JPS6071180A - Conversation type teaching box - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an interactive teaching box, and more particularly to an interactive teaching box for teaching robots that has many functions with a small number of keys and can be easily operated without errors.

Conventionally, much consideration has been given to what functions should be included in a portable teaching pendant. The teaching work requires remote control key switches (hereinafter referred to as remote control keys) for manually operating the robot, key switches for inputting time information, input/output information, speed information, etc., and other emergency stop buttons. If all the key switches listed above are arranged on a teaching pendant, the teaching pendant will become large, and it will take a considerable amount of time for the operator to become familiar with the contents of the many key switches, and there is a high possibility of teaching errors. There was an inconvenience.

Moreover, if it can be easily handled, it is limited to, for example, a remote control key. In this case, the function keys other than the remote control necessary for teaching work will be installed on the fixed operating device, so the operator will have to constantly go back and forth between the vicinity of the robot and the fixed operating device. This was inconvenient as it took a long time.

SUMMARY OF THE INVENTION An object of the present invention is to provide an interactive teaching box for teaching robots that eliminates the above disadvantages, provides many functions to a small number of keys, and can be easily operated without errors.

To achieve the above object, the present invention includes a plurality of keys for operation and editing, a display that indicates the next step by displaying characters by suppressing the plurality of keys, and a display according to the display contents of the display. This is an interactive teaching box comprising a control device that creates sequence information input from the plurality of keys and sends the sequence information to the main control device step by step.

Examples of the present invention will be described in detail below. FIG. 1 is an explanatory diagram showing an outline of the teaching work of O-bot, which provides monthly profit and services to machine tools. Machine tool 1 has upper mold 3 and lower mold 5
An example of a bending machine having , and a back gauge 7 is shown. Robot 1-9 is an example of an articulated robot in which a rotating shaft 11, a main shaft 13, an arm 15, a hand 17, fingers 19, etc. are mounted on the right side. The teacher receives the material W from a pallet (not shown) or the like, and teaches how to hit the end of the material W against the back gauge 7 of the machine tool 10. Generally, each control axis is controlled in angle, length, or other units, but in order to clearly teach the position, it can be taught in spatial coordinates X, Y, and Z. In addition to positional information, the robot 9 must be taught input/output information such as gripping motion of fingers, speed information between each path point, etc. The fixed operating device 21 is provided with desired operating instruments, but these are omitted in FIG. 1. The teaching box 23 is connected, for example, via a cable 25 to an illumination device in the fixed operating device 21, and can be taught in the vicinity of the robot hand. In the figure, a plurality of keys etc. are omitted.

Figure 2 shows a front view of the teaching pendant. L.C.
The display device 27, such as D, can display appropriately determined display contents such as a mode display, an alarm display, a step number display, and a program number. The mode switching key 29 is used to switch among various modes such as teaching mode, automatic mode, and memory loading.

The start/stop key 31 starts robot 1~ operation.
It is to end it. In the dieting mode, pressing the start key allows a certain step to be taken, and in automatic mode, cycling can be started. The start key is similar to the emergency stop key 35 and is stopped after the step being executed is completed.

The home return key 33 is used to return the machine to the home position.

The emergency stop key 35 instantly stops the robot.

The reset key 37 cancels the emergency stop state.

The remote control key 39 is used in a teaching mode to manually operate, for example, five control axes in ten or one direction. The editing key 41 is used to cancel input values, move steps,
It is used for calling, adding, and deleting. number key 43
is used as a numerical value input key and also as a selection key when selecting a certain item, as will be described later. Therefore 0.1
．． The 2nd number key is equipped with an ED indicator lamp. The shift 1 key 45 is used to switch the functions of a key having two functions. The manual mode switching key 47 is used to select normal feed, inching feed, and pull for axis movement in the teaching mode, and change the feed speed.

Figure 3 shows a block diagram of the structure of the teaching box. The CPU 49 has a data bus 51, an address bus 53,
It communicates with others via a control bus 55. R.O.
M57 has a controller program and RAM59
functions as a work area and data buffer. L.C.
The D display 61 has a character display function, and the plurality of keys 63 have the configuration described above. Near Toro 5 is an asynchronous serial/
It is a parallel transfer interface and communicates with the main controller.

FIG. 4 is a block diagram showing the functions of the teaching box. The key operator section 67 is an input sense program that scans the key switch matrix by software.

The program configuration section 69 formats the key-skilled data. The LCD display section 71 is a program that drives the LCD module. LED display section 73
is a program that drives the LED lamp provided on the key 63. The display management unit 75 manages displays and comments related to interaction processing. The state management section 77 keeps track of the operating states of the teaching box and the main controller. Transmission section 79
The reception processing section 81 is concerned with transmission and reception with the main control section, and performs interrupt processing with priority over others regarding reception.

An outline of the operating procedure of the teaching pendant is shown in Fig. 5. After setting the teaching mode, a return to origin is performed in step 510, and teaching is performed in step 520. As will be explained in detail below, the teaching is configured so that position, speed, input/output, and timer can be taught interactively in that order. The teaching contents are corrected in step 530, and the operation is started in step 540'c.

Referring to FIG. 6, the mode switching key 29 is pressed several times to change the display on the display 27 to the teaching mode as shown in FIG. 7 and start teaching. Display S1 shows the speed class of manual speed, and by pressing the manual speed switching key several times, the speed can be changed to 32 (medium speed) or 83 (high speed) within the safe speed range.
It can be changed to As shown in Figure 8, remote control key 3
9 and move each axis to obtain the desired pass point. At this time, each axis can be operated only while the remote control key is being pressed, so the stop judgment in FIG. 8 is a judgment as to whether or not the remote control key is being pressed. Note that it is also possible to shift to another axis using the shift key 45. Figure 7 shows J) Pass [Pass? , Y=1
, N=OJ is the timing of whether or not to use it as a pass point, and after obtaining the desired pass point, press the number key 1 (see FIG. 9).

Incidentally, if it is desired to perform a C inching operation when operating each axis, it is sufficient to press the inching key of the manual mode switching key 47. Further, if it is found that the pass point is not appropriate after setting, the user can press the CAN key of the editing keys 41 and set the pass point 1- again.

When the desired pass point 1~ is obtained, the display will automatically change to the first pass point.
It changes as shown in figure 0. The speed is determined by assigning a numerical value to the position of the blinking cursor 49 (see FIG. 11). If speed setting is not required, the E N-r key of the editing keys 41 may be depressed. The display then automatically changes to the one shown in FIG. This is to set whether or not to perform input to the auxiliary function DI (digital input) device of the robot 1 or machine tool. If you input the number of DI to be set to 1, another DI setting request will come as shown in FIG. This setting is repeated and when all DI stage settings are completed, the ENT key of the editing keys 41 is pressed (see FIG. 14).

As shown in FIG. 15, the display moves to the Do (digital output) setting. Do is set in the same manner as DI (see FIG. 16).

When the setting of Do is completed and the ENT key is pressed, the display becomes as shown in FIG. 17. This asks about the timer settings. Set the pause time before proceeding to the next step to 0.1
This is done between seconds and 99.9 seconds, and when it is not needed, just press the ENT key (see Figure 18).
. It should be noted that each of the above teaching values, except for the position information, is stored in a buffer 1 memory provided in the teaching box.

Since the teaching value J3 per step is processed within the teaching box, it is possible to reduce the load on the main controller.

When the timer setting is completed, the display becomes as shown in FIG. 19. This asks whether or not the taught value of one step is to be registered in the main controller, and in the case of registration, numeric key 1 can be pressed. If you want to modify the taught value, press the numeric key 〇, and the display will become as shown in Figure 10. To switch the display to the location you want to correct, press the EJjT key several times and move to the desired location (see Figure 20). When all the teachings in step 1 are completed and the registration is completed, the display becomes as shown in FIG. 21 and the process moves to step 2. The teaching in step 2 is the same as in step 1. As shown in FIG. 22, teaching can be continued by continuing the same operations from step 2 to step 3 and up to the final step.

To output, add, or delete previously registered steps, press the internal call key of the edit key 41 and specify the step number. When the call key is pressed, the display will ask for the specified number, and the display will ask for the specified number.

To add a step, press the add key and input the step number you want to add, and all subsequent step numbers will be incremented by one. In the case of deletion, the subsequent numbers should be decremented by 1 and -C. The display method is to ask for the deletion number, display the teaching contents of the deletion number, and after confirming the display, perform the deletion f1.

In automatic (playback) mode, the display will ask for the number of cycles to run with the words PLAYBACK. The number of execution cycles can be set from 1 to infinity. Next, when the start key is pressed, operation is executed until the number of cycles reaches the set value.

If the emergency stop key is pressed during the process, the playback will stop instantly and the remaining number of playbacks can be displayed on the display.

In memory mode, the display will show whether to load from bubble memory or set to bubble caret memory, so press number key 1 for record. press the number key O”
That's fine. When the numeric key 1 or 0 is pressed, a load or record number is asked, and execution of the load or record specifying the number begins. At this time, the display indicates that loading or recording is in progress.

Note that the display 27 can display an alarm and also display the cause of the alarm at the same time. For example, readout, overtravel, step error number 1 during call operation, program error number 1 when reading, and DI/Do
Display error number etc. Therefore, since the details of the trouble occurring in the main control device can be displayed on the LCD display, the operator can immediately know the trouble details at hand and can take prompt countermeasures.

As can be understood from the explanation of the above embodiment, this developing box has all the operating procedures necessary for program creation integrated into the teaching box, so the main controller side has a CRT display, MDI panel, etc. for program creation. There is no need to install a device for this purpose, and the device can be simplified.

In addition, an interactive system is adopted for operation, and the appropriate display is displayed on the display to instruct the next process, so operation is easy and reliable, and accidents caused by incorrect operation are prevented. be able to. Further, it is possible to create a program in a certain format on the teaching box side, which simplifies communication between the main controller and reduces the burden on the main controller.

Note that the present invention is not limited to the above-mentioned embodiments, but can be implemented in other embodiments by making appropriate design changes.

A plurality of keys for operation and editing, a display that indicates the next step by text display by suppressing the plurality of keys, and -C input from the plurality of keys according to the display contents of the display. The interactive teaching box is equipped with a control device that creates sequence information and sends the sequence information to the main control unit for each step. It is easy to operate without errors.

[Brief explanation of the drawing]

The drawings all show embodiments of the present invention, and Fig. 1 is an explanatory diagram of the robot 1 to teaching work, Fig. 2 is a front view of the teaching box, Fig. 3 is a block diagram of the structure of the teaching box, and Fig. 4 is a teaching diagram. It is a functional block diagram of a box. FIG. 5 is a flowchart 1- showing an outline of the teaching work. Figure 6, Figure 8, Figure 9, Figure 11, Figure 14, Figure 16
Figures 18, 20, and 22 are flowcharts explaining the work contents for teaching, Figures 7, 10, 12, 13, 15, and 1.
7, FIG. 19, and FIG. 21 are all explanatory diagrams showing the display contents of the display during teaching work. 23...Teaching box 27...Display device 29...Mode switching key 31...
・Start/stop key 33...Home return key 35...Emergency stop key 3
7...Reset 1~Key 39...Remote control 4-41
...Editing keys 43...Numeric keys 45...Shift I - keys 47...Manual mode switching key Fig. 1 21 / Fig. 2 Fig. 3vB Fig. 4 Fig. 5 Fig. 6 Fig. 7 Fig. 9 Fig. 10m 5 Fig. 11 Fig. 12 Fig. 14 Fig. 15 Fig. 16 Fig. 179 Fig. 18 Fig. 19wU Fig. 20 Fig. 22

Claims (1)

[Claims] Multiple keys for operation and editing, and presses of these multiple keys.
A display that indicates the next step in text based on pressure is created, and sequence information input from the plurality of keys is created according to the display contents of the display, and the sequence information is sent to the main control step by step. An interactive teaching box with a control device that sends out signals to the equipment.