Robot teaching apparatus

Abstract

The present invention provides a robot teaching apparatus for teaching in a way allowing the operator to have kinds of motions. When the operator 4 applies an external force with a handle 5 mounted at the end of an arm, estimation of the external force or detection by a force sensor 30 or an acceleration sensor 40 is carried out. A tracer control means 8 of a robot controller 2 determines the position of a tool end point 31 and effects tracer control when the robot 1 is in an effective area 15 or 18 or on an effective line 16, all of which are set by means of a block 10 for setting effective areas. The set content of the tracer control in the area where the robot is currently located is referred to by means of a block 9 for setting the tracer control, so as to determine the direction and attitude to be traced. The tracer control is effected so that the robot traces only in the direction and the attitude. The robot 1 is then moved.

Description

technical field [0001] The present invention relates to a robot teaching device for teaching various motions of an industrial robot, for example, a suitable robot teaching device for teaching the motions of a robot used in the application of extracting finished products from molds. Background technique [0002] One of the typical methods of teaching the position and posture of the robot is to let the robot do the action through manual operation, let it go to the position we want and make the desired posture, and teach the position and action to the robot at this time, the so-called Educational demonstration mode (teaching-playback mode). In order to achieve the purpose of manually operating the robot, the most common method used so far is to operate the operation keys (slow movement keys) provided on the teaching operation panel connected to the robot control device. [0003] However, this method needs to separate the operation keys corresponding to the coordinate axes (suc...

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Problems solved by technology

[0003] However, this method needs to separate the operation keys corresponding to the coordinate axes (such as the X-axis, Y-axis, and Z-axis of the robot reference coordinate system) and the robot axes (such as J1, J2...J6 axes) and specify the robot It takes a lot of time to memorize the corresponding relationship between the operation of each key and the moving direction of the robot

Especially if the operator is not used to this kind of operation, there may be a danger of the robot colliding with the surrounding objects or the operator himself due to incorrect operation.

[0004] So far, in terms of eliminating the deficiencies of the original technology, and operators manually operating robots to teach their positions and postures, there is no such thing as allowing operators to teach through manual operation in a relatively easy-to-perceive situation. Robots make them move, and there is no robot teaching device with a simple mechanism that can prevent the robot from colliding with surrounding objects or operators when the robot is manually operated.

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