JPH0947989A - Robot work teaching device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To purely indicate a force exerted on a work surface without moving the arm of a robot for teaching purpose by providing a switch part to indicate a point of time when measurement signals from a force sensor and a tertiary sensor are outputted. SOLUTION: When a teaching device is moved to a next position and pressed against a surface to be machined in such a state to take a proper attitude and a second button 42 is pressed, the teaching device measures a position, an attitude, and a press again through the aid of a force sensor 21 and a tertiary sensor 31 and outputted. Until following a necessary route is completed, the position, the attitude, and a press of working tool are measured and outputted as the teaching device is moved one by one along the surface to be machined of a work. When a third button 43 is pressed in the last position of a route to be taught, a work teaching process is completed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work teaching apparatus for teaching a working path and contact pressure to a power working robot, and in particular, teaches work directly on a work surface of a work without moving the robot together with the arm of the robot. The teaching device relates to a teaching device.

[0002]

2. Description of the Related Art Conventionally, a method used to teach the operation of a robot includes a method in which an operator moves a robot to a position and a posture necessary for work by using a teaching box and stores target data of each joint. Or do CA
There has been an indirect teaching method of creating an operation program by simulation using D or the like. In such an indirect method, there is a danger that the robot itself or an end effector attached to the robot may collide with surrounding objects and be damaged due to an operation error of an operation button, an error of a model, or the like. Calibration in the real environment is required to compensate for model errors, and knowledge and skills of robot operation are required for teaching.Especially difficult to trace a curved surface, etc. The disadvantage is that the number of persons is limited.

[0003] As a method of overcoming such disadvantages and avoiding collision with other objects no matter who teaches, a method of direct teaching has been proposed. As an example of the direct method, when a worker applies a force in the direction of moving by holding the end effector at the tip of the robot, a force sensor provided at the base side of the end effector detects the direction of the force and moves the robot in that direction. There is a method of teaching a route by moving and storing the trajectory. A force sensor used for such a purpose needs to withstand the load of the end effector and the object to be grasped and to have a sensitivity for detecting a force applied by an operator. Japanese Patent Laying-Open No. 4-372384 discloses a robot path teaching device using a force sensor having an ability to detect only a force applied by an operator without receiving a load of an end effector or a work. However, even in this method, the operator directly teaches by moving the arm of the robot, so that there is no limit to the possibility of a runaway due to abnormal robot control and an unexpected accident.

[0004] In the case where the robot performs a force work such as machining or assembling a work using a work tool such as grinding, polishing, and deburring, the above-described path teaching method teaches the movement path of the end effector of the robot. However, it is not possible to teach a force control robot that performs a force work on a work surface of a work so that a desired force acts on the work. Japanese Patent Application Laid-Open No. Hei 7-60606 discloses a teaching device for such a force control robot, in which a work tool is attached to a wrist of a robot mechanism via a force sensor and force work is performed by the work tool based on force control. A robot having a probe with rollers fixed in a fixed positional relationship to a work tool is disclosed.
According to the invention, even when a work tool such as a grinder needs to take a predetermined posture at each teaching point of the work,
It is said that the path of the tool can be easily and directly taught because the posture of the tool can be set by imitating the surface to be processed by the probe. However, even in this method, what is taught to the robot is the path of the work tool attached to the robot, that is, the position and posture, and the contact pressure or load on the work surface of the work is programmed with a pre-programmed value and a force sensor. Are separately controlled by comparing the outputs of.

In order to teach the working force of the power tool, a force sensor is provided at the hand of the robot, and the operator takes the hand as a hand and imitates the force required in that phase while following the surface to be machined. Is shown, and this is detected by a force sensor and stored. However, in this method, it is also difficult for a large robot or a robot handling a large load to accurately extract and detect only the force that a person tries to apply as a tool acting force. For example, when the hand of the robot does not simply follow a predetermined path, such as when polishing the surface, but needs an appropriate force corresponding to the position of the object, the robot can be accurately controlled. Teaching force was extremely difficult. In other words, even if you try to teach the force of rubbing the surface when you take the hand of the robot and imitate the surface of the workpiece at the same time, the force required to drag the arm of the robot is superimposed on it, so it is truly a surface treatment. This is because it is not necessary to separately teach the force required for the operation. Therefore, in practice, the method has been limited to the case where the hand of a robot having a size that allows the operator to directly operate the hand is pressed against a simple plane with a constant force.

[0006] Also, in the case of an indirect robot work teaching device which is configured to move an arm and a hand based on a program in which a path and a trajectory are given as spatial coordinates, instead of a method of teaching with an actual robot arm. In this case, too, it is difficult to quantitatively indicate numerical values of the working force of the power tool in many cases, depending on the experience of the operator in apportioning the force for each posture. After all, the simplest way to teach the robot the proper working force is for the human to hold the work tool separated from the robot in his hand and force the robot to reproduce it while pressing the surface of the actual work and Clearly, it is reasonable. However, for this purpose, the correspondence between the hand of the robot and the teaching device must be established, and there is no such teaching method as described above.

[0007]

SUMMARY OF THE INVENTION Accordingly, the present invention provides a robot work teaching apparatus which teaches the path of the robot's hand and purely indicates the force applied to the work surface without moving the arm of the robot for teaching. The purpose is to provide. In addition, the present invention physically separates from the arm of the robot, imitates the surface of a model or a real object of a work, detects a pressing force applied to the surface during the movement, and detects a pressing force in the path and posture of the teaching device and its position. An object of the present invention is to provide a robot work teaching device characterized by being reproduced by a robot. Furthermore, without directly operating the robot in the real environment, without using the force sensor that the robot has for force control, by pressing a separate teaching device against the work and teaching the work to the robot, It is an object of the present invention to provide a robot work teaching device that can be used for any size robot. Another object of the present invention is to provide a teaching device that does not require the operation of the robot itself and does not require the skill of operating the robot.

[0008]

In order to solve the above-mentioned problems, a work teaching device for a robot according to the present invention includes a force sensor, a posture sensor, and a switch. It has a force sensor that measures and outputs the force pressed against the object, the posture sensor unit has a three-dimensional sensor that measures and outputs the position and posture, and the switch unit receives the measurement signals from the force sensor and the three-dimensional sensor. It is characterized by indicating a point of time to output. In addition, the force sensor may further include a force transmission rod having a rotatable ball at the tip.
Further, the three-dimensional sensor is composed of three detection coils arranged orthogonally, and calculates a position and a posture from a current induced in each detection coil by a plurality of excitation coils provided outside the work teaching device. It is good. Also,
It is preferable that the outer shape of the work teaching device is formed so that it can be grasped by hand. The three-dimensional sensor may include a position measuring device and a gyro, the position measuring device may measure the position of the work teaching device, and the gyro may measure its posture.

In order to solve the above-mentioned problems, a work teaching method for a robot according to the present invention includes a force sensor, a posture sensor, and a switch, and the force sensor senses a force pressing the work teaching device against an object. Has a force sensor that measures and outputs
A robot work teaching device, characterized in that the posture sensor unit includes a three-dimensional sensor that measures and outputs a position and a posture, and the switch unit indicates a time point at which a measurement signal from the force sensor and the three-dimensional sensor is output. The work tool attached to the robot follows the path of the target object on the surface to be processed, and teaches while pressing the work tool so as to have a posture and a pressing force of the work tool at that position. Further, the correspondence between the output of the work teaching device and the position of the work tool is calibrated by applying the work teaching device to the position of the work tool at the hand of the robot and measuring the position and orientation at that position. .

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A robot operation teaching device according to the present invention has a force sensor unit having a force sensor for measuring and outputting a force pressing the operation teaching device against an object, and measuring and outputting a position and a posture. And a switch for instructing a time point at which a measurement signal is output from the force sensor and the three-dimensional sensor, and is not restrained by the robot's hand. When teaching the work of the robot, make sure that the robot does not access the surface of the work by removing the hand of the robot from the work to be worked, and then the worker holds the work teaching device and While moving the work teaching device along the path to be followed by the robot, a posture to be taken by the work tool at a necessary place and a force for the tool to press the work surface are generated. Then, the three-dimensional sensor detects the position and orientation of the work teaching device, the force sensor detects the pressing force, and transmits the information to the control device. This information acquisition point can be designated by the operator operating the switch unit.

The control device of the robot is provided with information on the position, posture, and force along the movement path of the work teaching device, which is obtained as information such as the position independent of the hand of the robot. The information is transformed into temporal information corresponding to the force and played back in accordance with the information. If the position / posture / force information obtained from the work teaching device does not correspond correctly to the position / posture / force of the work tool attached to the robot hand, the robot expected the work taught by the work teaching device. I can't repeat it. For this reason, it is necessary to accurately correspond the position measurement reference point of the work teaching device with the position control reference point of the robot hand. In order to grasp these correspondences more accurately, it is preferable to perform calibration by placing the work teaching device at the work tool mounting position of the robot.

As a method for a worker to reproduce a work in an actual work space by using a work teaching device and to teach a position, a posture, and a force to be applied to a robot, the work teaching at that time is performed by operating a hand switch as described above. In addition to measuring and inputting the position / posture / applied force of the device and setting it as the work target point / applied force, as the worker moves and operates the work teaching device, its position / posture / There is also a method in which force is measured, and these data are sequentially and chronologically acquired and stored. In this case, data is continuously captured and stored while the switch indicating that the teaching operation is being performed is pressed. In addition, if it is necessary to stop or operate the tool attached to the robot hand instead of continuously operating it according to the situation, a hand switch for indicating the position and timing is provided. To do. When a robot hand is provided at the tip of the robot, the timing and position of opening and closing the robot hand can be taught by operating the hand switch. The operation of the switches may be instructed by voice. In this case, a hand switch for activating a voice recognition function is provided separately. It is also possible to provide a program in which the contents of work are sequentially instructed by voice along with the process and the work process is determined. In order to enable the instruction by voice, it is necessary to associate the input voice with the robot function in advance for the voice recognition function.

The position, posture, and force data taken in as described above can be corrected to more accurate values via the numerical value input device. If the value is incorrect, a function of correcting the part by operating the operation teaching device and re-inputting the data can be provided. Furthermore, when there is an irrational part in the input data components, such as the Y-axis component which is unnecessary when acquiring data along the X-axis, the data is deleted or compressed to reduce the influence. Function can be attached. In addition, when teaching a certain operation, the time required for the teaching operation is not the same as the operation execution time of the robot, and is not necessarily in a proportional relationship. For example, it is necessary to carefully determine the position and posture in a part where the posture of the power tool changes, and it takes time to teach the work.However, when polishing a flat part at the same speed and with the same force, the work teaching is the actual work time. You don't have to spend the same amount of time. In such a case, the teaching content can be edited in order to instruct the actual working time adapted for each position / posture of the robot hand.

In the case of storing chronologically continuous data, data of a target position and a target force required for a work program are extracted from the obtained data, and a program is created using the data. can do. In addition, when input data indicates unnecessary shaking, or in order to connect points input as work target points on the trajectory on which the robot hand operates, data changes are smoothly processed to improve followability. Functions can be provided. Further, when switching between the force control method and the position control method as necessary for the work, the timing can be designated via a switch of the work teaching device. in this way,
According to the work teaching device of the present invention, since another device is used without using the position detecting mechanism and the force detecting mechanism of the hand of the robot, there is no need to operate the robot. Therefore, even a person who is not accustomed to robot operation can teach the route without any difficulty, and can teach the force itself required for the tool itself regardless of the size of the robot.

[0015]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a robot operation teaching device according to the present invention. FIG. 1 is a schematic view showing an embodiment of a robot operation teaching device according to the present invention.
In FIG. 1, a work teaching device 1 according to the embodiment of the present invention includes a force sensor 2, a posture sensor 3, and a switch 4.
The force sensor unit 2 includes a force sensor 21 for measuring a force using a resistance wire strain gauge, a piezoelectric element, a magnetostrictive element, and the like, and a force transmission rod 23 coupled to the sensor and having a ball 22 at a tip. 5 to measure the force pressing the teaching device 1 against the surface to be processed and output a force measurement signal.

The posture sensor unit 3 has a thickness that is easy for an operator to grasp with his / her hand, has a non-slip surface on its surface, and has a three-dimensional sensor 31 for detecting the position and posture of the work teaching device 1 inside. It has. In this embodiment, as the three-dimensional sensor 31, a 3D SPACE digitizer (trade name) manufactured by McDonnell Douglas KK is used. The three-dimensional sensor 31 includes three detection coils wound in directions orthogonal to each other.
The currents induced in the respective detection coils can be independently detected in accordance with a change in the magnetic field generated from the magnetic field generator 6 installed at a fixed outside position. The magnetic field generator 6 also includes three excitation coils 61 wound in directions orthogonal to each other. When a predetermined current is passed through each coil in a time-division manner, the three excitation coils 61 are sequentially excited. Since different magnetic fields are generated at the position of the three-dimensional sensor 31, different induced currents are generated in the respective detection coils of the three-dimensional sensor 31 according to the change. The induced current is determined by the relative positional relationship between the excitation coil 61 of the magnetic field generator 6 and the detection coil 31 of the attitude sensor unit 3. On the contrary, the distance between the detection coil 31 and the distance between the coils is determined based on the value of the induction current of each detection coil 31. Is required. That is, the magnetic field generator 6
, The position and orientation of the work teaching device 1 are determined.

The switch section 4 is provided with several push button switches. The first button 41 is a button for notifying the start of teaching when the operator presses the button when starting teaching. When the operator presses the second button 42 at an appropriate position while following the work surface of the work 5, the posture of the teaching device 1 at that position and the press on the work surface are input to output these data. Button.
The third switch 43 is a button for notifying the end of the teaching process.

Next, a method of using the operation teaching device for a robot in the above-described embodiment of the present invention will be described with reference to FIGS. FIG. 2 is a view showing a state when teaching a work to, for example, a robot performing a polishing work. The robot 7 includes a control device 71, an articulated arm 72, and a hand 73 provided at the tip of the arm. The robot 7 sets a work tool 74 on the hand 73 and performs work on the workpiece 5. Minions 7
3 is provided with a force sensor 75 for detecting the force of the work tool 74 acting on the work 5.

When the robot 7 is to perform a polishing operation, a polishing tool 74 to which an abrasive is fixed is set on the hand 73 of the robot, and the processing surface of the work 5 fixed on the surface plate is polished according to a predetermined path. . In the polishing operation, the reaction force applied to the polishing tool 74 from the surface to be processed of the work 5 is detected by the force sensor 75 and fed back to be used for controlling the pressing force of the tool. When the work surface of the work 5 is flat and it is not necessary to change the pressing force of the tool, the movement of the hand 73 of the robot and the control of the pressing force of the tool 74 are not so difficult. However, when the shape of the workpiece 5 is complicated, not only the position but also the posture of the polishing tool 74 needs to be constantly changed in conformity with the work surface, and the pressing force has an appropriate value corresponding to the position and posture. Change. In order to teach such values to the robot controller 71, it is most appropriate to teach a force matching the posture of the tool at each position while actually tracing the work surface of the work 5. However, if the operator guides the hand 73 of the robot by hand, a load for moving the hand of the robot is added, and the force to be exerted on the surface to be processed by the polishing tool 74 is purely extracted and instructed. Is difficult.

The work teaching device 1 of the present invention moves the robot arm 72 away from the work 5 and traces the work tool 7 at appropriate positions while tracing the free work surface along the path.
4 indicates the desired posture and pressing force.
After converting these instruction data into a CAD database,
Or directly, sent to the robot controller 71,
Used for playback control of the robot 7.

FIG. 3 is a block diagram showing an example of the teaching procedure. To explain one example of a procedure that can be actually taken, first,
Before the worker teaches the work, the robot 7 operates the robot 7 to move the arm away from the work position to evacuate the robot to a standby state, and the control device 71 of the robot 7 stops the control operation (S1). When grasping the teaching device 1 and pressing the first button 41 to notify the start of the teaching operation, the control device 71 of the robot 7
Makes a system for taking in teaching data (S2). When the operator touches the teaching device 1 on the work surface of the workpiece 5 at the position where the work tool 74 should initially take and presses the second button 42, the teaching device 1 sets the position where the work tool 74 should be at that position, Measure and output attitude and pressure. These data are
It is supplied to the AD computer or the controller 71. Subsequently, when the teaching device is moved to the next position, the appropriate posture is taken, and the teaching device is pressed against the work surface and the second button 42 is pressed,
The teaching device 1 measures and outputs the position, posture, and pressure again. Until the necessary path is completed, the teaching device 1 measures and outputs the desired position, posture, and pressure of the work tool 74 while sequentially moving the teaching device 1 along the work surface of the work 5 (S3). The robot 7 inputs postures and presses at these positions, and builds and stores in the control device 71 a playback program that causes the hand 72 of the robot to pass through the positions with the postures and presses. When the third button 43 is pressed at the last position of the route to be taught, the work teaching process ends (S4).

Next, the start of the position calibration process is announced by pressing the fourth button 44, and the work teaching device 1 is moved to the robot hand 73.
And presses the second button 42.
Then, the position information signal of the work teaching device 1 at that time corresponds to the position / posture of the work tool 74 that is actually taking the position / posture based on the control signal from the robot controller 71. The calibration between the two information signals is performed (S5). Thus, the robot operation teaching step ends. When the operation procedure of the robot 7 is determined by the operation teaching device 1 of the present invention, a mechanism for instructing the robot as a command word group that can be executed by the robot is provided by a mechanism for controlling the robot 71 or another CAD device (not shown). It is provided in. Here, the work 5 at the time of work teaching
A program is created that repeats the work in association with the reference point for the object and the reference position when the work 5 is set on the robot 7. After that, the robot controller 71 uses the calibration information to
3 can follow the path as newly taught, and play back so that the work tool 74 attached to the hand takes a determined posture at each position and generates the specified pressing force. .

The position and posture of the work tool 74 are measured by the action of the magnetic field generator 6 and the sensor coil 31 of the posture sensor unit 3 which are set at fixed positions. In the magnetic field generator 6, a constant alternating current is sequentially applied to each of the three orthogonal coils 61. The current induced in the three orthogonal sensor coils 31 by the electromagnetic field generated when the current flows through the first coil is proportional to the magnetic flux crossing the sensor coil plane, so that the distribution of the generated electromagnetic field and the magnetic field generation Device 6
It is a function of the distance between the sensor coil 31 and the orientation of the sensor coil 31. By repeating this for three orthogonal coils 61 of the magnetic field generator 6, the sensor coil 3
Six degrees of freedom of one position / posture can be determined. Thus, the sensor coil 31 of the attitude sensor unit 3 and the coil 61 of the magnetic field generator 6 constitute a three-dimensional position measuring device of the work teaching device 1. In the above description, the generated electromagnetic field is generated from the same place while changing its direction in time. However, two or more generators may be installed in different places and generated from each place. However, also in this case, it is necessary not to excite the exciting coil at the same time. This is because the detection coil measures the effect of the combined magnetic field. Since the position of the magnetic field generator 6 serves as a reference point for determining the position of the work teaching device 1, it is preferable that the magnetic field generator 6 be arranged in, for example, a control device of a robot. However, if an object that affects the magnetic flux distribution is interposed between the attitude sensor unit 3 and the magnetic field generator 6, the generated electromagnetic field is disturbed and accurate measurement cannot be performed.
The magnetic field generator 6 cannot be housed in a housing protected by an iron plate. In such a case, the data of the position / posture based on the position of the magnetic field generator 6 is converted into a reference position provided in the robot 7 and used.

Further, the worker operates the work teaching device 1 with the work 5.
The pressing force of the power tool indicated by pressing against the surface to be processed is measured by the force sensor 21 of the force sensor unit 2 via the force detection rod 23. Since the ball 22 is rotatably embedded at the tip of the force detection rod 23, the force sensor 21 directly measures the vertical force on the work surface without receiving the moment in the displacement direction caused by surface friction. Can be. Therefore, it is possible to continuously instruct the pressing force while moving the work teaching device 1 against the surface to be processed of the work 5. If the moving direction of the work teaching device is determined, wheels that rotate in the moving direction may be used instead of the balls 22.

Since the worker moves the work teaching device 1 by hand, there is a possibility that the intended trajectory cannot be accurately traced. However, the position / posture data from the work teaching device 1 is processed on the control device side. By doing so, the data can be converted into necessary orbital data. For example, when obtaining position data along the X axis, removing the Y axis component from left and right swaying position data actually measured as a result of a manual operation to obtain data only in the X axis direction requires an arithmetic function. It is a simple operation without any difficulty for the equipped control device and the like. In addition, increasing or decreasing the force by which the worker presses the work teaching device 1 against the surface to be processed at a constant magnification and using the force for actual robot work requires adjusting the sensitivity of a force sensor or a force transducer or controlling the force. This can be easily performed by multiplying the measured value by a predetermined magnification using the device 71 or the like.

In the above embodiment, the calibration is performed after the work teaching. However, before or as needed, the work teaching device 1 is connected to the work tool 7 of the robot hand 73.
It goes without saying that the calibration may be performed at the position 4 to determine the correspondence between the hand 73 of the robot and the work teaching device 2. Further, the output of the work teaching device 1 is inspected by appropriately moving the robot hand 73 on which the work teaching device 1 is installed, and the position, posture, and pressing force of the work tool 74 and the position, posture, and pressing force of the work teaching device 1 are checked. If the configuration is such that the correspondence with the force can be determined, there is a great effect to improve the accuracy of the playback.

In the method for measuring the position and orientation of the work teaching device 1, in addition to using the magnetic sensor of the above embodiment,
A method of measuring the three-dimensional position of two specific portions defined in the work teaching device by an optical visual sensor, a method of using a position sensor by ultrasonic waves, or measuring the three-dimensional position of one place in the work teaching device There is a method in which measurement is performed in combination with a method for detecting the attitude of the work teaching device by incorporating a gyro and a gyro.

In the above embodiment, the work teaching is performed while the operator holds the posture sensor 3 of the cylindrical work teaching device 1 with one hand and presses it in the vertical direction. It may be designed to be grasped from the side and pressed in the lateral direction. Also, as shown in FIGS. 4 and 5, a grip portion 8 formed in a loop shape is provided.
The work teaching device 1 may be pressed strongly in the direction of the arrow with the palm of the hand holding the hand, and the pressing force provided by the force sensor unit 2 may be used to measure the pressing force. In this case, the switches 45 can be arranged so that they can be operated with a grasped hand. It is preferable that the magnetic sensor be mounted in the holding unit 8 in order to more accurately reflect the position / posture of the work teaching device 1. In the case of a large power tool requiring power, grip portions 8 are attached to both sides of the main body as shown in FIG. It is preferable that the structure be capable of performing the above-described operations. In this case, the magnetic sensor is provided in the main body, and the force sensor is provided in the force sensor 2 projecting from the main body. In addition, for robots that work with tools that process narrow dents in the work, a work teaching device that provides a small sensor at the tip of the grip bar and inserts the sensor into a narrow space is required. Becomes As described above, the shape of the work teaching device can take various forms corresponding to the work tool actually used, but its function and operation are not changed.

In order to indicate the route through which the hand of the robot passes, there are a method of instructing with a data of a passing point at a required point and a method of teaching as a continuous route. Alternatively, the user may be able to select with a button. The switch unit 4 is configured integrally with the teaching device 1 so that it can be operated with only one hand.
By making the switch unit 4 separate from the teaching device 1, it is possible to indicate the teaching position with the hand opposite to the hand holding the teaching device 1. In the above embodiment, a button-type switch is used. However, various types of switches such as a trigger-type switch can be used depending on the design. The buttons of the switch unit 4 can be omitted by combining functions. For example, if the start and end of the work teaching are pressed when the work is not taught, it means start, and if pressed during the teaching, it means the end. Therefore, it is not necessary to be independent, and the function is achieved by one switch. It is also possible to activate the voice recognition device by pressing a switch and to give instructions by words, or to use a voice recognition device instead of a physical switch to replace the switch. In the present embodiment, the case where the work teaching device of the present invention is used for an articulated robot is shown and described, but it goes without saying that the operation teaching device can be applied to any other type of robot.

[0030]

The robot operation teaching device of the present invention is physically separated from the robot arm, and does not move with the robot arm, but directly follows the workpiece model or the real machined surface while following the workpiece surface. In addition to teaching the path and posture of the user's hand, the force itself applied by the power tool to the work surface can be purely indicated. Furthermore, without directly operating the robot in a real environment, and without using the force sensor of the robot, the teaching device can be pressed against the work to teach work to the robot. It can be used even if there is no danger of an accident due to abnormal operation of the robot. Further, since no operation of the robot is required, the operator who teaches does not require the skill of operating the robot.

[Brief description of drawings]

FIG. 1 is a schematic view showing an embodiment of a robot operation teaching device according to the present invention.

FIG. 2 is a drawing showing a state when a work is taught to a robot by the work teaching device of the present invention.

FIG. 3 is a block diagram showing an example of a teaching procedure.

[Explanation of symbols]

 1 Work Teaching Device 2 Force Sensor Unit 3 Posture Sensor Unit 4 Switch Unit 5 Work 6 Magnetic Field Generator 7 Robot 21 Force Sensor 22 Ball 23 Force Transmission Rod 31 3D Sensor 41, 42, 43, 44 Push Button Switch 61 Excitation Coil 71 Control Device 72 Articulated Arm 73 Hands 74 Work Tool 75 Force Sensor

[Procedure amendment]

[Submission date] December 14, 1995

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Brief description of drawings

[Correction method] Change

[Correction contents]

[Brief description of drawings]

FIG. 1 is a schematic view showing an embodiment of a robot operation teaching device according to the present invention.

FIG. 2 is a drawing showing a state when a work is taught to a robot by the work teaching device of the present invention.

FIG. 3 is a block diagram showing an example of a teaching procedure of the present invention.

FIG. 4 is a schematic view showing a second embodiment of the robot operation teaching device according to the present invention.

FIG. 5 is a schematic view showing a third embodiment of the robot operation teaching device according to the present invention.

FIG. 6 is a schematic view showing a fourth embodiment of the robot operation teaching device according to the present invention.

[Explanation of Codes] 1 work teaching device 2 force sensor unit 3 posture sensor unit 4 switch unit 5 work 6 magnetic field generator 7 robot 8 gripping part 21 force sensor 22 ball 23 force transmission rod 31 three-dimensional sensor 41, 42, 43 , 44 Push button switch 45 Switch 61 Excitation coil 71 Control device 72 Articulated arm 73 Hands 74 Work tool 75 Force sensor

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kiyoshi Imai, 118 Futatsuka, Noda City, Chiba Prefecture, Kawasaki Heavy Industries, Ltd.Noda Plant (72) Inventor, Takashi Katsura 118, Futatsuka, Noda City, Chiba, Kawasaki Heavy Industries, Ltd. 72) Inventor Jun Fujimori 118 Futtsuka, Noda City, Chiba Prefecture Kawasaki Heavy Industries, Ltd. Noda Plant (72) Inventor Kenichi Murai 118 Futtsuka, Noda City, Chiba Prefecture Kawasaki Heavy Industries Ltd. Noda Plant

Claims (7)

[Claims] 1. A work teaching device comprising a force sensor unit, a posture sensor unit, and a switch unit, which is used separately from a hand of a robot, wherein the force sensor unit presses the work teaching device against an object. A force sensor that measures and outputs a force, the posture sensor unit includes a three-dimensional sensor that measures and outputs a position and a posture, and the switch unit transmits measurement signals from the force sensor and the three-dimensional sensor. A robot work teaching device for indicating a point of time to output. 2. The robot work teaching device according to claim 1, wherein the force sensor further includes a force transmission rod having a rotatable ball at a tip thereof. 3. The robot operation teaching device according to claim 1, wherein the three-dimensional sensor includes three detection coils arranged orthogonal to each other and provided outside the operation teaching device. A robot work teaching device for calculating a position and a posture from a current induced in each detection coil by an excitation coil. 4. The robot work teaching device according to claim 1, wherein the three-dimensional sensor has a position measuring device and a gyro, and the position measuring device measures a position of the work teaching device. A robot work teaching device characterized in that the posture is measured by a gyro. 5. The robot work teaching device according to claim 1, wherein an outer shape of the work teaching device is formed so that it can be grasped by a hand. Teaching device. 6. The posture of the work tool at that position while the work tool for attaching the robot work teaching device according to any one of claims 1 to 5 to the robot follows the path of the object on the work surface. A robot work teaching method, wherein the teaching is performed while pressing the work tool so as to have a pressing force. 7. The robot work teaching method according to claim 6, further comprising: applying the work teaching device to a position of a work tool at the tip of the robot to measure a position and orientation at the position. A robot work teaching method, comprising: calibrating the correspondence between the output of the device and the position of the work tool.