JP2003127078A - Teaching device and teaching method for working robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate an operation for acurately positioning a tool top of a robot at a target position. SOLUTION: When a position P2 where the tool top 2a of a working robot 1 should move to is input on a screen 7a of a display 7, indicated data (Xr, Yr, Zr) of the tool top position 2a are transmitted to a robot control device 5. A command corresponding to the transmitted tool top position data (Xr, Yr, Zr) is sent to the working robot 1 from the robot control device 5 and each axis is moved so that the tool top 2a of the working robot 1 moves to the indicated position (Xr, Yr, Zr). Then a working position θi of the working robot 1 is stored as the teaching data of the working robot 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for teaching a work robot such as a welding robot.

[0002]

2. Description of the Related Art A welding robot for performing arc welding or the like performs work for welding a work in combination with a positioner, a slider (traveling carriage) or a jig for ensuring an optimum welding position.

In the welding robot, by driving and controlling each axis of the robot, the tip of the welding torch is moved along the welding line to perform the welding operation. In order to perform the welding work, it is necessary to teach the work contents of the robot and create a robot program as a robot control program.

The method of teaching the robot the contents of work includes:
A teaching playback method in which a worker manually operates the robot to teach the desired position and posture angle, and a model of the robot or work is built on a computer independent of the robot controller, and the model is used. There is an offline teaching method that teaches the position and posture angle of a robot.

However, in the case of the teaching playback system, the robot, the production equipment, the jig, the target work, and the like need to be prepared in reality, and there is a problem that the robot and the like are occupied during the teaching work. .

Further, the teaching work is performed by operating an operation panel called a teaching box. The operation panel only commands the drive amount of each axis of the robot, and skill is required to operate the operation panel in order to accurately position the tool tip of the robot at the target position on the work.

On the other hand, the off-line teaching method is to generate the position and orientation of the robot by inputting information such as a work piece from the outside by numerical data or the like, and the teaching can be performed away from the production line. It is possible to teach even if a robot, a work, or the like does not actually exist.

Since the offline teaching method can perform teaching without occupying a robot or the like, the offline teaching method is mainly used for teaching in the welding field.

The conventional off-line teaching will be described with reference to FIG. For example, the work to be welded is shown in Fig. 2.
It is assumed that the work 10 is as shown in (b).

As shown in FIG. 4, a three-dimensional CAD terminal 11 is provided.
Then, a three-dimensional CAD (computer aided design) software is used to create a three-dimensional model of the robot, the workpiece 10 to be welded, the slider, the positioner, and the like. The terminal 1 for 3D CAD
Instead of 1, a two-dimensional CAD terminal 11 'may be used.

Next, from the three-dimensional CAD terminal 11, the data of the three-dimensional model of the robot, the work 10, and the data of the three-dimensional model of the peripheral device are taken in the terminal 6 for offline teaching. In the offline teaching terminal 6, welding line data is created from the coordinate position data of the workpiece 10, and each movement point (see FIG. 2B) on the movement path L where the tool tip of the robot should move is the robot coordinate. Defined on the system.

That is, if the welding robot is, for example, a 6-axis (X, Y, Z, A, B, C) robot, data (X, Y, Z
(A, B, C) will be taught for each moving point. In addition, data for each axis of the positioner or slider (R,
(S, T, U, V, W, J, K, L) are also taught for each moving point.

In this way, a robot program corresponding to the work 10 is created. Job data as a robot program is created in the offline teaching terminal 6 as described above.

The created job data is sent to the program creating terminal 12. In the program creating terminal 12, processing such as text / binary conversion is performed and the job data is written to the floppy disk.

This floppy disk is readablely mounted on the controller (robot control device) of the robot 1, and the robot 1 is driven by this. The error between the taught moving point and the actual moving point is actually the robot 1
Is moved and corrected on site. Commands that cannot be handled by offline teaching are taught on site.

As described above, since the offline teaching terminal 6 receives the data of the three-dimensional model of the robot 1 and the data of the three-dimensional model of the work 10, slider, and positioner, the robot program is executed by the offline teaching terminal 6. By executing, the robot work can be simulated on the screen.

Therefore, conventionally, teaching data taught on site is loaded into a simulation terminal having the same function as the above-mentioned offline teaching terminal 6, and a robot program is executed by this simulation terminal to display the robot 1 on the screen. Attempts have been made to simulate work. The purpose of this simulation is
This is to know the working time when the robot 1 actually performs the work and to confirm whether the robot 1 interferes with the external work 10 or the like.

If interference occurs on the screen during execution of the robot program on the simulation terminal, a display indicating "occurrence of interference" is displayed on the screen. For example, the interference location is displayed in a color different from that of the surrounding area. When the operator confirms "interference has occurred" on the screen, the operator corrects the program statement of the corresponding robot program so that no interference occurs. This type of technique is disclosed in, for example, Japanese Patent Laid-Open Nos. 3-250304, 5-324022, and 11-5.
It is disclosed in Japanese Patent No. 8276.

Although not publicly known, the technique shown in the following reference example is carried out in a secret state.

(Reference Example) A reference example will be described with reference to FIG.

The robot controller 5 shown in FIG. 1 is provided with an operation panel 50 called a "teaching box". By operating the operation panel 50, the robot 1 can be actually operated. And robot 1
By storing each axis of the robot that actually operated,
It is possible to teach each axis position of the robot 1, each axis position of the slider 4, and each axis position of the positioner 9 for each operation point of the work. A robot program is created based on the teaching data taught by the operation panel 50. According to the robot program, each axis of the robot 1, each axis of the slider 4,
Each axis of the positioner 9 operates.

The display device 7 takes in the data of the three-dimensional model of the robot 1 and the data of the three-dimensional model of the work 10 and peripheral devices, as in the case of the above-mentioned offline teaching terminal 6. Further, the current position of the robot 1 operated by operating the operation panel 50 of the robot control device 5 is captured in the display device 7.

The teaching is performed as follows with the above configuration.

The data of the current position of the robot 1 is sent from the robot controller 5 to the display device 7. The operator
While watching the screen 7a of the display device 7, the robot controller 5
The operation panel 50 is operated to operate the robot 1. In the display device 7, the robot 1 operates on the screen 7a based on the data of the current position of the robot 1.

The operator confirms the operation of the robot 1 on the screen 7a of the display device 7, and if there is no problem such as interference with the work 10 or the like, the operator operates the operation panel 50 of the robot control device 5 at that time. The position and orientation of the robot 1 are stored as teaching data.

The above is the contents of the reference example.

However, according to the technique shown in this reference example, it is necessary for the operator to operate the operation panel 50 while watching the screen 7a. That is, it is necessary to operate the operation panel 50 while observing the two-dimensional screen to position the actual tool tip 2a of the three-dimensional robot 1 at the target position. As described above, the operation panel 50 only commands the drive amount of each axis of the robot 1, and the three-dimensional actual tool tip 2a of the robot 1 is accurately set to the target position while observing the two-dimensional screen 7a. Positioning requires considerable skill in operation.

The present invention has been made in view of these circumstances, and an object of the present invention is to make it possible to easily perform an operation for accurately positioning the tool tip of a robot at a target position. .

[0029]

[Means for Solving the Problems and Effects] The first invention is
In a teaching device of a work robot, a robot controller that operates the work robot by giving a command according to the operation content of the operation panel to the teaching robot and acquires teaching data of the work robot, and the work robot is simulated on a screen. And a display device to be operated for indicating the position to which the tool tip of the work robot should move on the screen of the display device, and transmitting data indicating the instructed tool tip position to the robot controller, and transmitting the data. A command corresponding to the tool tip position data described above is given from the robot controller to the work robot to operate so that the tool tip of the work robot moves to the instructed position. The teaching data of the work robot is used.

According to the first aspect of the present invention, when the tool tip 2a of the work robot 1 of FIG. 1 indicates the position P2 to be moved on the screen 7a of the display device 7 shown in FIG. Data indicating position 2a (Xr, Yr, Zr)
Is transmitted to the robot controller 5 of FIG. A command corresponding to the transmitted tool tip position data (Xr, Yr, Zr) is given from the robot controller 5 to the work robot 1, and the tool tip 2a of the work robot 1 is moved to the designated position (Xr, Yr, Each axis moves to move to Zr). Then, the operating position θi of the work robot 1 at this time
Is stored as teaching data of the work robot 1.

According to the first aspect of the invention, the teaching can be performed only by pointing the position P2 on the work 10 using the mouse or the like on the display device 7 side. Therefore, the robot tool tip 2
Highly accurate positioning of a at the target position can be performed by an easy operation.

A second aspect of the present invention is a teaching device for a work robot, wherein the robot controller operates the work robot by giving a command according to the operation contents of the operation panel to the work robot, and acquires teaching data of the work robot. And a display device for operating the work robot on a screen in a simulated manner, indicating the position to which the tool tip of the work robot should move on the screen of the display device, and displaying data indicating the instructed tool tip position, The robot controller sends a command corresponding to the transmitted tool tip position data to the work robot from the robot controller to operate so that the tool tip of the work robot moves to the instructed position. The position data of the working robot is
The work robot is transmitted to the display device, and the work robot is artificially operated on the screen of the display device based on the transmitted position data, and the operation position of the work robot at this time is used as the teaching data of the work robot. Characterize.

According to the second aspect of the invention, when the tool tip 2a of the work robot 1 of FIG. 1 is instructed to the position P2 to be moved on the screen 7a of the display device 7 shown in FIG. Data indicating position 2a (Xr, Yr, Zr)
Is transmitted to the robot controller 5 of FIG. A command corresponding to the transmitted tool tip position data (Xr, Yr, Zr) is given from the robot controller 5 to the work robot 1, and the tool tip 2a of the work robot 1 is moved to the designated position (Xr, Yr, Each axis moves to move to Zr). The respective axis angles θi of the robot 1 when the robot 1 is operated in this manner are transmitted from the robot controller 5 to the display device 7. In the display device 7, the posture of the robot 1 on the screen 7a is changed so that the transmitted axis angles θi are obtained. If it is confirmed that the robot 1 on the screen 7a does not interfere with the work 10 or the like, the robot controller 5
The "memorize button" of the operation panel 50 is operated. As a result, each axis angle θi of the robot actually driven is stored as teaching data.

According to the second invention, similarly to the first invention, a position P2 on the work 10 is displayed on the display device 7 side using a mouse or the like.
Teaching can be performed simply by instructing. Therefore, the robot tool tip 2a can be accurately positioned to the target position by an easy operation. Further, according to the second invention, the operation confirmation of the robot 1 is confirmed by the screen 7a of the display device 7.
Can be done at.

A third aspect of the present invention is a teaching device for a work robot, wherein the work robot is operated by giving a command according to the operation content of the operation panel to the work robot to obtain teaching data of the work robot. A display device for simulating the work robot on the screen is provided, and the work robot is operated by giving a command according to the operation content of the operation panel to the work robot,
A part of the teaching data to be taught when the work robot performs a predetermined work is acquired, a part of the teaching data is acquired, and the position where the tool tip of the work robot should move is indicated on the screen of the display device. The data indicating the tool tip position is transmitted to the robot controller, and a command corresponding to the transmitted tool tip position data is given from the robot controller to the work robot, and the tool tip of the work robot is instructed. It is characterized in that the work robot is operated so as to move to a position, and the remaining teaching data of all the teaching data is acquired.

The welding start point P2 and welding end point P3 shown in FIG. 2B are teaching points that require high positioning accuracy. Regarding these points P2 and P3, as shown in FIG. 2A, the corresponding positions on the screen 7a of the display device 7 are designated. Therefore, data indicating the designated position (Xr, Yr, Z
r) is transmitted to the robot controller 5. In the robot controller 5, the transmitted pointing position data (Xr, Yr,
A command corresponding to Zr) is given to the work robot 1,
The work robot 1 operates so that the tool tip 2a of the work robot 1 moves to the designated position. The motion position θi of the work robot 1 at this time is stored as teaching data of the work robot 1.

On the other hand, the waiting point P shown in FIG.
1 and P4 are teaching points where high positioning accuracy is not required. Regarding these points P1 and P4, the operation panel 50 of the robot controller 5 is operated so that the tool tip 2a of the robot 1 moves to the corresponding points. Therefore, a command according to the operation is given to the work robot 1, and the work robot 1 operates. Operation position θi of the work robot 1 at this time
Is stored as teaching data of the work robot 1.

As described above, according to the third aspect of the invention, highly accurate teaching of a point can be accurately performed by a simple operation of pointing the corresponding point on the screen 7a of the display device 7 using a mouse or the like. The operation panel 5 is a teaching that can be done and does not require accuracy.
Since the operation can be performed with 0 operation, the teaching work can be efficiently performed.

According to a fourth aspect of the present invention, in the teaching method for a work robot, a part of the teaching data to be taught when the work robot performs a predetermined work, part of the teaching data depends on the contents operated on the operation panel. By giving a command to the actual work robot, it is acquired as an operating position when the actual work robot is operated, and the remaining teaching data of all the teaching data is displayed on the screen as a pseudo work robot. It is characterized in that a position at which the tool tip is to be moved is designated, and the position is acquired as an operation position when the actual work robot is operated so that the tool tip of the actual work robot is moved to the designated position.

The fourth invention is a replacement of the "device invention" of the third invention by the "method invention".

[0041]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

In the embodiment, a welding robot that performs welding work is assumed, and a device that teaches the welding robot is assumed. However, the present invention can be applied to any robot as long as the tool tip is moved along the movement path on the work to perform a predetermined work, and for example, it is also applied to a sealing work robot that performs sealing. can do.

In the present embodiment, a case of fillet welding a work will be described as an example.

FIG. 1 shows the overall configuration of the apparatus of the embodiment.

As shown in FIG. 1, the robot 1 has an arm 3, and a welding torch 2 which is a tool is attached to the tip of the arm 3.

The robot 1 is, for example, a 6-axis robot, and by driving each axis θi (i = 1 to 6), the coordinate position of the torch tip 2a and the torch posture on the robot coordinate system XYZ. The angles (X, Y, Z, A, B, C) are changed. The torch posture angle (A, B, C) is defined by the Euler angle.

Each axis θi of the robot 1, each axis of the slider 4, and each axis of the positioner 9 are drive-controlled by a robot controller 5 which is a robot controller, whereby the tool tip 2a is on the workpiece 10 to be welded. Is moved along a predetermined movement path L (see FIG. 2B). A jig may be provided in addition to the slider 4 and the positioner 9.

The robot control device 5 is provided with an operation panel 50 called a "teaching box". By operating the "operation command button" of the operation panel 50, each axis θi of the robot 1 can be actually driven. By operating the "memorize button" of the operation panel 50, each axis .theta.i of the robot actually driven can be stored and used as teaching data for creating the robot program.

The robot controller 5 has the following additional functions. That is, as will be described later, the pointing position data (Xr, Yr, Zr) of the torch tip 2a of the robot 1 transmitted from the display device 7 is received, and this pointing position data is stored in the pointing position memory. Then, by operating the "memorized position operation command button" of the operation panel 50, each torch tip 2a of the robot 1 is positioned so as to be positioned at the designated position (Xr, Yr, Zr) stored in the designated position memory. It is possible to drive θi.

In this way, each axis position of the robot 1, each axis position of the slider 4, and each axis position of the positioner 9 can be taught for each operating point of the robot 1. Then, a robot program is created based on the teaching data taught by the operation panel 50. Each axis of the robot 1, each axis of the slider 4, and the positioner 9 according to the robot program.
Each axis operates.

The work 10 is mounted on the positioner 9. The positioner 9 has each axis U, V, and each axis U,
By changing the drive position of V, the relative positional relationship of the work 10 with respect to the robot 1 changes.

The robot 1 has a slider 4 which is a traveling carriage.
It is movably mounted on top. The slider 4 is for each axis R,
By having the drive positions of the axes R and S changed, the relative positional relationship of the work 10 with respect to the robot 1 changes.

The axes of the positioner 9 and the slider 4 are called external (EX) axes with respect to the axis of the robot 1.

Therefore, the position (and posture) P of the torch tip 2a in the robot coordinate system is changed by driving the axis θi of the robot 1, and the torch tip in the external coordinate system is driven by driving the external axis. The position 2a (external axis position) E is changed. The positions of the torch tip 2a when the robot axis θi and the external axis are driven are the position P on the robot coordinate system and the position E on the external coordinate system.
It is represented as a position P + E where and are combined.

The display device 7 takes in the data of the three-dimensional model of the robot 1 and the data of the three-dimensional model of the work 10, the slider 4 and the positioner 9, similarly to the above-mentioned offline teaching terminal 6. Further, the current position of the robot 1 operated by operating the operation panel 50 of the robot control device 5 is transmitted to the display device 7 and taken into the display device 7.

Software for simulating the operations of the robot 1, slider 4, and positioner 9 is installed in the display device 7. Therefore, when this software is started, the robot 1 is based on the current position data of the robot 1 sent from the robot controller 5.
Operates on the screen 7a.

Next, the contents of the welding operation performed by the robot 1 will be described with reference to FIGS. 2 (a) and 2 (b).

FIG. 2B is a perspective view of the work 10. It is assumed that the work 10 is welded from the welding start point P2 to the welding end point P3. The section from the welding start point P2 to the welding end point P3 is the welding line 11. The movement path L of the tool tip 2a of the robot 1 is a path including the welding line 11. P1 is a standby position before starting welding, and P4 is a standby position after finishing welding. Therefore, the torch tip 2a of the robot 1 follows the path of P1 → P2 → P3 → P4 to perform welding work.

Next, the actual work 10 shown in FIG.
2 and the geometrical relationship with the work 10 on the screen 7a of the display device 7 shown in FIG.

Data (Xr, Yr, data of position and posture angle (torch posture oiler angle) of the torch tip 2a of the robot 1
Zr, A, B, C) are taught for each moving point P1, P2, P3, P4. Here, the position data P (Xr, Yr, Zr,
It is assumed that A, B, and C) are positions defined on the robot coordinate system. The data (R, S, U, V) of each axis of the positioner 9 and slider 4 is also taught for each moving point. The intermediate positions other than the taught points P1, P2, P3 and P4 are calculated by interpolation.

The position of the robot 1 at each time t is P
When (X, Y, Z, A, B, C), each axis angle θi (i = 1 to 6) of the robot 1 is given by the following equation (1).

Θi = invK (P) (1) In the above equation (1), the function invK is an inverse function of the function K for obtaining the torch tip position P from each axis angle θi shown in the following equation (2). By inversely converting the torch tip position P, each axis angle θi of the robot 1 can be obtained.

P = K (θi) (2) The display device 7 performs the following processing.

1) Simulation of the operation of the robot 1 The operation panel 50 of the robot controller 5 is operated to operate the robot 1.
The present position P (each axis angle θi) of the robot 1 when the robot is operated is transmitted from the robot controller 5 to the display device 7. In the display device 7, the posture of the robot 1 on the screen 7a is changed so that the transmitted axis angles θi are obtained. Therefore, the torch tip 2a of the robot 1 on the screen 7a is positioned at the position P according to the above equation (2). If each axis angle θi of the robot 1 is transmitted to the display device 7 at each time t and the posture of the robot 1 is sequentially updated on the screen 7a, the robot 1 can be artificially operated on the screen 7a. it can.

2) Display of Workpiece Only As shown in FIG. 2A, only the work 10 to be welded can be displayed on the screen 7a of the display device 7.

An arbitrary position on the screen 7a can be designated by a pointing means such as a mouse. In this embodiment, a mouse is assumed as the instruction means. As shown in FIG. 2 (a), the position designated by "x" on the screen 7a by the mouse is
The position of the robot 1 on the coordinate system (Xr,
Yr, Zr) can be converted. The position designated by the mouse is assumed to be the position of the welding start point P2 on the work 10.

The designated position of the mouse is detected as the coordinate position (S, T) on the screen 7a.

On the other hand, the rotational position and size of the three-dimensional model of the work 10 on the screen 7a are as shown in FIG. 2 (b).
It is defined by the viewpoint, viewpoint direction, and field of view. Therefore, if the viewpoint on the work coordinate system is (X0, Y0, Z0) and the vector of the viewpoint direction is (Ex, Ey, Ez), the viewpoint (X0, Y0, Z0) to the viewpoint direction (Ex, Ey, Ez, The position of the workpiece 10 that first comes in contact with Ez) is the coordinate position (S, T) on the detected screen 7a and the viewpoint (X0, Y0, Z).
0) and the viewpoint direction vector (Ex, Ey, Ez),
It can be calculated. The calculated position of the work 10 on the work coordinate system is (Xw, Yw, Zw).

Position on work coordinate system (Xw, Yw, Zw)
Can be converted into a position (Xr, Yr, Zr) on the robot coordinate system. The conversion formula is given by the following formula (3).

[0070] (Xr, Yr, Zr) = M · (Xw, Yw, Zw) (3) However, M is a conversion matrix.

Next, each teaching example will be described.

(First teaching example) In the first teaching example,
All the teaching points P1, P2, P3, and P4 are taught by operating the mouse on the display device 7 side to indicate the position on the work 10.

FIG. 3 shows the contents of processing performed by the display device 7.

As shown in FIG. 3, when the operator designates the welding start point P2 of the work 10 with the mouse on the screen 7a of the display device 7, the designated coordinate position (S, S,
T) is detected (step 101; see FIG. 2A).

Next, the coordinate position (S, T) on the screen 7a detected in step 101 is the detected position (S, T).
T), the current viewpoint (X0, Y0, Z0), and the current viewpoint direction vector (Ex, Ey, Ez) are used to convert to the position (Xw, Yw, Zw) on the work coordinate system. (Step 102).

Next, the position (Xw, Yw, Zw) on the work coordinate system calculated in step 102 is converted to the position (Xr, Yr, Zr) on the robot coordinate system using the above equation (3). (Step 103).

Next, the position (Xr, Yr, Zr) on the robot coordinate system calculated in the above step 103 is transmitted from the display device 7 to the robot control device 5 as designated position data (step 104).

The robot controller 5 receives the designated position data (Xr, Yr, Zr) and stores the designated position data in the designated position memory.

Next, when the operator operates the "memory position operation command button" on the operation panel 50, the torch tip 2a of the robot 1 moves to the stored position (Xr, Yr, Zr).

That is, the robot 1 is currently at the position P.
It is supposed to be positioned at (X, Y, Z, A, B, C). At this time, when the "memorized position operation command button" of the operation panel 50 is operated, the position P (X, Y, Z, A, B,
In (C), (X, Y, Z) is the stored designated position (X
r, Yr, Zr), and the position P '(Xr, Yr, Z
r, A, B, C).

Then, the above equation (1) (θi = invK
(P)) is used to calculate each axis angle θi of the robot 1 corresponding to the position P ′. Each axis of the robot 1 is driven so as to have each axis angle θi.

If it is confirmed that the robot 1 does not interfere with the work 10 or the like, the "memory button" on the operation panel 50 is displayed.
Is operated. As a result, each axis angle θi of the robot actually driven is stored as teaching data. The welding start point P2 is taught as described above. Similarly, the other teaching points P1, P3 and P4 are also taught.

As described above, according to the first teaching example, all the teaching points P1, P2, P3, P4 are taught only by operating the mouse on the display device 7 side and designating the position on the work 10. It can be carried out. Therefore, the robot tool tip 2a can be accurately positioned to the target position by an easy operation.

(Second Teaching Example) In this second teaching example,
The teaching of some teaching points (for example, welding start point P2 and welding end point P3) of all the teaching points P1, P2, P3, and P4 is performed by operating the mouse on the display device 7 side to indicate the position on the work 10. The remaining teaching points (waiting point P
The teaching of 1, P4) is performed by the conventional teaching playback method, that is, by operating the operation panel 50 of the robot controller 5.

The welding start point P2 and welding end point P3 shown in FIG. 2B are teaching points that require high positioning accuracy. As shown in FIG. 2A, when these points P2 and P3 are designated by the mouse, the designated position on the screen (S,
Since T) is converted into positions (Xr, Yr, Zr) on the robot coordinate system and further converted into the respective axis angles θi of the robot to teach the robot 1, teaching can be performed with high accuracy.

On the other hand, the waiting point P shown in FIG.
1 and P4 are teaching points where high positioning accuracy is not required. The operation panel 5 of the robot controller 5 is arranged so that the torch tip 2a of the robot 1 is positioned at these points P1 and P4.
When the “operation command button” 0 is operated, each axis of the robot 1 is driven according to the command output from the robot controller 5. Then, when the "memory button" of the operation panel 50 is operated, each driven axis angle θi is taught.

As described above, according to the second teaching example, teaching of a point with high accuracy is accurately performed by an easy operation of pointing the mouse, and teaching of a point that does not require accuracy is performed.
Since the operation is performed by operating the operation panel 50, the teaching work can be efficiently performed.

In the first teaching example and the second teaching example described above, the operation confirmation of the robot 1 may be performed on the display device 7 side.

That is, in the first teaching example, the designated position data (Xr, Y) corresponding to the point P2 on the screen 7a of the display device 7 is displayed.
r, Zr), each axis of the robot 1 is driven on the robot controller 5 side. The respective axis angles θi of the robot 1 when the robot 1 is operated in this manner are transmitted from the robot controller 5 to the display device 7. In the display device 7, the posture of the robot 1 on the screen 7a is changed so that the transmitted axis angles θi are obtained. If it is confirmed that the robot 1 on the screen 7a does not interfere with the work 10 or the like, the "memory button" on the operation panel 50 of the robot controller 5 is operated. As a result, each robot axis angle θ actually driven
i is stored as teaching data. The welding start point P2 is taught as described above. Similarly, another teaching point P1,
P3 and P4 are also taught.

In the second teaching example, as for the points P2 and P3 that require highly accurate positioning, the position is indicated on the screen 7a as in the first teaching example, and the robot 1 corresponding to the indicated position is designated. Confirm the posture on the screen 7a. As a result of confirmation, if there is no problem such as interference, the "memory button" on the operation panel
Is operated to teach.

Point P where highly accurate positioning is not required
Regarding 1 and P4, the operation panel 50 of the robot controller 50
The "motion command button" is operated to drive each axis of the robot 1, and the posture of the robot 1 at that time is confirmed on the screen 7a. If there is no problem such as interference as a result of confirmation, teaching is performed by operating the "memory button" on the operation panel 50.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a system according to an embodiment.

FIG. 2A is a diagram showing a work displayed on a display screen, and FIG. 2B is a perspective view of the work.

FIG. 3 is a flowchart showing a processing procedure of the embodiment.

FIG. 4 is a diagram illustrating a conventional technique.

[Explanation of symbols]

1 robot 5 Robot controller 7 Display 10 work

Continued front page    F-term (reference) 3C007 AS11 BS10 JU14 JU15 LS04                       LS09 MT01                 5H269 AB12 AB33 BB09 CC09 DD06                       QC03 QC10 QD03 SA03 SA11

Claims (4)

[Claims] 1. A teaching device for a work robot, comprising: a robot controller that operates the work robot by giving a command according to the operation content of an operation panel to the work robot to obtain teaching data of the work robot; and a work robot. A display device that is operated in a pseudo manner on the screen, and indicates the position to which the tool tip of the work robot should move on the screen of the display device, and the data indicating the instructed tool tip position is stored in the robot control device. To the work robot by giving a command corresponding to the transmitted tool tip position data to the work robot so that the tool tip of the work robot moves to the instructed position. A teaching device for a work robot, wherein the operation position of the robot is used as teaching data for the work robot. 2. A work robot teaching device, comprising: a robot control device for operating the work robot by giving a command according to an operation content of an operation panel to the work robot to obtain teaching data of the work robot; and a work robot. A display device that is operated in a pseudo manner on the screen, and indicates the position to which the tool tip of the work robot should move on the screen of the display device, and the data indicating the instructed tool tip position is stored in the robot control device. To the work robot by giving a command corresponding to the transmitted tool tip position data to the work robot so that the tool tip of the work robot moves to the instructed position. Position data of the robot is transmitted to the display device, and the work robot is displayed on the display device based on the transmitted position data. A teaching device for a work robot, wherein the teaching position of the work robot is simulated on the screen, and the movement position of the work robot at this time is used as teaching data for the work robot. 3. A teaching device for a work robot, comprising: a robot controller for operating the work robot by giving a command according to the operation content of an operation panel to the work robot to obtain teaching data of the work robot; and a work robot. A display device that operates in a simulated manner on the screen is provided, and the work robot is operated by giving a command according to the operation content of the operation panel to the work robot, and when the work robot performs a predetermined work, the instruction is given. A part of all teaching data to be shown is acquired, the position of the tool tip of the work robot is to be moved on the screen of the display device, and the data indicating the instructed tool tip position is transferred to the robot. The robot controller transmits a command corresponding to the transmitted tool tip position data to the work robot, A teaching device for a work robot, characterized in that the work robot is operated so that a tool tip of the work robot moves to the instructed position, and the remaining teaching data of all the teaching data is acquired. 4. In the teaching method for a work robot, a part of the teaching data to be taught when the work robot performs a predetermined work is a command corresponding to the contents operated by the operation panel. Of the actual work robot is obtained as an operation position when the actual work robot is operated, and the remaining teaching data of all the teaching data is displayed on the screen by the tool tip of the pseudo work robot. Teaching of a work robot characterized by instructing a position to be moved and acquiring it as an operation position when the actual work robot is operated so that the tool tip of the actual work robot moves to the instructed position Method.