JP2003039357A - Teaching device for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a teaching device for a robot capable of improving the operability even if the device is miniaturized. SOLUTION: This teaching device for the robot is provided with an input part 11 for inputting teaching data of the robot and the information required for the operation, a processing part 12 for processing the inputted data and signal, a display part 13 for displaying at least the information related to the inputted teaching data by the processing part 12, and a communication interface part for outputting the inputted teaching data into a controller of the robot. As the contents displayed in the display part 13, a plurality of selection items related to teaching are displayed, and the selection item selected currently among the selection items is enlarged and displayed by the processing part 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching device for monitoring / controlling an industrial robot.

[0002]

2. Description of the Related Art Conventionally, an industrial robot is composed of a teaching device, a robot controller and a robot manipulator. The teaching / playback type robot teaching device is generally called a teaching pendant and displays various information such as the teaching operation of the robot and the state of the robot. Such a teaching pendant is
A monochrome display device (for example, black and white liquid crystal) is used, and various information is displayed on the display device to provide the operator with the robot information necessary for operation. When a single color display device is used, it is impossible to change the color to facilitate identification, and there is a demand for a teaching pendant that is easier to identify important information than other display contents and has good workability.

As a technique of a teaching pendant that uses a color display device to improve the recognizability, Japanese Patent Laid-Open No. Hei 9-1999
-85661 and the like. In this technique, a transparent touch panel 102 is combined on a color liquid crystal display device 101 as shown in FIG. The touch panel 102 is configured by arranging a plurality of touch keys in a matrix, and the CPU 1 via the touch panel I / F.
A signal indicating the entered key is supplied to 03. The CPU 103 uses the color liquid crystal display device 101 via the graphic controller 104 to operate the touch panel 102.
In addition to displaying the function of each key of, the color of the invalid operation input key is dimmed, the error is displayed in a conspicuous color when an error occurs, and the color of the operation key near the operation limit is dimmed. Control is performed to facilitate information recognition by workers.

[0004]

However, in order to ensure portability and operability, a relatively small teaching pendant display device is adopted. Therefore, when many keys are arranged on the display device, the display area that can be used for one key is limited, the display size for each key becomes small, and the identification for each key becomes poor. In addition, if the display size is made easy to identify, it is necessary to increase the size of the display device or reduce the number of display items, resulting in a larger teaching pendant or a smaller amount of information on the display device. , The operability will deteriorate.

Further, when the state of the robot or the like is displayed in a graphical display for better recognition, if a plurality of state information is graphically displayed, an area available for displaying one piece of information is displayed. It becomes narrow, and the recognizability of information and the operability of the teaching pendant deteriorate.

In view of the above problems, it is an object of the present invention to provide a teaching device for a robot which can be improved in operability even if it is downsized.

[0007]

A robot teaching apparatus according to claim 1 comprises an input section for inputting teaching data of the robot and information necessary for operation, and a processing section for processing the inputted data and signals. At least a display unit that displays information related to the input teaching data by the processing unit and a communication interface unit that outputs the input teaching data to the control device of the robot are provided. The present invention is characterized in that a plurality of selection items are displayed and the currently selected selection item among the selection items is enlarged and displayed by the processing unit.

According to the teaching apparatus for a robot of the first aspect, the operator can easily select the operation item by displaying the selected selection item in an enlarged manner.

According to a second aspect of the present invention, there is provided a robot teaching device according to the first aspect, wherein the enlarged display portion is a portion related to a display location of a currently selected selection item. According to the teaching device, the same effect as that of claim 1 can be obtained.

According to a third aspect of the present invention, in the teaching apparatus for a robot according to the first aspect, the part to be enlarged and displayed is a part other than the display place of the currently selected selection item.

According to the teaching device for the robot of the third aspect, the same effect as that of the first aspect can be obtained.

According to a fourth aspect of the teaching device of the present invention, in the first, second, or third aspect, after the input for confirming the currently selected selection item is made, a portion different from the enlarged display portion is displayed. It is an enlarged display.

According to the teaching device for a robot of the fourth aspect, in addition to the same effect as that of the first aspect, the worker can intentionally enlarge and display the image, and the loss of the display switching time can be reduced. The operability of can be improved.

According to a fifth aspect of the teaching device of the present invention, in the first, second or third aspect, the user can move the portion to be enlarged and displayed.

According to the robot teaching device of the fifth aspect, in addition to the same effect as that of the first aspect, it is possible to enlarge and display in an arbitrary place other than the portion that the operator wants to display. The recognizability of can be improved.

According to a sixth aspect of the present invention, there is provided a robot teaching device which blinks and displays the currently selected selection item in the first, second or third aspect.

According to the robot teaching device of the sixth aspect, in addition to the same effect as the first aspect, it is possible to clarify the relationship between the selected and expanded item and the selected item before the expansion.
It is possible to ensure the accuracy of selection when using the enlargement function.

According to a seventh aspect of the present invention, there is provided a robot teaching device according to any one of the first, second and third aspects, in which the enlarged and displayed selection items are displayed differently before and after confirmation input. is there.

According to the robot teaching device of the seventh aspect, in addition to the same effect as in the first aspect, it is possible to more easily distinguish the item selected by the operator from other items.

In the robot teaching apparatus according to the eighth aspect, the display state according to the seventh aspect is a blinking display before the confirmation input.

In the robot teaching device according to the eighth aspect, in addition to the same effect as that of the seventh aspect, it is possible to easily determine whether or not the operator has confirmed by blinking before the confirmation input. It is possible to easily grasp the operation state.

[0022]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to FIGS. 1 to 9.

(Embodiment 1) FIG. 1 is a diagram showing a configuration of a robot related to a teaching device according to a first embodiment of the present invention, and 15 is a robot controller for controlling the operation of a robot manipulator 16. And the teaching device 10
The robot controller 15 and the robot controller 15 are connected to each other via the communication means 17.

In handling a general teaching / playback type robot, an operator creates a teaching program which is a work operation pattern in order to cause the manipulator 16 to execute a desired work operation pattern.

In creating the teaching program, the operator manually operates the manipulator 1 using the teaching device 10.
6 is operated to realize the position and posture required for the operation pattern, and the information of the manipulator 16 in that state is stored. At that time, the teaching device 10 is operated based on the operation of the operator.
Transmits a manipulator operation command, a manipulator information acquisition command, and the like to the robot controller 15,
Create teaching programs.

When the operation pattern teaching work is completed, the operator edits the teaching program such as adding an external input / output command, deleting an unnecessary operation pattern, and setting / changing the operation speed, if necessary. The teaching program created / edited on the teaching device 10 is stored in the storage device in the robot controller 15 via the communication means 17. When the teaching program stored in the robot control device 15 is selected / started by an instruction of the operator, the robot control device 15 controls the operation of the manipulator 16 and the peripheral devices in accordance with the teaching program, and executes a desired work.

Next, the signal processing in the teaching device 10 will be described.

Reference numeral 11 denotes an input unit for the teaching device. Using this input unit 11, an operator can input the teaching data of the robot and the signals necessary for operating the robot and the teaching device 10. it can. 12 is a teaching device 1
It is a processing unit of 0, and based on the teaching data and various information and signals input from the input unit 11, commands for creating teaching data and operating the robot are transmitted to the robot controller 15, and further operation changes are made. Decide to change the operation screen and display information in. Information necessary for operating the robot is sent to and displayed on the display unit 13. 1
A communication interface unit 4 transmits the input teaching data to the robot controller 15 and receives information required for operation from the robot controller 15.

The received information is analyzed / processed by the processing unit 12, displayed on the display unit 13 as necessary, and transmitted to the operator.

Next, the operation using the teaching device 10 of the present invention will be described with reference to FIG.

FIG. 2 is a schematic diagram showing the display contents on the display unit 13 of the teaching apparatus 10.

A to D are arranged as software switches that enable selection of menu items and functions that are selection items necessary for operation, and GUI (graphical user interface) such as icons is displayed on the display unit 13. Is displayed as.

The operator selects a GUL section (here, A) corresponding to a desired menu or function with an operation device such as a mouse, a key or a touch panel provided in the input section 11. The processing unit 12 displays the GUI item indicating the menu item and function selected by the operating device.
The display content is enlarged to a size that can be easily recognized by the operator and displayed on the display unit 23. The operator causes the processing unit 12 to execute a required function by confirming and selecting a menu item / function based on the displayed information, and realizes a desired operation.

When the selection is canceled or the next menu / function selection item is selected, the enlarged GU1 display contents are returned to the original size and state, and the next selected selection item is enlarged and displayed. Go.

Here, as the contents to be enlarged and displayed, in addition to the image information of the GUL portion being enlarged and displayed, detailed information and supplementary information regarding the item are displayed.

Based on the operation information relating to these menus, the operator can appropriately and promptly perform operations on the teaching device 10 such as teaching, editing, and setting work of the robot.

Further, the processing unit 12 of the teaching device displays the enlarged display of the menu and the accompanying information for a fixed period, and then automatically or indirectly returns the screen state to the state before the enlarged display. Thus, the teaching apparatus 10 can be operated while searching for a plurality of open menu items.

(Second Embodiment) A second embodiment of the present invention will be described with reference to FIG. A basic robot operating method using the teaching device 10 is the same as that in the first embodiment, and therefore its description is omitted.

FIG. 3 is a diagram showing the display contents on the display unit 13 according to the second embodiment. Processing unit 12
When a worker selects a menu item / function, its G
The GUl enlarged to a size that is easily recognized by the operator is displayed on the part where the ul is displayed, and supplementary information regarding the menu item or function is displayed if necessary on the display unit 13.
Display on top.

The operator confirms the desired function based on the enlarged GUI and the supplementary information, and instructs the processing section 12 to execute the function if necessary. The processing unit 12 provides the operator with a desired function by executing the instructed function.

(Third Embodiment) A third embodiment of the present invention will be described with reference to FIG. The basic method of operating the robot using the teaching device 10 is the same as that of the first embodiment, and therefore its description is omitted.

FIG. 4 is a diagram showing the display contents on the display unit 13 based on the third embodiment. Processing unit 12
Is a GUI when a worker selects a menu item / function using the input device provided in the input unit 11.
The GUl enlarged to a size easily recognized by the operator is displayed in a place other than the part where is displayed, and supplementary information about the menu item or function is displayed as necessary.

The operator confirms the desired function based on the enlarged GUI and the supplementary information, and instructs the processing unit 12 to execute the function if necessary. The processing unit 12 provides the operator with a desired function by executing the instructed function.

(Fourth Embodiment) A fourth embodiment of the present invention will be described with reference to FIG. The basic method of operating the robot using the teaching device 10 is the same as that of the first embodiment, and therefore its description is omitted.

FIG. 5 is a diagram showing the display contents on the display unit 13 according to the fourth embodiment. Processing unit 12
Is a GUI when a worker selects a menu item / function using the input device provided in the input unit 11.
Is enlarged to a size that is easy for the operator to recognize, and supplementary information about the menu item or function is displayed if necessary.

The operator confirms that the desired lateral capacity is obtained based on the enlarged GUl and the supplementary information and, if necessary, confirms and selects the item and executes the function to the processing unit 12. Give instructions.

The processing unit 12 provides the operator with a desired function by executing the instructed function, and enlarges and displays the GUL on a region different from the region that was enlarged and displayed before the fixed selection. The operability of the teaching device 10 is improved by increasing the recognizability of the function being performed by the person. The part which is enlarged and displayed before the fixed selection may be the part shown in the second embodiment or the third embodiment.

(Embodiment 5) A fifth embodiment of the present invention will be described with reference to FIG. The basic method of operating the robot using the teaching device 10 is the same as that of the first embodiment, and therefore its description is omitted.

FIG. 6 is a diagram showing the display contents on the display unit 13 based on the fifth embodiment. Processing unit 12
Is a GUI when a worker selects a menu item / function using the input device provided in the input unit 11.
Is displayed in an enlarged size that is easy for the operator to recognize, and supplementary information concerning the menu item or function is displayed as necessary.

The operator confirms the desired function based on the enlarged GUI and the supplementary information, confirms and selects the item if necessary, and instructs the processing section 12 to execute the function. To do.

The processing unit 12 provides the desired function to the operator by executing the instructed function, and enlarges and displays the GUL unit at the predetermined position (POSl) by the fixed selection.

The operator selects the enlarged GUL from the input unit 11 and at the same time moves to the desired position (POS).
By inputting the information of 2) to the processing unit 12, the enlarged display region can be moved.

By making it possible to move the magnified portion, the magnified display portion can be moved to an appropriate place according to various screen display forms, without disturbing the information display required by the operator. GUL display can be performed, and the operability of the teaching device 10 is improved.

The position of the enlarged display portion before the movement may be the portion of the second to fourth embodiments. (Sixth Embodiment) A sixth embodiment of the present invention will be described with reference to FIG. The basic method of operating the robot using the teaching device 10 is the same as that of the first embodiment, and therefore its description is omitted.

FIG. 7 is a diagram showing the display contents on the display unit 13 based on the sixth embodiment. Processing unit 12
When a worker selects a menu item / function, its G
GUL is displayed in a blinking manner on the part where UL is displayed so that the operator can easily recognize it.

The operator confirms the desired function based on the blinking GUI and the supplementary information, and instructs the processing unit 12 to execute the function if necessary.

The processing section 12 provides the operator with a desired function by executing the instructed function. In this way, the blinking display distinguishes the selected item from other items, thereby improving the recognizability of the item and teaching device 10
Improve operability in.

(Embodiment 7) A seventh embodiment of the invention will be described with reference to FIG. The basic method of operating the robot using the teaching device 10 is the same as that of the first embodiment, and therefore its description is omitted.

FIG. 8 is a diagram showing the display contents on the display unit 13 based on the first embodiment. Processing unit 12
Is a GUI when a worker selects a menu item / function using the input device provided in the input unit 11.
Enlarges the display to a size that is easy for the operator to recognize, and displays supplementary information about the menu item or function as necessary.

The operator confirms the desired function based on the enlarged GUI and the supplementary information, confirms and selects the item if necessary, and instructs the processing section 12 to execute the function. To do.

The processing unit 12 provides the operator with a desired function by executing the instructed function, and after confirming and selecting the display state which is enlarged and displayed before the confirming and selecting, for example, the light color shown in FIG. The operability of the teaching device 10 is improved by changing the state from the state shown in FIG. 9B by changing the shade, for example, to increase the recognizability of the function being executed by the operator.

(Embodiment 8) An eighth embodiment of the invention will be described with reference to FIG. The basic method of operating the robot using the teaching device 10 is the same as that of the first embodiment, and therefore its description is omitted.

FIG. 9 is a diagram showing the display contents on the display unit 13 according to the eighth embodiment. Processing unit 12
When a worker selects a menu item / function, its G
GUL is displayed in a blinking manner on the part where Ul is displayed until it is confirmed and selected so that the operator can easily recognize it.

The operator confirms the desired function based on the flashing GUL and the supplementary information, and instructs the processing unit 12 to execute the function if necessary. After the fixed selection, the selected item is displayed in a non-blinking manner as shown in FIG. 7B, and the display regarding the function A is also performed.

The processing section 12 can provide the operator with a desired function by executing the instructed function and can confirm whether or not the function is executed. In this way, by changing the display state before and after fixed selection, blinking display before fixed selection and non-blinking display after fixed selection, it is possible to distinguish the state of the selected function and grasp the operation state. Can be easy.

[0066]

According to the teaching apparatus for a robot according to the first aspect of the present invention, the operator can easily determine the selection of the operation item by enlarging and displaying the selected selection item.

According to the robot teaching apparatus of the second aspect, the same effect as that of the first aspect can be obtained.

According to the robot teaching device of the third aspect, the same effect as that of the first aspect can be obtained.

According to the robot teaching device of the fourth aspect, in addition to the same effect as that of the first aspect, the worker can intentionally enlarge and display the image, and the loss of the display switching time can be reduced. The operability of can be improved.

According to the robot teaching device of the fifth aspect, in addition to the same effect as that of the first aspect, it is possible to enlarge and display in an arbitrary place other than the portion that the operator wants to display. The recognizability of can be improved.

According to the robot teaching device of the sixth aspect, in addition to the same effect as that of the first aspect, it is possible to clarify the relationship between the selected and expanded item and the selected item before the expansion.
It is possible to ensure the accuracy of selection when using the enlargement function.

According to the robot teaching device of the seventh aspect, in addition to the same effect as the first aspect, it is possible to more easily distinguish the item selected by the operator from other items.

The robot teaching device according to the eighth aspect of the invention has the same effect as that of the seventh aspect, and it is possible to easily determine whether or not the operator has decided by blinking before the confirmation input. It is possible to easily grasp the operation state.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a robot system to which a first embodiment of the present invention is applied.

FIG. 2 is a horizontal view showing the display contents on the display device according to the first embodiment.

FIG. 3 is a horizontal diagram showing display contents on a display device according to a second embodiment.

FIG. 4 is a horizontal view showing display contents on a display device according to a third embodiment.

FIG. 5 is a schematic diagram showing display contents on a display device according to a fourth embodiment.

FIG. 6 is a horizontal view showing display contents on a display device according to a fifth embodiment.

FIG. 7 is a schematic diagram showing display contents on a display device according to a sixth embodiment.

8A and 8B are schematic diagrams showing display contents on a display device according to a seventh embodiment, where FIG. 8A is a schematic diagram before finalized selection and FIG. 8B is a schematic diagram after finalized selection.

9A and 9B are schematic diagrams showing display contents on a display device according to an eighth embodiment, where FIG. 9A is a schematic diagram before finalized selection and FIG. 9B is a schematic diagram after finalized selection.

FIG. 10 is a schematic perspective view of a conventional technique.

[Explanation of symbols]

10 Teaching device 11 Input section 12 Processing unit 13 Display 14 Communication interface 15 Robot controller 16 Manipulator 101 color liquid crystal display device 102 touch panel 103 CPU 104 graphic controller

Claims (8)

[Claims] 1. An input unit for inputting teaching data of a robot and information necessary for operation, a processing unit for processing the input data and signals, and at least information relating to the input teaching data by the processing unit. A display unit for displaying and a communication interface unit for outputting the input teaching data to the control device of the robot are provided, and a plurality of selection items relating to teaching are displayed as contents to be displayed on the display unit, and A teaching device for a robot, wherein the currently selected selection item is enlarged and displayed by the processing unit. 2. The enlarged display portion is a portion related to the display location of the currently selected selection item.
The robot teaching device described. 3. The teaching apparatus for a robot according to claim 1, wherein the enlarged display portion is a portion other than the display location of the currently selected selection item. 4. The teaching apparatus for a robot according to claim 1, wherein after the input for confirming the currently selected selection item, enlarged display is performed on a portion different from the enlarged display portion. 5. The robot teaching apparatus according to claim 1, 2, or 3, wherein a user can move a region to be enlarged and displayed. 6. The teaching apparatus for a robot according to claim 1, wherein the currently selected selection item is displayed in a blinking manner. 7. The teaching apparatus for a robot according to claim 1, 2 or 3, wherein the enlarged and displayed selection items have different display states before and after confirmation input. 8. The teaching apparatus for a robot according to claim 7, wherein, as a display state, a blinking display is made before confirmation input.