JP2001088069A - Teaching device of robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform the switching of a language used for display in a display part by simple operation without stopping an operation. SOLUTION: A touch-panel 15 is provided in a display part 14 showing various types of screens, and a language switching key 26 allowed to function (effective) at all times is provided on the touch-panel 15. When the language switching key 26 is turned on, the language used for display is switched between Japanese and English alternately each other. On the language switching key 26, the type of the language to which the switch is switched next time is displayed using that language.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot teaching device having a display for displaying necessary information and capable of switching a language used for displaying the display.

[0002]

For example, a robot such as a robot for removing a molded product mounted on a molding machine includes, for example, a robot body composed of a rectangular coordinate robot, a controller for controlling the robot body, and a teaching pendant connected to the controller. It is configured to include a teaching device or the like referred to as a teaching device. The teaching device includes, for example, a display unit including a liquid crystal display, and a key operation unit having a large number of keys for operating the robot body by manual operation and performing various teaching (input) operations.

In this case, various screens such as a screen for teaching (teaching) and a screen showing the operation status of the robot body are displayed on the display unit of the teaching device.
As a language used for the display on the display unit, display data in English as well as Japanese is prepared, and for example, an operator whose native language is English can be handled. At this time, in order to change the language used for display from, for example, Japanese to English, the operator performs a setting to switch the display language from Japanese to English on the initial setting screen of the display unit, so that the display on the subsequent display unit is performed. Will be able to switch to English.

[0004] However, in the above-mentioned conventional device, in order to switch the language used for the display on the display unit, it is necessary to call the initial setting screen and make the switching setting each time, and the setting work is relatively troublesome. Had become. For example, during automatic operation of the robot body,
During display or the like, since the screen cannot be switched, the initial setting screen cannot be called unless the work is stopped by temporarily stopping the cycle, etc., and in effect,
During the operation of the robot body, there is an inconvenience that it is not possible to change the display language.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to make it possible to switch a language used for display on a display unit with a simple operation and without stopping work. A teaching device for a robot is provided.

[0006]

In order to achieve the above object, a teaching device for a robot according to the present invention is provided with a language switching key operable at all times on a key operation unit, and based on the operation of the language switching key. The language used for the display on the display unit is switched (the invention of claim 1). According to this, the language used for display can be switched simply by operating the language switching key by the operator,
In addition, since the language switching key is always operable, it is not necessary to perform an extra operation such as calling an initial setting screen for switching the display language. As a result, it is possible to switch the language used for the display on the display unit with a simple operation and without stopping the work.

In this case, when the language switching key is operated a plurality of times, a plurality of languages can be switched in accordance with the number of operations (the invention of claim 2).
According to this, a plurality of display languages can be switched by one language switching key, and excellent operability can be obtained, and the installation space for the language switching key can be reduced.

Further, the language switching key may be configured on a touch panel of a display unit, and the language switching key may be configured to display a language type to be switched next using the language. Invention of 3), by operating the language switching key, it is easy to understand which language is to be switched next, and the recognizability is improved, and the operation for switching to the display language desired by the operator is facilitated, and the operability is improved. be able to.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment (corresponding to claims 1 and 3) in which the present invention is applied to a molded product removing robot mounted on a molding machine will be described below with reference to the drawings. FIG. 3 schematically shows an external configuration of a molded product removal robot 1 as a robot. The molded product removal robot 1 has a robot body 3 attached to a resin molding machine 2,
A robot controller 5 is connected to the robot body 3 via a cable 4, and a teaching device (teaching pendant) 7 according to the present embodiment is connected to the robot controller 5 via a cable 6.
Although not shown or described in detail, the resin molding machine 2 includes a mechanism for injecting a resin into the molding die 8, a mechanism for opening and closing the molding die 8, and the like.

The robot body 3 comprises a rectangular coordinate robot in this case, and is mounted on the rear upper surface of the resin molding machine 2 and extends in the left-right direction (X-axis direction). Guide portion 10a extending to
Traverse 10, a main arm 1 that is moved in the front-rear direction (Y-axis direction) and vertically (Z-axis direction) along a guide portion 10a of the traverse 10.
1. Behind the main arm 11, independently of the main arm 11, it is moved along the guide portion 10a in the front-rear direction (Y-axis direction) and vertically (Z-axis direction).
The sub-arm 12 is moved to the sub-arm 12.

Although not shown in detail, a wrist 13 is provided at the tip (lower end) of the main arm 11 to be rotated along a vertical axis (R-axis). For use with the chuck. Further, a chuck for taking out a runner is attached to a tip portion (lower end portion) of the sub arm 12. Further, the robot body 3 has an X-axis motor, a Y-axis motor for a main arm, a Y-axis motor for a sub-arm, a Z-axis motor for a main arm, a Z-axis motor for a sub-arm, An R-axis motor is incorporated. It should be noted that a pallet (not shown) for storing the removed molded product is arranged on the right side of the robot body 3 (resin molding machine 2).

The robot controller 5
It is provided with a control circuit mainly composed of a microcomputer and a servo control unit, and controls each axis motor of the robot main body 3 based on an operation program stored in advance and teaching data set by the teaching device 7. Therefore, the molded product removal work is automatically executed. Further, as will be described later, based on a manual operation (manual operation) of the teaching device 7 by an operator, the robot body 3 can be actually operated to move the arms 11 and 12 to desired positions. ing. It should be noted that peripheral devices such as a personal computer can be connected to the robot controller 5.

The removal of the molded product by the robot body 3 is performed, for example, in the following general procedure. That is,
When the molding in the resin molding machine 2 is completed and the molding die 8 is opened in a state where the main arm 11 and the sub arm 12 are located at the standby position above the molding die 8, the main arm 11 moves to the product removal position at the set speed. Then, the molded product is taken out, moved to a product storage position through a predetermined route (via point), placed at a predetermined position on the pallet, and returned to the standby position again. At the same time, the sub arm 12 moves to the runner take-out position, takes out the runner, moves to the runner collection position through a predetermined route (via point), and discards the runner.
Return to the standby position again. Such an operation is repeatedly executed, for example, for the set number of times.

Here, the teaching device 7 according to the present embodiment will be described. As shown in FIG. 1, the teaching device 7 is formed in a thin, substantially rectangular box shape having a size small enough to be held and operated by an operator. A display unit 14 composed of, for example, a color liquid crystal display is provided at the center of the panel unit on the surface of the teaching device 7, and a touch panel 15 is provided on the surface of the display unit 14. As is well known, the touch panel 15 functions as a key for selection or command input by being touched by an operator while various keys and icons are displayed on the screen of the display unit 14. Has become.

[0015] Then, as shown in FIG.
A power key 16 for turning on / off the power supply is provided around the periphery of the robot 4, and the operation of the robot body 3 (automatic operation start,
A plurality of operation keys 17 for instructing home return, cycle stop, etc.), a plurality of manual operation keys 18 for manually operating each axis of the robot body 3, a plurality of function keys 19, and the like. An expression key switch is provided.

In addition, a mode changeover switch 20 comprising a rotary switch for switching the mode of the teaching device 7 is provided at the upper left of the panel section. An emergency stop switch 21 composed of a push button switch for stopping the robot body 3 at times is provided, and a jog dial 22 for selecting a menu or increasing / decreasing a numerical value by rotating the emergency stop switch 21 is provided at the upper right edge of the panel unit. Is provided.
Thus, a key operation unit 23 (see FIG. 2) for performing various key inputs is configured together with the touch panel 15.

As shown in FIG. 2, a control circuit 24 and an interface 25 are provided inside the teaching device 7. The control circuit 24 includes a CPU, a ROM, and a RAM.
And the like. The microcomputer mainly controls a display on the display unit 14 based on a key input from the key operation unit 23, and transmits data to and from the robot controller 5 via the interface 25. Of giving and receiving. Thus, the operator can use the teaching device 7 to manually set the robot body 3 and to input and set teaching data (position data such as a product take-out position, speed setting, etc.) relating to the automatic operation of the robot body 3. Etc. can be performed.

In this case, as shown in FIG. 1, the teaching device 7 has three types of modes, ie, non-use (NO USED), automatic (AUTO), and operation setting (MANUAL), depending on the position of the mode switch 20. It can be taken. The “unused” mode is a mode in which the resin molding machine 2 operates alone without operating the robot body 3. The “automatic” mode is a mode in which the robot body 3 is automatically operated. The mode of “operation setting” includes manual operation of the robot body 3 and
This mode is for inputting teaching data.

The control circuit 24 operates according to the set mode of the apparatus or key operation by an operator.
Various kinds of screens such as a selection screen, a setting input screen, and a status display screen are displayed on the display unit 14 and various keys are set on the touch panel 15. As a specific example, FIG. 1 shows a teaching item selection screen displayed when teaching data is input, and a screen for selecting a teaching item by eight icons is displayed. 4 and 5 show position display screens displayed when the robot main body 3 is manually operated. The positions and the moving speeds (% of the set values) of the arms 11 and 12 of the robot main body 3 are shown. Etc. are displayed.

At this time, the character display portion of the display on the display unit 14 is performed based on the file in which the display contents are stored. In this embodiment, the display information in Japanese is used as the file. (Character code) and a file storing display information (character code) in English are provided. By using either file, the language used for display is Japanese or Japanese. Two languages, English, can be used.

The key operation section 23 is provided with a language switching key 26 which can be operated at all times. In the present embodiment, the language switching key 26 is set on the touch panel 15 as shown in FIGS. That is, a mode display bar is set at the top of the display unit 14, and the mode display bar is located at the left end and is the mode M of the current apparatus (the mode of “operation setting” in the figure).
Is displayed together with the illustration. The language switching key 26 is displayed on the right side (on the touch panel 15).
Calculator key 27, input / output key 28, system key 2
9. It is set together with the help key 30. These five keys 26 to 30 are always displayed and set on any display screen.

When the display language mode of the display unit 14 is Japanese (see FIGS. 1 and 4), the control circuit 24 turns on the language switching key 26 (touch panel 15). Touch operation)
The display language mode is switched to English (see FIG. 5). When the language switch key 26 is turned on while the display language mode is English, the display language mode is switched to Japanese. ing. Therefore, the control circuit 24
Functions as a display control means.

In this embodiment, the language switching key 2
6, the language type to be switched next is displayed using the language. That is, when the display language mode is Japanese, as shown in FIG. 1 and FIG.
g. Is displayed, and when the display language mode is English, the characters "Japanese" are displayed on the language switching key 26 as shown in FIG.

Next, the operation of the above configuration will be described.
Now, for example, when the operator wants to perform a manual operation of the robot main body 3, first, the mode changeover switch 20 is operated to set the mode to “operation setting”, and then the “setting” menu (mode) on the touch panel 15 is set. (Tag located below the display of M). Then, the display unit 1
4, each arm 11, 12 as shown in FIG.
The manual operation screen that displays the position and the moving speed (% of the set value) is displayed. In this case, the display language mode of the display unit 14 is set to Japanese, and the display is performed in Japanese.

Here, for an operator whose native language is English, for example, if the language switching key 26 set on the touch panel 15 is turned on, the display language mode is set to English as described above. The display is switched to the display as shown in FIG.
Will be switched to English. At this time, when the language switching key 26 is operated, the characters “Eng.” Are displayed. Therefore, it is easy for the operator to understand that operating the key 26 will switch the language to English. It can be done easily.

When the operator wants to change the display language mode back to Japanese, the user operates the language switching key 26 on which the characters "Japanese" are displayed. Can be switched. Also at this time, the characters "Japanese" are displayed on the language switching key 26,
The recognizability and operability of the language switching key 26 are improved. In this case, the display language mode can be switched by a one-touch operation of the language switching key 26. Therefore, the display language mode is switched by a simple operation without changing the display screen of the display unit 14 to the screen for initial setting. be able to.

At this time, although the other screens are not shown in detail, a mode display bar set at the top of the display section 14 is always displayed on any screen, and a language switching key is provided on the mode display bar. The five keys 26 to 30 including 26 are always set to enable the operation, and the operation is validated. Therefore, the robot body 3
During automatic operation of the vehicle, during I / O display, etc., the display unit 1
Although there is a situation where the screen cannot be switched in step 4, even in such a case, the display language mode can be switched without stopping the operation of the robot body 3 or the like.

As described above, according to the present embodiment, the language switching key 26 is always operable, and the language used for displaying on the display unit 14 is switched based on the operation of the language switching key 26. Unlike the conventional method in which the initial setting screen has to be called and the switching setting must be performed one by one, there is no need to perform an extra operation such as calling the initial setting screen for switching the display language. The display language mode can be switched even when the screen cannot be switched. As a result, it is possible to obtain an excellent effect that the language used for the display on the display unit 14 can be switched with a simple operation without stopping the operation.

In this case, since two languages are alternately switched by one language switching key 26, the key installation space can be reduced as compared with the case where a key is provided for each language. Of course.
Further, in this embodiment, in particular, the language switching key 26 is set on the touch panel 15 and the next language type to be switched is displayed using that language. It is easy to understand which language is to be switched, and the recognition and operability can be improved.

In the above embodiment, two languages of Japanese and English are used.
The case where the type of language is switched alternately has been described as an example. For example, if character information files such as German, French, Chinese, and Portuguese are added to them,
It is possible to support a large number of languages. At this time, the language switch key 26 is switched from Japanese to English by one operation of the language switch key 26, to German by two operations, and to French by three operations. A plurality of languages may be switched according to the number of operations (corresponding to claim 2).

According to this, a plurality of display languages can be switched by one language switching key 26, so that excellent operability can be obtained and the language switching key 2 can be switched.
Advantageously, the installation space of 6 can be reduced. Also in this case, the language switching key 26
In this case, it is more effective if the next language type to be switched is displayed using that language.

Further, even if a large number of languages can be supported, two languages are selected on the initial setting screen, and only the two languages are alternately switched by operating the language switching key 26. It can also be. Instead of providing the language switching keys on the touch panel, the key operation unit 23 may be provided as key switches (mechanical switches), and the number of language switching keys may be provided as many as selectable languages. good.

In the above embodiment, the control circuit 24 in the teaching device 7 controls the display. However, the robot controller 5 may generate the video signal of the display screen. In addition, the present invention is not limited to the above embodiments, for example, the present invention can be applied to teaching devices of various robots other than a molded product taking robot,
Further, the configuration of the screen of the teaching device and the configuration of the key operation unit can be variously modified. For example, the configuration can be appropriately changed without departing from the scope of the invention.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention and is a front view of a teaching device.

FIG. 2 is a block diagram schematically showing an electric configuration of the teaching device.

FIG. 3 is a diagram schematically showing a configuration of an entire system of a molded product take-out robot.

FIG. 4 is a diagram showing a manual operation screen when the display language mode is Japanese.

FIG. 5 is a diagram showing a manual operation screen when the display language mode is English.

[Explanation of symbols]

In the drawings, 1 is a molded product removal robot, 2 is a resin molding machine, 3
Is a robot main body, 5 is a robot controller, 7 is a teaching device, 14 is a display unit, 15 is a touch panel, 17 is an operation key, 18 is a manual operation key, 20 is a mode switching switch, 22 is a jog dial, 23 is a key operation unit, 2
Reference numeral 4 denotes a control circuit (display control means), and reference numeral 26 denotes a language switching key.

Continued on the front page (72) Inventor Yoshikazu Sudo 4124-1 Minamiminowa-mura, Kamiina-gun, Nagano Prefecture F-term in Harmo Co., Ltd. 3F059 AA01 BA01 BC06 BC07 FA01 FC07 5H269 AB24 AB33 BB09 BB19 CC02 EE29 GG08 QB20 QC01 QC10 QD02 QD10 QE12 QE22 QE26 SA03

Claims (3)

[Claims] 1. A teaching device for a robot, comprising: a display unit for displaying necessary information; and a key operation unit for performing key input, and for inputting teaching data to a robot body and performing manual operation. A language switching key provided to be always operable on the key operation unit, and display control means for switching a language used for display on the display unit based on the operation of the language switching key. Robot display device. 2. The apparatus according to claim 1, wherein said display control means is configured to, when said language switching key is operated a plurality of times, switch between a plurality of languages according to the number of times of operation. Robot teaching device. 3. The language switching key is configured on a touch panel of the display unit, and a language type to be switched next is displayed using the language.
Or a teaching device for a robot according to 2.