Method of producing teaching data of robot and robot teaching system
A technology of robots and robot hands, applied in general control systems, recording and playback systems, control/adjustment systems, etc., can solve problems such as inability to teach robots, difficulties in teaching, and inability to correspond, and achieve the effect of simple teaching
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Embodiment approach 1
[0025] figure 1 The configuration related to the robot teaching system according to Embodiment 1 of the present invention is shown. The robot teaching system includes a robot 100 to be taught and a control device 200 connected to the robot 100 . The robot 100 may also be a device called a manipulator.
[0026] The robot 100 includes a robot arm 110 and a robot hand 120 . exist figure 1 Among them, there are three robot hands 120, but at least two are sufficient. The base of the robot hand 120 is connected to the front end of the robot arm 110, so that once the position and orientation of the robot arm 110 are determined, the positions of the bases of all the robot hands 120 can be uniquely determined based on it.
[0027] This robot 100 is used to perform work on an object 130 . The work may be handling, handling, assembling, etc.
[0028] The control device 200 is a computer including a computing unit (CPU, etc.) and a storage unit (semiconductor memory device, magnetic...
Embodiment approach 2
[0072] Embodiment 2 is a mode in which a plurality of robots are taught using the same teaching data in Embodiment 1. FIG.
[0073] Figure 5 The configuration related to the robot teaching system according to the second embodiment is shown. Figure 5 The robots 101-103 all have the same figure 1 The robot 100 has the same configuration. and, Figure 5 The control device 201 has the same figure 1 The control device 200 has the same configuration, but it is connected to the three robots 101 to 103, and the processing related to these three robots can be performed simultaneously.
[0074] Such a configuration is particularly effective when the corresponding robots 101 to 103 perform the same operation on a plurality of objects 131 to 133 having the same configuration. The teacher 10 can simultaneously teach all the robots 101 to 103 through one teaching.
[0075] also, Figure 5 Although not shown in the figure, it can be used with figure 1 Feedback by the monitoring cam...
Embodiment approach 3
[0077] Embodiment 3 is a mode in which the field of view of the camera is wider in Embodiments 1 and 2. FIG.
[0078] Figure 6 The structure of the single-lens reflex camera 31 of the robot teaching system concerning Embodiment 3 is shown. The direction of the single-lens reflex camera 31 can be changed according to the movement of the hand 21 or the wrist 22 of the teacher 10 . For example, in Figure 6 Among them, when the hand 21 is in the position (a), the single-lens reflex camera 31 is controlled in the direction of (A), and when the hand 21 is in the position of (b), the single-lens reflex camera 31 is controlled in the direction of (B).
[0079] Such directional control of the single-lens reflex camera 31 can be performed by a control device using known techniques. For example, it is possible to process the teaching image in real time, extract feature points, and control the direction of the single-lens reflex camera 31 so as to follow the feature points. However,...
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