JP5273727B2 - Posture variable direct teaching module - Google Patents
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Abstract
Description
本発明は、自動車、ＩＴ機器、家電などの製造技術分野において用いられている産業用ロボットに関するものであり、特に、産業用ロボットの直接教示装置に関するものである。 The present invention relates to an industrial robot used in the manufacturing technology field of automobiles, IT equipment, home appliances, and the like, and more particularly to a direct teaching device for an industrial robot.
従来、特許文献１〜３に記載されているように、産業用ロボットのアーム先端部分に教示ハンドルと力センサとを取り付け、オペレータが教示ハンドルを直接操作して、その際の力の方向と大きさとを力センサで検出して直接教示を行うようにした産業用ロボットの直接教示装置は知られている。図４は、特許文献２の例を示したものであって、ロボットのアームの先端部に力検出器及び教示用ハンドルが取り付けられている。
また、教示が終了した際には、教示ハンドル部分を取り外し可能とすることも、特許文献２、３に記載されており、さらに、オペレータの操作性を良くするため教示ハンドルのハンドル部分の向きを変更可能とすること（特許文献４参照）も知られていた。
Conventionally, as described in Patent Documents 1 to 3, a teaching handle and a force sensor are attached to the tip of an arm of an industrial robot, and an operator directly operates the teaching handle, and the direction and magnitude of the force at that time. 2. Description of the Related Art A direct teaching apparatus for industrial robots that directly detects and detects the position with a force sensor is known. FIG. 4 shows an example of Patent Document 2, in which a force detector and a teaching handle are attached to the tip of a robot arm.
In addition, Patent Documents 2 and 3 also describe that the teaching handle portion can be removed when the teaching is completed. Further, in order to improve the operability of the operator, the orientation of the teaching handle portion is changed. It has also been known to make it changeable (see Patent Document 4).
しかし、通常、直接教示は各産業用ロボット１台ごとに行う必要があるため、従来、教示ハンドル、力センサ、力センサの出力に基づいて教示情報を生成する教示情報生成部などを備えた直接教示装置は、各産業用ロボット１台ごとに設けられていた。したがって、例えば、製造ラインに複数の産業用ロボットを設置する場合には、各産業用ロボットごとに直接教示装置が必要となり、初期設備費や維持費などが増大し問題となっていた。 However, since direct teaching usually needs to be performed for each industrial robot, conventionally, a teaching handle, a force sensor, and a direct teaching information generation unit that generates teaching information based on the output of the force sensor are provided. A teaching device is provided for each industrial robot. Therefore, for example, when a plurality of industrial robots are installed on the production line, a teaching device is required for each industrial robot, resulting in an increase in initial equipment costs and maintenance costs.
本発明が解決しようとする問題点は、複数の産業用ロボットに対して、一つの直接教示装置で複数の産業用ロボットごとに教示できるようにして、初期設備費や維持費などを削減しようとするものである。さらに、教示ハンドルは着脱式として通常運転時に教示ハンドルが作業の邪魔にならないようにするものであり、また、教示ハンドル装着時の教示ハンドルの向きを調節可能としてオペレータの操作性を向上し、安全性を改善しようとするものである。 The problem to be solved by the present invention is to reduce the initial equipment cost and maintenance cost by enabling a plurality of industrial robots to be taught for each of a plurality of industrial robots with a single direct teaching device. To do. Furthermore, the teaching handle is detachable so that it does not interfere with work during normal operation, and the orientation of the teaching handle can be adjusted when the teaching handle is installed, improving operator operability and safety. It is intended to improve sex.
本発明では、教示ハンドル部と教示情報生成部から構成され直接教示のための機能をまとめた一つの直接教示モジュールと、複数の産業用ロボットとで直接教示システムを構築し、前記複数の産業用ロボットには、アーム先端部分に、教示ハンドル部を任意の方向から着脱自在に装着できる姿勢調整機構部を設け、前記一つの直接教示モジュールは教示ハンドル部と教示情報生成部とからなり、教示ハンドル部には、前記姿勢調整機構部に着脱自在に係合する連結用板と力検出手段及び姿勢角検出手段とが設けられ、教示情報生成部には、両検出手段の出力から教示情報を生成するコンピュータからなる内部計算機と、内部計算機で生成した教示情報をリアルタイムで産業用ロボットのいずれか一つへ通信するリアルタイム通信手段とを設けることにより、一つの直接教示モジュールで複数の産業用ロボットの直接教示を実現したものである。
本発明は、教示ハンドル部と教示情報生成部から構成され直接教示のための機能をまとめた一つの直接教示モジュールと、複数の産業用ロボットからなる直接教示システムであって、前記複数の産業用ロボットには、各産業用ロボットのアーム先端部分に、教示ハンドル部を任意の方向から着脱自在に装着できる姿勢調整機構部を設け、前記一つの直接教示モジュールは教示ハンドル部と教示情報生成部とからなり、前記教示ハンドル部には、前記姿勢調整機構部に対して着脱自在に係合する被係合部を有する連結用板と力検出手段及び姿勢角検出手段とが設けられ、前記教示情報生成部には、両検出手段の出力から教示情報を生成するコンピュータからなる内部計算機と、内部計算機で生成した教示情報をリアルタイムで産業用ロボットのいずれか一つへ通信するリアルタイム通信手段とを設け、さらに、複数の産業用ロボットには、前記リアルタイム通信手段からの情報を受信する受信手段を設け、直接教示すべき１台の産業用ロボットのアーム先端部分の姿勢調整機構部に教示ハンドル部を装着し、力検出手段及び姿勢角検出手段の出力から教示情報生成部で生成した教示情報をリアルタイム通信手段により、前記直接教示すべき１台の産業用ロボットに通信することにより１台ごとに教示を行えるようにし、前記姿勢調整機構部は、アーチ状のレール（１）と、レール（１）に沿ってスライドしてロール角を調整するスライダ（４）と、スライダ（４）の外円周上を円周に沿ってスライドしてピッチ角を調整するスライダ（３）と、スライダ（３）に設けられ教示ハンドル部の連結用板の被係合部に着脱自在に係合する係合部とからなることを特徴とする。
また、本発明は、上記教示ハンドル部には、教示許可信号スイッチ（１２）が設けられ、教示許可信号スイッチ（１２）は、直接教示すべき１台の産業用ロボットに教示制御を許可するための教示許可信号を生成することを特徴とする。
In the present invention, a direct teaching system is constructed with a single direct teaching module composed of a teaching handle unit and a teaching information generation unit and having a direct teaching function and a plurality of industrial robots. The robot is provided with a posture adjustment mechanism portion that can be detachably mounted on the tip portion of the arm from any direction. The one direct teaching module includes a teaching handle portion and a teaching information generation portion. The section is provided with a connecting plate that detachably engages with the attitude adjustment mechanism section, a force detection means, and an attitude angle detection means. The teaching information generation section generates teaching information from the outputs of both detection means. an internal computer comprising a computer, a real-time communication means for communicating the teaching information generated inside the computer to any one of the industrial robot in real time provided that It makes it realizes a direct teaching of a plurality of industrial robots with a single direct teaching module.
The present invention is a direct teaching system comprising a teaching handle unit and a teaching information generation unit, and a direct teaching module that combines functions for direct teaching, and a plurality of industrial robots. The robot is provided with a posture adjustment mechanism unit that can attach and detach the teaching handle unit from any direction at the arm tip of each industrial robot, and the one direct teaching module includes a teaching handle unit and a teaching information generation unit. The teaching handle portion is provided with a connecting plate having an engaged portion that is detachably engaged with the posture adjusting mechanism portion, a force detecting means and a posture angle detecting means, and the teaching information the generator, an internal computer comprising a computer for generating instruction information from the output of both the detection means, the industrial robot teaching information generated internally computer in real time And real-time communication means for communicating to the displacement or one provided, further, the plurality of industrial robots, said receiving means for receiving information from the real-time communication means is provided, one of the industrial robot to be taught directly A teaching handle is mounted on the posture adjustment mechanism at the tip of the arm, and the teaching information generated by the teaching information generation unit from the outputs of the force detection unit and the posture angle detection unit is transmitted by the real-time communication unit to the one to be taught directly. By communicating with an industrial robot, teaching can be performed for each unit, and the posture adjustment mechanism unit slides along the arched rail (1) and the rail (1) to adjust the roll angle. Slider (4), slider (3) for adjusting the pitch angle by sliding along the outer circumference of slider (4), and teaching handle provided on slider (3) Characterized by comprising the an engaging portion which engages detachably in the engaged portion of the connecting plate.
Further, the present invention is the teaching handle portion, teaches permission signal switch (12) is provided, the teachings permission signal switch (12) in order to permit the teaching control to one of the industrial robot to be taught directly The teaching permission signal is generated.
本発明の効果は、教示ハンドル部がワンタッチで着脱可能で、教示情報を生成するすべての機能要素が一つのモジュールになっているので、複数の産業用ロボットを１台の直接教示モジュールで各産業用ロボットごとに教示することが可能になり、直接教示システムの導入費用及び維持費用の低減が期待できる。
また、本発明では、必要な時にアクセスしやすい方向から着脱が可能なので作業者の安全性が向上する。
また、本発明では、大きな姿勢変化を伴う教示作業においても、ハンドルの姿勢を自由に調整可能なので長時間の教示作業においてもオペレータの疲労感が軽減でき、作業効率の向上が期待される。
The effect of the present invention is that the teaching handle part can be attached and detached with one touch, and all the functional elements for generating teaching information are made into one module. Therefore, a plurality of industrial robots can be connected to each industry with one direct teaching module. Teaching can be performed for each robot, and it can be expected to reduce the introduction cost and maintenance cost of the direct teaching system.
Moreover, in this invention, since it can attach or detach from the direction which is easy to access when needed, a worker's safety improves.
Further, according to the present invention, since the steering wheel posture can be freely adjusted even in teaching work involving a large change in posture, the operator's feeling of fatigue can be reduced even in long-time teaching work, and improvement in working efficiency is expected.
複数の産業用ロボットのアーム先端部分に、教示ハンドル部を着脱自在に装着できる姿勢調整機構部を設け、力センサ及び姿勢角センサを設けた教示ハンドル部と、両センサからの検出信号を処理し教示情報を生成するとともに生成した教示情報をリアルタイムで複数の産業用ロボットのいずれか一つへ通信するリアルタイム通信部を有する教示情報生成部とからなる一つの直接教示モジュールで複数の産業用ロボットの直接教示を実現可能とした。 At the tip of the arm of multiple industrial robots, an attitude adjustment mechanism that can be detachably attached to the teaching handle is provided, a teaching handle with a force sensor and attitude angle sensor, and detection signals from both sensors are processed. A plurality of industrial robots with one direct teaching module comprising a teaching information generation unit having a real-time communication unit that generates teaching information and communicates the generated teaching information to any one of the plurality of industrial robots in real time. Direct teaching can be realized.
図１に、本発明の一実施例を示す。図において、本システムを構成する複数の産業用ロボットのアーム先端部分の取り付け部２には、姿勢調整機構部が取り付けられている。姿勢調整機構部は、取り付け部２に固定されたアーチ状で矩形断面のレール１と、アーチ状のレール１に沿ってレール１上をスライドしてロール角を調整するスライダ４と、スライダ４の外円周上を円周に沿ってスライドしてピッチ角を調整するスライダ３と、所望の姿勢角になったときスライダ３及びスライダ４の位置を拘束する固定用操作レバー７と、スライダ３に設けられ教示ハンドル部の連結用板６に着脱自在に係合する係合部としての爪式ロック機構８とを具備している。教示ハンドル部は、上記姿勢調整機構部のロック爪に係合する被係合部としての係合穴を有する連結用板６と、力検出手段である力センサ１０と、姿勢角検出手段である姿勢角センサ９と、把持部１１と、教示許可信号スイッチ１２とを具備している。
教示ハンドル部をロボットのアーム先端部分に取り付けるときは、連結用板６を姿勢調整機構部の爪式ロック機構８に押し付けることで両方はロックされ、取り外すときは、爪式ロック機構８の下部を押すことでロックは解放され、教示ハンドル部は姿勢調節機構部から取り外される。
教示ハンドル部の取り付け方向を調整するときは、固定用操作レバーを緩めて拘束を解き、アーチ状のレール１に沿ってスライダ４をスライドさせることでロール角を調整し、ピッチ角はスライダ３をスライダ４の外円周上をスライドさせることで調整し、所望の姿勢角に調整後、固定用操作レバー７を締めて拘束する。
FIG. 1 shows an embodiment of the present invention. In the figure, an attitude adjustment mechanism is attached to the attachment 2 at the tip of the arm of a plurality of industrial robots constituting this system. The posture adjustment mechanism section includes an arch-shaped rail 1 having a rectangular cross section fixed to the mounting section 2, a slider 4 that slides on the rail 1 along the arch-shaped rail 1 to adjust the roll angle, A slider 3 that slides along the circumference on the outer circumference to adjust the pitch angle, a fixed operating lever 7 that restrains the positions of the slider 3 and the slider 4 when the desired posture angle is reached, and the slider 3 A claw-type lock mechanism 8 is provided as an engaging portion that is provided and detachably engages with the connecting plate 6 of the teaching handle portion. The teaching handle portion is a connecting plate 6 having an engagement hole as an engaged portion that engages with the lock claw of the posture adjusting mechanism portion, a force sensor 10 that is force detecting means, and posture angle detecting means. A posture angle sensor 9, a grip 11, and a teaching permission signal switch 12 are provided.
When attaching the teaching handle to the tip of the arm of the robot, both are locked by pressing the connecting plate 6 against the claw-type lock mechanism 8 of the posture adjustment mechanism, and when removing, the lower part of the claw-type lock mechanism 8 is By pushing, the lock is released, and the teaching handle part is removed from the posture adjusting mechanism part.
When adjusting the direction of attachment of the teaching handle, the fixing lever is loosened to release the restraint, and the roll angle is adjusted by sliding the slider 4 along the arched rail 1. Adjustment is performed by sliding on the outer circumference of the slider 4, and after adjusting to a desired posture angle, the fixing operation lever 7 is tightened and restrained.
図３は、姿勢可変着脱式の教示ハンドル部及び直接教示情報生成部を具備した一つの直接教示モジュールと、複数（図ではＮ台）の産業用ロボットとからなる本発明の直接教示システムの全体構成を示すブロック図である。図において、姿勢可変着脱式の教示ハンドル部の力センサ（６軸操作力）で検出された操作力検出信号１ｂと姿勢角センサ（３軸姿勢角）で検出された教示ハンドル部の姿勢角検出信号１ｃとは、直接教示情報生成部の力センサレシーバボード２ａと姿勢角レシーバボード２ｂへ入力され、内部計算機２ｃにより操作力と初期姿勢角が計算される。内部計算機２ｃは、操作力と初期姿勢角及び直接教示許可信号１ａをリアルタイム通信手段でロボットへ送信する。操作力と初期姿勢角とを受信した産業用ロボットでは、操作力座標変換部４ａは、操作力と初期姿勢角情報を用いてロボットアームの姿勢を考慮した操作力情報を生成して直接教示コントローラ４ｂに入力し、直接教示コントローラ４ｂは入力された操作力情報を基に最終的にロボットの教示追従動作を行う。
なお、教示許可信号スイッチ１２は、直接教示すべき産業用ロボットに教示制御を許可するための教示許可信号を生成する。つまり、教示許可信号により、ロボットは通常運用制御又は制御停止状態から教示制御状態に切り替わる。直接教示情報生成部は、教示許可信号に連動して教示情報（力情報及びハンドル姿勢角情報）をロボット側に伝送するか、教示許可信号に関係なく、常時教示情報を伝送する。
FIG. 3 shows the entire direct teaching system according to the present invention, which is composed of one direct teaching module provided with a teaching handle section and a direct teaching information generating section that can be attached and detached, and a plurality (N in the figure) of industrial robots. It is a block diagram which shows a structure. In the figure, an operation force detection signal 1b detected by a force sensor (6-axis operation force) of a posture handle that can be attached / detached and a posture angle detection of a teach handle portion detected by a posture angle sensor (3-axis posture angle). The signal 1c is directly input to the force sensor receiver board 2a and the posture angle receiver board 2b of the teaching information generation unit, and the operation force and the initial posture angle are calculated by the internal computer 2c. The internal computer 2c transmits the operating force, the initial posture angle, and the direct teaching permission signal 1a to the robot by real time communication means. In the industrial robot that has received the operation force and the initial posture angle, the operation force coordinate conversion unit 4a generates the operation force information considering the posture of the robot arm using the operation force and the initial posture angle information, and directly teaches the controller. 4b, the direct teaching controller 4b finally performs the teaching follow-up operation of the robot based on the input operation force information.
The teaching permission signal switch 12 generates a teaching permission signal for permitting teaching control to an industrial robot to be directly taught. That is, the robot is switched from the normal operation control or the control stop state to the teaching control state by the teaching permission signal. The direct teaching information generation unit transmits teaching information (force information and handle posture angle information) to the robot side in conjunction with the teaching permission signal, or always transmits teaching information regardless of the teaching permission signal.
このように構成された、一つの直接教示モジュールと複数の産業用ロボットからなる直接教示システムにおいては、教示すべき１台の産業用ロボットのアーム先端部分の姿勢調整機構部に教示ハンドル部をオペレータが操作しやすい所望の姿勢角で取り付け、直接教示を行う。教示が終了すれば、教示ハンドル部を取り外し、次の他の教示すべき産業用ロボットのところに直接教示モジュールを移動し、同様に当該他の教示すべき産業用ロボットのアーム先端部分の姿勢調整機構部に教示ハンドル部を所望の姿勢角で取り付けて直接教示を行う。このようにして、一つの直接教示モジュールを備えるだけで、システム内の複数のロボットの全てに対して直接教示が行える。 In the direct teaching system composed of one direct teaching module and a plurality of industrial robots configured as described above, the teaching handle portion is attached to the posture adjustment mechanism portion of the arm tip portion of one industrial robot to be taught. Attaches at a desired posture angle that is easy to operate and teach directly. When teaching is complete, the teaching handle is removed, the teaching module is moved directly to the next other industrial robot to be taught, and the posture of the arm tip of the other industrial robot to be taught is similarly adjusted. A teaching handle portion is attached to the mechanism portion at a desired posture angle and teaching is performed directly. In this way, it is possible to directly teach all of a plurality of robots in the system only by providing one direct teaching module.
図２は、本発明の他の実施例を示す。
図２の実施例において、上記図１で示した実施例と異なるところは、姿勢調整機構部のピッチ角及びロール角の調整手段と、教示ハンドル部の連結用板を姿勢調整機構部へ着脱自在に装着させるための係合手段とが異なるのみで他の部分は同じである。図において、本システムを構成する複数の産業用ロボットのアーム先端部分の取り付け部２には、姿勢調整機構部が取り付けられている。姿勢調整機構部は、取り付け部２に固定されたアーチ状で円形断面のレール１と、アーチ状のレール１に沿ってレール１上をスライドしてロール角を調整するスライダ４とを具備している。スライダ４は、アーチ状のレール１に沿って、所望のロール角になるようにスライドできるが、アーチ状のレール１に対してピッチ方向には回転できない構造となっている。アーチ状のレール１には、ロール角調整時の位置決め用の溝が複数設けられている。また、スライダ４には、スライダ４の外周部の円周周りにピッチ角調整用の複数のスプリング式ロック機構５が設けられている。教示ハンドル部は、上記姿勢調整機構部のスプリング式ロック機構５に係合する被係合部を有する連結用板６と、力検出手段である力センサ１０と、姿勢角検出手段である姿勢角センサ９と、把持部１１と、教示許可信号スイッチ１２とを具備している。
教示ハンドル部の取り付け方向を調整するときは、所望のロール角になるようにアーチ状のレール１に沿ってスライダ４をスライドさせることで調整し、ピッチ角はスライダ４の外周部の円周周りに設けられたピッチ角調整用の複数のスプリング式ロック機構５のうちの所望のピッチ角に該当するスプリング式ロック機構５に対して、教示ハンドル部の連結用板６の被係合部を挿入することで、姿勢調整機構部に教示ハンドル部が拘束される。なお、スプリング式ロック機構５を開放することで、教示ハンドル部は姿勢調節機構部から取り外される。
FIG. 2 shows another embodiment of the present invention.
The embodiment of FIG. 2 differs from the embodiment shown in FIG. 1 in that the pitch angle and roll angle adjusting means of the posture adjusting mechanism and the connection plate of the teaching handle are detachable from the posture adjusting mechanism. The other parts are the same except for the engagement means for attaching to. In the figure, an attitude adjustment mechanism is attached to the attachment 2 at the tip of the arm of a plurality of industrial robots constituting this system. The posture adjustment mechanism unit includes an arch-shaped rail 1 having a circular cross section fixed to the mounting unit 2 and a slider 4 that slides on the rail 1 along the arch-shaped rail 1 to adjust the roll angle. Yes. The slider 4 is slidable along the arched rail 1 so as to have a desired roll angle, but cannot slide in the pitch direction with respect to the arched rail 1. The arch-shaped rail 1 is provided with a plurality of positioning grooves when adjusting the roll angle. The slider 4 is provided with a plurality of spring-type lock mechanisms 5 for adjusting the pitch angle around the circumference of the outer peripheral portion of the slider 4. The teaching handle portion includes a connecting plate 6 having an engaged portion that engages with the spring-type lock mechanism 5 of the posture adjusting mechanism portion, a force sensor 10 that is force detecting means, and a posture angle that is posture angle detecting means. A sensor 9, a grip portion 11, and a teaching permission signal switch 12 are provided.
When adjusting the mounting direction of the teaching handle, the slider 4 is slid along the arched rail 1 so as to obtain a desired roll angle, and the pitch angle is around the circumference of the outer periphery of the slider 4. The engaged portion of the connection plate 6 of the teaching handle portion is inserted into the spring-type lock mechanism 5 corresponding to the desired pitch angle among the plurality of spring-type lock mechanisms 5 for adjusting the pitch angle provided in As a result, the teaching handle portion is restrained by the posture adjustment mechanism portion. Note that the teaching handle portion is detached from the posture adjusting mechanism portion by opening the spring type lock mechanism 5.
なお、姿勢調整機構部の構成は、図１及び図２で示したものに限定されるものではなく、ロール角及びピッチ角が調整できるものであれば他の機構を採用してもよく、連結用板と姿勢調整機構部と連結機構についても、着脱自在に装着できるものであれば他の機構であっても採用できるものである。
また、上記実施例では、姿勢調整機構部は全ての産業用ロボットのアーム先端部分の取り付け部２に取り付けておくこととして説明したが、一つの姿勢調整機構部を、教示すべき産業用ロボットにその都度取り付け固定するようにしてもよい。
Note that the configuration of the posture adjustment mechanism is not limited to that shown in FIGS. 1 and 2, and other mechanisms may be adopted as long as the roll angle and the pitch angle can be adjusted. As for the plate, the posture adjusting mechanism section, and the connecting mechanism, other mechanisms can be adopted as long as they can be detachably mounted.
In the above embodiment, the posture adjustment mechanism is described as being attached to the attachment portion 2 of the arm tip of all industrial robots. However, one posture adjustment mechanism is used as an industrial robot to be taught. You may make it attach and fix each time.
産業用ロボットとしては、溶接ロボット、塗装ロボット、組み立てロボットなど、教示作業を必要とする産業用ロボットであれば、本発明の直接教示システムを適用できる。また、産業用ロボット以外の、民生用ロボットなどであっても、教示作業を必要とするロボットであれば、本発明の直接教示システムを適用できるものである。
なお、力センサ及び姿勢角センサは、センサ装置そのものでなくてもよく、オペレータ等の操作力及び姿勢角が推定できる手段であればよい。
As the industrial robot, the direct teaching system of the present invention can be applied to any industrial robot that requires teaching work, such as a welding robot, a painting robot, and an assembly robot. Moreover, even if it is a consumer robot other than industrial robots, the direct teaching system of the present invention can be applied to any robot that requires teaching work.
Note that the force sensor and the posture angle sensor may not be the sensor device itself, but may be any means that can estimate the operation force and posture angle of an operator or the like.
１ アーチ状レール
２ 取り付け部
３ スライダ
４ スライダ
５ スプリング式ロック機構
６ 連結用板
７ 固定用操作レバー
８ 爪式ロック機構
９ 姿勢角センサ
１０ 力センサ
１１ 把持部
１２ 教示許可信号スイッチ
DESCRIPTION OF SYMBOLS 1 Arch-shaped rail 2 Mounting part 3 Slider 4 Slider 5 Spring type lock mechanism 6 Connection board 7 Fixing operation lever 8 Claw type lock mechanism 9 Attitude angle sensor 10 Force sensor 11 Grip part 12 Teaching permission signal switch
Claims (2)
前記複数の産業用ロボットには、各産業用ロボットのアーム先端部分に、教示ハンドル部を任意の方向から着脱自在に装着できる姿勢調整機構部を設け、
前記一つの直接教示モジュールは教示ハンドル部と教示情報生成部とからなり、前記教示ハンドル部には、前記姿勢調整機構部に対して着脱自在に係合する被係合部を有する連結用板と力検出手段及び姿勢角検出手段とが設けられ、前記教示情報生成部には、両検出手段の出力から教示情報を生成するコンピュータからなる内部計算機と、内部計算機で生成した教示情報をリアルタイムで産業用ロボットのいずれか一つへ通信するリアルタイム通信手段とを設け、
さらに、複数の産業用ロボットには、前記リアルタイム通信手段からの情報を受信する受信手段を設け、
直接教示すべき１台の産業用ロボットのアーム先端部分の姿勢調整機構部に教示ハンドル部を装着し、力検出手段及び姿勢角検出手段の出力から教示情報生成部で生成した教示情報をリアルタイム通信手段により、前記直接教示すべき１台の産業用ロボットに通信することにより１台ごとに教示を行えるようにし、
前記姿勢調整機構部は、アーチ状のレール（１）と、レール（１）に沿ってスライドしてロール角を調整するスライダ（４）と、スライダ（４）の外円周上を円周に沿ってスライドしてピッチ角を調整するスライダ（３）と、スライダ（３）に設けられ教示ハンドル部の連結用板の被係合部に着脱自在に係合する係合部とからなることを特徴とする直接教示システム。 And one direct teaching module a collection of functions that help the teachings configured directly teaching handle portion from the teaching information generating unit, a direct teaching system comprising a plurality of industrial robots,
The plurality of industrial robots are provided with a posture adjustment mechanism portion that can be detachably attached to a teaching handle portion from an arbitrary direction at an arm tip portion of each industrial robot,
The one direct teaching module includes a teaching handle portion and a teaching information generation portion, and the teaching handle portion includes a connecting plate having an engaged portion that is detachably engaged with the posture adjusting mechanism portion. Force detection means and posture angle detection means, and the teaching information generation unit includes an internal computer comprising a computer that generates teaching information from the outputs of both detection means, and teaching information generated by the internal computer in real time. A real-time communication means for communicating with any one of the robots,
Furthermore, a plurality of industrial robots are provided with receiving means for receiving information from the real-time communication means,
The teaching handle portion to the posture adjusting mechanism of the arm distal end portion of one of the industrial robot to be taught directly attached, real-time communication teaching information generated in the teaching information generating unit from the output of the force detecting means and the attitude-angle detection means It means by, so as to perform the teaching for each one by communicating to one of the industrial robot to be taught the direct,
The posture adjusting mechanism section includes an arched rail (1), a slider (4) that slides along the rail (1) to adjust a roll angle, and an outer circumference of the slider (4) on a circumference. A slider (3) that is slid along and adjusts the pitch angle, and an engaging portion that is provided on the slider (3) and is detachably engaged with an engaged portion of a connection plate of a teaching handle portion. Features direct teaching system.
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