, from the passing point, P2
Take a constant value up to the point.

[0105]

As described above, according to the first aspect of the present invention, since the manipulator is actually operated and the teaching points on the line segment trajectory are visually taught, the teaching operation is skilled. Thus, the teaching operation can be performed in a short time without the need for the above, and the effect that the coating quality can be further improved can be obtained. According to the second aspect of the present invention, since the trajectory data generating means automatically generates the trajectory data including the arc trajectory passing through the teaching point on the line segment trajectory, the teaching on the line segment trajectory is performed. A trajectory including an arc trajectory can be easily obtained only by a simple operation of designating a point. Therefore, according to the second aspect of the present invention, the teaching operation can be performed without requiring skill even for a complicated trajectory including an arc trajectory. According to the invention described in claim 3, according to claim 2
In the same manner as in the invention described in (1), the data of the trajectory including the loop trajectory passing through the teaching point on the line segment trajectory is automatically generated by the trajectory data generating means, and the teaching point on the line segment trajectory is designated. A trajectory including a loop trajectory can be easily obtained only by such a simple operation. Therefore, according to the third aspect of the present invention, a teaching operation can be performed without skill even on a complicated trajectory including a loop trajectory. According to the fourth aspect of the present invention, since a settable range is obtained, vibration and the like do not occur in the manipulator, and the effect that teaching accuracy can be improved can be obtained.

[Brief description of the drawings]

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

FIG. 2 is a block diagram showing an electrical configuration of a robot teaching device according to the same embodiment.

FIG. 3 is a PAD showing a processing procedure of a CPU 4 shown in FIG. 2;
FIG.

FIG. 4 is a diagram illustrating the operation of the robot teaching device according to the embodiment of the present invention.

FIG. 5 is a PAD showing a processing procedure of the CPU 4 shown in FIG. 2;
FIG.

FIG. 6 is a diagram illustrating a trajectory at the time of coarse setting in the robot teaching device according to the embodiment of the present invention.

FIG. 7 is a diagram showing a speed pattern of a coating gun 1b at the time of rough setting in the robot teaching device according to the same embodiment.

FIG. 8 is a diagram illustrating fine setting in the robot teaching device according to the same embodiment.

FIG. 9 is a diagram showing a speed pattern of the coating gun 1b at the time of fine setting in the robot teaching device according to the same embodiment.

FIG. 10 is a diagram showing a speed pattern of a coating gun 1b in the robot teaching device according to the same embodiment.

FIG. 11 is a diagram showing a speed pattern of the coating gun 1b at the time of rough setting in the robot teaching device according to the same embodiment.

FIG. 12 is a diagram showing a speed pattern of a coating gun 1b at the time of rough setting in the robot teaching device according to the same embodiment.

FIG. 13 is a diagram showing a speed pattern of a coating gun 1b at the time of rough setting in the robot teaching device according to the same embodiment.

FIG. 14 is a diagram showing a speed pattern of the coating gun 1b at the time of rough setting in the robot teaching device according to the same embodiment.

FIG. 15 is a diagram showing a speed pattern of the coating gun 1b at the time of fine setting in the robot teaching device according to the same embodiment.

FIG. 16 is a diagram showing a speed pattern of the coating gun 1b at the time of fine setting in the robot teaching device according to the same embodiment.

FIG. 17 is a diagram showing a speed pattern of the coating gun 1b at the time of fine setting in the robot teaching device according to the same embodiment.

FIG. 18 is a diagram showing a speed pattern of the coating gun 1b at the time of fine setting in the robot teaching device according to the same embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Robot 1a Manipulator 1b Painting gun 2 Controller 3 Teaching pendant 4 CPU 8 Motor

Continued on the front page (51) Int.Cl. ⁶ Identification code FI G05B 19/42 G05B 19/42 P

Claims (4)

[Claims] 1. A robot for performing a work on a work disposed on a work surface by a work tool attached to a distal end of a manipulator, wherein a storage means for storing position data of a plurality of teaching points taught in advance. Line segment trajectory data generating means for dividing an angle between two straight lines having a specific teaching point as an intersection among the plurality of teaching points into two and generating data of a line segment trajectory passing through the specific teaching point; Drive control means for driving the manipulator so that the work implement moves along the line segment trajectory, and stopping driving of the manipulator when an operator instructs a teaching point on the line segment trajectory; Trajectory data for generating data of a trajectory passing through a teaching point on the line segment trajectory based on position data of a teaching point on the line segment trajectory and position data stored in the storage means Teaching apparatus of a robot which is characterized by comprising a generation unit. 2. The method according to claim 1, wherein the trajectory data generation unit specifies a teaching point on the line segment trajectory located inside two straight lines connecting the specific teaching point and the teaching points before and after the specific teaching point. 2. The robot teaching device according to claim 1, wherein when it is performed, data of a trajectory including an arc trajectory passing through the preceding and following teaching points and a teaching point on the line segment trajectory is generated. 3. 3. The trajectory data generating means instructs, by the operator, a teaching point on the line segment trajectory located outside two straight lines connecting the specific teaching point and the teaching points before and after the specific teaching point. 2. The robot teaching device according to claim 1, wherein, when being performed, data of a trajectory including the specific teaching point, the preceding and following teaching points, and a loop trajectory passing through the teaching points on the line segment trajectory are generated. apparatus. 4. The manipulator generates vibrations and the like based on the position data of the plurality of teaching points stored in the storage unit and a preset moving speed of the work implement. The robot teaching device according to any one of claims 1 to 3, wherein a settable range of the teaching point on the line segment trajectory is determined.