JP2743403B2 - Operation board - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an operation panel in a system having a robot, and more particularly to an improvement in operability thereof.

2. Description of the Related Art Conventionally, an automatic machine system having a robot has been widely used in an assembly line of various devices such as an automobile.

Therefore, an example of a conventional automatic machine system using a robot will be described with reference to FIG. In this automatic machine system, the robot 10 and the peripheral device 12 perform welding and assembly of products. In order to perform these controls, it has two operation panels, a process control panel 14 and a robot operation panel 16.

The process control panel 14 controls the sequence of the entire automatic machine system including the jig, the peripheral device 12, and the like.
The robot control panel 16 controls the robot 10.

Here, the robot operation panel 16 is for performing a monitor display of the state of the robot and for instructing the operation of the robot, and there are two types. That is, one is the CRT screen 18
And a keyboard 20 which is provided above the robot operation panel 16. The other is a teaching box 22, which is a small-sized remote control device that can be held by both hands and has an LED or liquid crystal display and keys for robot teaching such as sheet keys.

The process operation panel 24 is provided with various push buttons, changeover switches, lamps, counters, timers, etc., for centrally arranging various push buttons for starting and stopping the robot and operating various jig peripheral devices. Monitor and operate. In addition, each device is connected to the process control panel via each signal line.
Connected to 14 programmable controllers (PC) and relays. The process display panel 28 indicates the operation status of various devices.

In such a conventional automatic machine system, the operation of the robot 10 is performed by the robot operation panel 18 attached to the robot controller 30, and the control of the entire process is performed by the process control panel 14 that controls the programmable controller 26. .

Japanese Patent Application Laid-Open No. 58-191008 proposes a device in which a numerical control device keyboard and a display device for controlling the operation of the robot itself are shared as program input means for a sequence control device for controlling peripheral devices of the robot. Have been.

[Related Application] In the conventional automatic machine system as described above, since the process control panel 14 and the robot operation panel 30 are separately provided, there are the following problems.

(A) In order to design and manufacture each new facility, a large number of man-hours are required each time.

(B) When additional functions are changed, additional work is required.
The man-hour and cost are large.

(C) the state and information of the equipment is only the lamp output means,
The amount of information is small.

(D) The number of buttons and lamps is large, and the operation panel itself becomes large. Also, the number of connections is large.

Also, in the device described in Japanese Patent Application Laid-Open No. 58-191008, (a) Since the input method is a keyboard or a sheet key,
Poor operability.

(B) There is a problem that the input of a command word is usually an English input, the input requires skill, and the processing takes time.

In order to solve such a problem, the applicant of the present application has filed a patent application for an operation panel that can perform the functions of two operation panels, a process operation panel and a robot operation panel, and can perform simple input. It was proposed in Sho-63-68667.

In the operation panel according to this proposal, various displays can be performed on a display device by a built-in computer to monitor various processes and input commands.

[Problems to be Solved by the Invention] In such an operation panel incorporating a display device and a computer, it is necessary to display a unique screen corresponding to each process in order to manage various processes. In particular, when a monitor or a touch panel of the state of the device in each process is attached to the display device and various commands are input from the touch panel, the screen design has a great effect on the operability.

The screen displayed on the display device of the operation panel must be appropriate and easy to understand for each process using the operation panel, for example, the arrangement of various lamps, switches, and items on a monitor table.

To display these screens, display screens must be created in advance. The screen is created by creating computer software based on the specifications and design documents of the use process. For this reason, the screen of the operation panel cannot be set unless the person is a software programmer of the computer. Therefore, a new operation panel must be installed in each process, or a programmer must be created for each modification or change.

On the other hand, it is better for the operator who actually performs the work to set the optimal screen, and there is also a demand for quick resetting. In such a case, it is necessary for the worker to have the knowledge of the programmer level, which is not practical.

Further, such a screen setting requires a hardware such as a keyboard as input means and software for software development in order to create the software.

An object of the present invention is to solve such a problem, and an object of the present invention is to provide an operation panel that can easily perform screen settings.

[Means for Solving the Problems] An operation panel according to the present invention is connected to one or both of a robot controller for operating a robot and a program controller for controlling the entire system such as peripheral devices, and issues commands and monitors to both controllers. The operation panel includes a display device as a monitor unit, a touch panel as an input unit, and a computer for performing various processes, and the computer has an operation panel setting program. By executing the program, a screen for setting is displayed on the display device, and by touching the touch panel in the screen display state for setting, a coil to be monitored and a monitor part corresponding to the coil address are displayed. Correspondence between parts display screen, coil name and coil The operation panel display program can be changed by setting the monitor screen including the use of the address display screen and setting the input screen of various commands.

[Operation] The operation panel 100 is connected to both or one of a robot controller 30 for operating the robot and a programmable controller 26 for controlling the entire system such as peripheral devices.

The computer 110 has an operation panel setting program, and by executing the program, a screen for setting is displayed on the display device. In the screen display state for setting, an input from the touch panel 120 is performed. , Various screen settings can be made.

Therefore. The optimal screen design and settings can be easily performed by anyone without requiring knowledge of specialized programs. In particular, a monitor screen can be created by using a part display screen and a screen showing the correspondence between coil names and coil addresses.

Next, an embodiment of the operation panel according to the present invention will be described with reference to the drawings.

Basic Configuration of Operation Panel FIG. 2 is a block diagram showing the basic configuration of the operation panel of this embodiment. The operation panel 100 includes a computer 110, a touch panel 120, a touch panel controller 130, a CRT (display device) 140, a hard switch 150, and a lamp 152, which are integrated. The computer 110 includes a central processing unit 110a, a storage element 110
b, an external parallel signal input / output unit 110c, external serial signal input / output units 110d and 110e, and a CRT screen display control unit 110f. The operation panel 100 is also connected to a printer 160 as its output means and a floppy disk 170 as its external storage means.

And, in order to fulfill the function as a process operation panel, it is connected to the peripheral device 12 via the programmable controller 26,
It is connected to the robot 10 via a robot controller 30 to perform a function as a robot operation panel. Instructions to the robot controller 30 can also be made from the teaching box 22.

Here, the storage element 110b stores programs, data, and the like, and is provided with an external parallel signal input / output unit 110c.
Is an interface circuit for taking in or turning off signals from the hard switch 150 and the lamp 152 into and from the computer 110. The external serial signal input / output unit 110e is connected to the computer 110, the programmable controller 26, and the robot controller 3.
0, an interface circuit for communicating with the touch panel controller 130. The external serial signal input / output unit 110e can perform serial signal communication with the robot 10, various peripheral devices 12, and the like.

Note that these communications can be performed simultaneously with the robot controller 30 and the programmable controller 26 by performing multitask processing in which the computer 110 always performs parallel processing.

For example, the operation panel 100 and the programmable controller 26
Can be performed using a computer link module of the programmable controller used when performing data communication between the ordinary programmable controller and the computer. That is, the contacts and registers can be read and written by the computer link module of the programmable controller 26.

In addition, transmission and reception of character codes and the like between the operation panel 100 and the robot controller 30 are conventionally performed by a CRT.
It can be performed using the serial communication line used for communication between the robot controller and the robot controller.

Further, communication between the touch panel controller 130 and the operation panel 100 can be performed using a similar serial communication line.

Communication between the operation panel 100, the printer 160, the floppy disk 170, and the CRT 140 is performed in the same manner as a normal personal computer. The CRT 140 is the CRT of the computer 110.
It is connected to the screen display control unit 110f.

The exchange of signals between the multi-control panel 100 and the programmable controller 26 is performed by an operator touching a picture of a switch drawn on the screen of the CRT 140. In other words, by touching the picture drawn on the screen of CRT140,
Signal is touch panel 120, touch panel controller 13
0, and the signal is transmitted in the order of the computer 110, and a signal is sent to the programmable controller 26 via the signal line 200. Furthermore, when performing a predetermined display on the CRT 140 of the operation panel 100,
The output signal of the programmable controller 26 is transmitted in the reverse route, that is, in the order of the programmable controller 26, the computer 110, and the CRT 140.

Here, as another signal transmission method, there is a method using a hard switch 150, and there are the following two methods. That is, a signal from the hard switch 150 is sent to the computer 110 and transmitted to the programmable controller 26. There is a method of outputting to the lamp 152 by the reverse route, and a method of directly connecting the hard switch 150, the lamp 152 and the programmable controller 26 with the signal line 210 and inputting / outputting a signal. Note that the method of directly transmitting a signal using the signal line 210 is not affected by an abnormality of the central processing unit 110a or an abnormality of the communication device, and thus may be used to secure signal transmission.

Thus, the operation panel 100 and the programmable controller 2
The signals can be exchanged between 6 and 6 by the three methods described above, and can be appropriately used depending on the type and use of the signals.

Next, the operation of the programmable controller 26 will be described. The programmable controller 26 is a robot
This is to perform sequence control in an automatic machine system using 10. That is, it is connected to the robot 10 and peripheral devices 12 such as a conveyor for transporting the work, a transfer machine, a clamper for clamping the work, an opening / closing jig, and various sensors, and controls them.

The robot controller 30 controls the operation of the robot 10. The robot controller 30 teaches a program that stores an operation to be performed by the robot 10, controls an operation of operating a mechanism according to the program, and transmits and receives information to and from peripheral devices. It performs input / output control, display diagnosis of the state of the robot 10, and the like.

Then, the robot controller 30
The operation is performed using the teaching box 22, but the operation can be performed using the teaching box 22 if the operation is simple. Further, the robot controller 30 is connected to the programmable controller 26 via signal lines, so that signals can be transmitted and received between the two.

In addition, the floppy disk drive 170 is
It stores programs, data, and the like. The printer 160 performs a program and data listing of the operation panel 100, and can also perform a hard copy of the screen of the CRT 140.

FIG. 3 is a perspective view showing the appearance of a system using the operation panel 100. FIG. The programmable controller 26 is stored inside the process control panel 24. The process control panel 24 includes a relay (not shown) and the like in addition to the programmable controller 26 shown here.

FIG. 4 is an external view showing an example of the operation panel 100. On the front of the screen of operation panel 100, the screen of CRT140, this CRT
A touch panel 120, a hard switch 150, and a lamp 152, which are installed in front of 140, are arranged. Further, a heating plate 180 is provided on the upper part. This radiator plate 180 is
Inside 0 has a function of releasing heat generated from the CRT 140, the computer 110, the touch panel controller 130, the power supply unit and the like to the outside. Therefore, for example, it is configured by a combination of a radiation fin and a radiation fan. The inside of the operation panel 100 is
It has a sealed structure and has excellent dust resistance.

Operation Panel Display Screen Setting Next, the operation panel display screen setting, which is a characteristic feature of the present invention, will be described. In other words, when achieving the operation display function of the operation panel 100, the monitoring function of the PC coil, the counter display function, the operation establishment condition display function, the abnormal lamp message function, etc., it is necessary to display an accurate screen when these functions are achieved. Become.

This screen differs depending on the specifications of the automatic machine system controlled by the operation panel 100. Therefore, it is necessary to initialize the screen settings in the display device in advance according to the automatic machine system using the operation panel 100. Conventionally, such initial settings have been made using software created by a computer programmer. However, in this method, setting cannot be performed unless the user has detailed knowledge of computer software.

In the operation panel 100 of the present invention, the display screen can be easily set by selecting the touch panel 120 on the screen according to the message on the screen.

The items for which the display screen is set include the following items, which will be individually described below.

(A) Layout design of the operation panel (b) Correspondence between the address of the internal coil of the programmable controller 26 and each part such as a push button switch and a lamp of the operation panel (c) Input of the operation failure condition (d) Abnormal lamp message screen (E) Input of counter message Operation panel setting mode (matrix setting) Here, the layout design of the operation panel 100 in the operation panel setting mode will be described. First, when "setting" is selected on the operation panel display screen shown in FIG. 5 and the operation panel setting mode is set, an operation panel setting mode menu screen shown in FIG. 6 is displayed. Then, first, it is necessary to determine the size of each of the switches and lamps to be arranged, the vertical and horizontal sizes and the like.
Therefore, "matrix setting" is selected. When this matrix setting is selected, a matrix shape setting screen shown in FIG. 7 is displayed. Then, in this state, one of the large, medium and small sizes on the screen is selected, and then the matrix No. and the matrix size (numerical values in the vertical and horizontal directions) are input by touching the numeric keys at the upper right of the screen.

After determining the matrix size in this way, the screen automatically changes to the display of FIG. In the 70th display, both the currently set matrix and the already registered matrix are displayed. Then, by touching a desired place on the screen, the currently set matrix can be moved. That is, for example, if the upper left part indicated by the arrow → in the figure is touched, the upper left end of the matrix is moved to a position corresponding to 38. By such an operation, it is possible to frame the arrangement of switches, lamps, and the like.

Operation panel setting mode (parts selection) Next, switches, lamps, and other parts are set in the individual frames. In order to move to this part setting, the user can touch "next operation" in FIG. 8 or touch "part selection" in FIG. Then, by touching a desired part in which the part is desired to be displayed in FIG. 8 and touching a desired part on the part selection screen in FIG. 9, a part can be set in the desired part. By repeatedly performing such an operation, a desired part can be set in the designated frame.

Operation panel setting mode (PC coil address setting) Next, the case where the address setting of the internal coil (PC coil) of the programmable controller 26 is performed will be described. In order to set the address number of the internal coil of the programmable controller 26 to be monitored and to give its meaning, the coil name and the coil address are written in the column table in FIG. This writing is performed, for example, by first touching a desired lamp, then touching Kana selection, and touching a Kana key appearing on the screen to enter a name. Similarly, it is possible to write an English character or a Chinese character by selecting an English character or a Chinese character. Then, an address field is touched, and an address is entered by touching a numeric keypad. The coil address can be set by repeating such operations.

Thus, the PC coil monitor screen as shown in FIG. 11 can be set.

Next, the coil address table set in this way is associated with the individual elements of the matrix of the parts set before that. That is, by touching the name portion in FIG. 10, when a coil is selected, the screen automatically changes to a coil selection screen shown in FIG. Then, on this screen, the name of the part corresponding to the designated coil is touched.
By doing so, the coil name in FIG. 12 is copied to the part name part, and at the same time, the part selected at present and the coil address corresponding to the part are associated. By repeating such operations, the internal coil of the programmable controller 26 can be associated with each part of the operation panel 100.

Further, at the time of such setting, it is also possible to set an operation sequence number 146 indicating an operation procedure of each part as shown in FIG. 5 and a dividing line 148 for delimiting each part.

Operation panel setting mode (other settings) Next, the setting of the operation failure condition will be described. The setting of the operation failure condition is performed using the operation panel screen (FIG. 5) that has already been created. In order to input the operation failure condition,
First, a target part is touch-input as a target part from the operation panel screen. Then, similarly, the condition parts are touch-input one after another. In this way, the setting of the condition part and the target part can be performed.

Next, the setting of the abnormal lamp message will be described. For this abnormal lamp message, first, an abnormal lamp to which a message is to be input is selected on the operation panel display screen of FIG. 5 and touch input. Thereafter, the screen changes to a screen for inputting an abnormal lamp message. Then, a message can be created by touching a kana key, a numeric keypad, or the like on this screen.

The count message can be input by touching a predetermined position on the count message input screen in the same manner as the abnormal lamp message input.

As described above, in the operation panel 100 of the present invention, the display screen can be set only by the touch operation. Therefore, even a worker who has no knowledge of programming can easily set the display screen.

Execution of Display Screen Setting FIG. 13 is a flowchart in the case of setting the display screen of the operation panel 100. This setting is performed in the order of creation of a matrix table, creation of a part table, creation of a coil table, creation of a separator table, input of operation failure conditions, input of an abnormal lamp message, input of a counter message, input of a robot error message, and input of a robot command description. .

In the creation of the matrix table, further, individual size determination (large, medium, small) as shown in FIG. 14 describing the contents, determination of the vertical and horizontal sizes of the matrix (n × m), the origin of the matrix An operation method for position determination (X, Y) is sequentially input and determined. Then, the determined conditions are stored in the memory (RAM) 110b, and the matrix shape considering the determined conditions is displayed on the CRT 140. Then, the operator can confirm the set contents by this display. This operation is repeated as necessary (whether to create more).

The creation of the parts table is a step of determining incidental conditions such as the type, color, operation sequence number, and the like of the parts to be arranged at individual locations of the created matrix. The creation of the coil table is a step of inputting the correspondence between the determined parts and the coil addresses of the programmable controller 26 and their names. Further, the creation of the dividing line table is a step of determining the position, width, and color of the dividing line for classifying each part.

Also, as for the operation failure condition input, the abnormal lamp message input, the counter message input, the robot abnormal message input, and the robot command explanation input, each condition is sequentially input by touch input similarly to the creation of the matrix table described above, and the conditions are input. While storing it in the memory 110b,
The setting is performed by associating the screen with the programmable controller 26 for the condition result.

[Effects of the Invention] As described above, according to the operation panel according to the present invention, a display screen of the display device can be performed by an input from a touch panel on a predetermined setting screen. Therefore, a desired screen setting can be easily performed without detailed knowledge of the program. Further, no special hardware or the like is required for screen setting, so that space saving and cost reduction can be achieved. Furthermore, since an operator who actually operates can create a screen, an optimal screen design can be performed, and a setting of a touch position can be optimized.

[Brief description of the drawings]

 FIG. 1 is a block diagram showing a configuration of the present invention, FIG. 2 is a block diagram showing a configuration of an embodiment of the present invention, FIG. 3 is a perspective view of an entire system to which the embodiment is applied, FIG. FIG. 5 is an external view of an operation panel display screen, FIG. 6 is an external view of an operation panel setting mode menu screen, FIG. 7 is an external view of a matrix shape setting screen, 8 is an external view of the matrix position setting screen, FIG. 9 is an external view of the parts selection screen, FIG. 10 is an external view of the coil address setting screen, FIG. 11 is an external view of the PC coil monitor screen, and FIG. FIG. 13 is an external view of a coil selection screen, FIG. 13 is a flowchart for setting an operation panel, FIG. 14 is a flowchart for creating a matrix table, and FIG. 15 is a configuration diagram of a conventional automatic machine system. 10… Robot 26 …… Programmable controller 30 …… Robot controller 100 …… Operation panel 110 …… Computer 120 …… Touch panel 140 …… Display device

Claims (1)

(57) [Claims] An operation panel connected to one or both of a robot controller for operating a robot and a program controller for controlling the entire system such as peripheral devices, and for instructing and monitoring both controllers, a display device as monitor means. And a touch panel as input means, and a computer for performing various processes.The computer has an operation panel setting program, and by executing this operation panel setting program,
A screen for setting is displayed on the display device, and by touching the touch panel in the screen display state for setting, the correspondence between the coil to be monitored and the monitoring part corresponding to the coil address is displayed. An operation characterized in that the operation panel display program can be changed by setting a monitor screen including setting using a display screen of a screen, a coil name, and a coil address and setting an input screen of various commands. Board.