JP2538061Y2 - Teaching information display device - Google Patents

Description

[Detailed description of the invention] Object of the invention [Industrial application field] The present invention relates to a teaching information display device that displays the contents of teaching information obtained by each teaching operation performed on a plurality of robots.

[Prior art] In recent years, the spread of robots in the industrial world has been remarkable,
Under such circumstances, in order to verify the validity of the teaching operation performed on the robot, it is necessary to simulate the teaching operation while displaying information on the teaching operation on a display.

As a device for displaying information related to such a teaching operation, information of a point number of a teaching point and teaching information corresponding to the point number are written in a teaching information memory.
A method has been proposed in which the teaching point is visually displayed based on the point number and the teaching information, and further, the point number is displayed (Japanese Patent Laid-Open No. 59-1942).
No. 14, "teaching information display device"). By using such a teaching information display device, the teaching point can be checked or corrected while looking at the screen of the display, and the efficiency of the checking and correction is increased.

[Problems to be Solved by the Invention] By the way, in a recent production line, a plurality of robots are arranged on one line, and they are integrated to operate them. The teaching information display device has the following problems, and improvements have been demanded.

That is, when trying to display the teaching information on a plurality of robots, the teaching points performed by the different robots are displayed in the same manner, and the teaching points of each teaching operation by the plurality of robots are assigned to each robot. No corresponding distinction could be made. For this reason, it takes a considerable amount of time to check and correct the teaching point, and it is not possible to perform an efficient operation, and it is very often overlooked regardless of the teaching point of the corresponding robot.

The teaching information display device of the present invention has been made in view of these problems, and performs checking and correction of teaching points related to a plurality of robots efficiently and accurately without overlooking the teaching points. The purpose is to be able to.

Configuration of the Invention [Means for Solving the Problems] In order to achieve the above object, the present invention has the following configurations as means for solving the above problems. That is,
As shown in FIG. 1, the teaching information display device of the present invention is a teaching information display device for displaying the content of teaching information obtained by each teaching operation performed on a plurality of robots. A storage means M1 for storing an identification name A1 of a teaching point in the work and teaching information A2 corresponding to the teaching point; and an identification name A1 and teaching information A2 of the teaching point stored in the storage means M1 are fetched. Control means for outputting image information based on the point identification name A1 and the teaching information A2 to the display means M2
M3, and further, the storage means M1 stores an identifier A3 of a robot to be taught in each teaching operation in association with the teaching point, and the control means M3 stores the storage means M1 The robot has a robot identification name control unit M4 for taking in the identification name A3 of the robot stored in the storage unit and outputting identification image information corresponding to the identification name A3 of the robot to the display means M2.

[Operation] The teaching information display device of the present invention includes the teaching point identifier A1 stored in the storage means M1 and the teaching information A2 corresponding to the teaching point.
Is captured by the control means M3, and image information based on the identifier A1 of the taught point and the teaching information A2 is output to the display means M2. The robot identification name A3 to be made is stored in association with the teaching point, and the robot identification name control unit M4 provided in the control means M1 takes in the robot identification name A3, and stores the robot identification name A3 in the robot identification name A3. It also works to output the corresponding identification image information to the display means M2.

Therefore, on the display means M2, the teaching points of each teaching operation with a plurality of robots can be distinguished corresponding to each robot.
The identification image information corresponding to the identification name A3 of such a robot is displayed.

Next, a preferred embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 2 is a block diagram showing an offline teaching device for realizing the teaching information display device of one embodiment of the present invention. This offline teaching device is a system for performing offline teaching for a plurality of robots in an automobile production line, and creates and displays offline teaching data and performs an operation simulation.

As shown in the figure, the offline teaching device 1 of the present embodiment
Is composed of a so-called microcomputer and its peripheral devices. As shown in FIG. 1, a keyboard 3 for inputting characters and various instructions by keys, a graphic input device (digitizer) 5 for inputting graphics, and a display of characters and graphics. Display device (CR
T display) 7, a hard disk device 9 as an external storage device for storing a database DB storing data on each robot, a flexible disk drive 11 for outputting created teaching data in the form of a flexible disk FD, and these devices And an electronic control circuit 20 for performing various controls.

The electronic control circuit 20 is constructed as an arithmetic and logic operation circuit centered on a well-known CPU 20a, ROM 20b, RAM 20c, etc. And an input / output interface 20f for inputting / outputting data from / to the hard disk device 9 and the flexible disk drive 11. Also,
The video RAM 20d has a so-called dual-port RAM configuration, and has a CRT controller 20g provided independently of the CPU 20a.
It can be accessed by the The CRT controller 20g repeatedly reads out the contents of the video RAM 20d at a period determined by the scanning frequency of the CRT display 7, and displays this on the CRT display 7. Therefore, CPU
The data written in a predetermined area of the video RAM 20d by 20a is immediately displayed on the CRT display 7.

The CPU 20a of the electronic control circuit 20 performs the following processing according to a control program stored in the ROM 20b in advance.
That is, as shown in FIG. 3, a process of displaying the shape of a work W, which is an automobile, on a CRT display 7 together with a plurality of robots R1 and R2 performing various operations on the work W; , A teaching information display process of displaying various teaching information such as the teaching points performed by the teaching process on the CRT display 7, and the like.

Next, of the processing executed by the electronic control circuit 20, the teaching processing and the teaching information display processing described above will be described in detail with reference to the flowcharts of FIGS.

 First, the teaching process will be described.

As shown in FIG. 4, when the process is started, first, a process of designating a robot name to be taught is executed (step 10).
0) Then, the teaching points P1, P2, P3, and P4 (see FIG. 3) are designated by designating lines and plane data for the work W displayed on the CRT display 7 in the above processing. (Step 110). Subsequently, a teaching operation is performed, and the teaching operation is performed in the database DB on the hard disk device 9.
Of the robots R1 and R2 stored in the robot, and the teaching operation is performed by simulating the operation of the robots R1 and R2 using the data. (Step 12
0). Subsequently, the teaching data obtained in the teaching operation, that is, teaching point attitude data indicating the attitude direction of the teaching point, teaching point position data indicating the position of the teaching point, and each axis angle data indicating the angle of each axis of the robot To the teaching point name P1, P2, P3 or P4
Together with the data in a predetermined area in the RAM 20c (step 13
0).

Subsequently, the robot name R1 or R2 specified in step 100 is stored in a predetermined area in the RAM 20c in correspondence with the teaching point data stored in step 130 (step
140). Accordingly, by the operations of steps 130 and 140, a data structure as shown in FIG. 6 is formed in the RAM 20c as the teaching point data. Thereafter, it is determined whether or not the teaching to the robot whose name is indicated in step 100 has been completed (step 150). If it is determined that the teaching has not been completed, the process returns to step 110, and the processing of steps 110 to 150 is performed. Execute repeatedly.
On the other hand, if it is determined in step 150 that the teaching has been completed,
The process exits from “RETURN” and ends this processing once.

 Next, the teaching information display processing will be described.

As shown in FIG. 5, when the process is started, first, the subscript i is cleared to a value 0 (step 200), and then the i-th teaching point data is taken out (step 210).

Subsequently, a teaching point symbol is displayed on the CRT display 7 based on the teaching point position data and the teaching point posture data in the extracted teaching point data (step 220).
Here, the teaching point symbol is, as shown in FIG.
The N vector, O vector, and A vector represent the posture of the teaching point of the robot, and the origin of these vectors represents the position of the teaching point (expressed on the absolute coordinate system x, y, z).
The posture of the teaching point is obtained from the teaching point posture data, and the position of the teaching point is obtained from the teaching point position data. Then, the teaching point name in the teaching point data extracted in step 210 is
Display on the display (step 230). See C
The name of the teaching point is displayed near the teaching point displayed on the RT display.

Next, it is determined whether or not the item of the taught robot name in the teaching point data extracted in step 210 is null, that is, whether or not there is no taught robot name (step 240). If it is determined that there is no robot name to be taught, a predetermined color number is stored as a display color (step
250) On the other hand, if it is determined that there is a taught robot name, a color number corresponding to the taught robot name is obtained using a color table stored in the RAM 20c, and the obtained color number is stored as a display color. (Step 260). The color table referred to here is a table in which the names of the taught robots and the color numbers are stored in a table format as shown in FIG.
Prior to this work, it is stored in the RAM 20c in advance. Then, the display color sphere Q stored in step 250 or step 260 is
It is displayed on the CRT display 7 (step 270). Specifically, as shown in FIG. 7, a sphere Q of the display color is displayed near the teaching point.

After execution of step 270, it is determined whether or not the teaching point data extracted in step 210 is data indicating the last teaching point position (step 280), and the subscript i is incremented until it is determined as the last data. (Step 290),
Steps 210 to 280 are repeatedly executed. If it is determined that the data is the last data, the process goes to “RETURN” and the process of this routine is temporarily ended.

Therefore, according to the present embodiment configured as described above, in the RAM 20c of the electronic control circuit 20, the teaching point posture data, the teaching point position data, each axis angle data, and the The names are respectively stored (see FIG. 6), and the stored contents are displayed on the CRT display 7 as follows (see FIG. 7). That is, a teaching point symbol including an N vector, an O vector, and an A vector is determined based on the teaching point attitude data, and the teaching point symbol is a predetermined position determined by the teaching point position data on the absolute coordinate system x, y, z. , The name of the teaching point is displayed near the teaching point, and a sphere Q having a display color corresponding to the name of the taught robot is displayed near the teaching point. For this reason,
Since each teaching point can be visually distinguished by which robot, when checking or correcting the teaching point, it is performed efficiently and accurately without overlooking the teaching point of the corresponding robot. be able to.

Although one embodiment of the present invention has been described above, the present invention is not limited to such an embodiment, and it is needless to say that the present invention can be implemented in various modes without departing from the gist of the present invention.

Effects of the Invention According to the teaching information display device of the present invention described in detail above, the display means is provided with a teaching at each teaching operation in addition to the identification name of the teaching point and the teaching information corresponding to the teaching point. Since the identification image corresponding to the robot's identification name is displayed, it is possible to check and correct the teaching points of multiple robots efficiently and accurately without overlooking the teaching points of the corresponding robots. Can do it.

[Brief description of the drawings]

FIG. 1 is a basic configuration diagram of the present invention, FIG. 2 is a block diagram showing an offline teaching device for realizing a teaching information display device according to an embodiment of the present invention, and FIG. 3 is a work and a robot displayed on the CRT display. FIG. 4 is a flowchart showing a teaching process executed by the electronic control circuit, FIG. 5 is a flowchart showing a teaching information display process also executed by the electronic control circuit, FIG. FIG. 7 is an explanatory diagram showing the structure of teaching point data stored in the RAM of the electronic control circuit, FIG. 7 is an explanatory diagram showing an example of teaching information displayed on the CRT display, and FIG. 8 is a robot to be taught. FIG. 4 is an explanatory diagram of a color table representing a relationship between names and color numbers. A1: Identification name of teaching point, A2: Teaching information A3: Identification name of robot M1: Storage means, M2: Display means M3: Control means M4: Robot identification name control unit 1: Offline teaching device 7: CRT display 20: Electronic Control circuit, 20a… RAM

 ──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Akihiro Sawada 100 Kanayama, Ichiriyama-cho, Kariya-shi, Aichi Prefecture Inside Toyota Motor Co., Ltd. (56) References JP-A-59-194214 (JP, A) JP-A-63 −303405 (JP, A)

Claims (1)

(57) [Scope of request for utility model registration] 1. A teaching information display device for displaying the contents of teaching information obtained by each teaching operation performed on a plurality of robots, the identification information indicating a teaching point in each teaching operation and a corresponding teaching point. Storage means for storing teaching information to be read, and control means for taking in the identification name and teaching information of the teaching point stored in the storage means and outputting image information based on the identification name and teaching information of the teaching point to the display means And the storage unit further stores an identification name of a robot to be taught in each teaching operation in association with the teaching point, and the control unit controls the robot stored in the storage unit. A teaching information display device, comprising: a robot identification name control unit that takes in the identification name of the robot and outputs identification image information corresponding to the identification name of the robot to a display unit.