JP2750103B2 - Robot teaching device - Google Patents

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 for teaching an operation to an industrial robot or the like.

[0002]

2. Description of the Related Art Conventionally, an industrial robot is used in a configuration as shown in FIG. That is, although the control panel 2 for controlling the robot 1 is provided with an input section 3 for inputting control contents and a display section 4 for displaying a control state and the like, a portable teaching device 5 called a teach pendant or the like is used. Teaching of operation is widely performed. The teaching device 5 is also provided with a simplified display unit 6 and an input display unit 7 so that the robot 1 can be operated manually or the operation can be taught. Regarding the provision of a teaching device, see, for example, JP-A-63-890.
No. 6 describes that it is provided as an operating box for manual operation.

[0003]

As with various remote control devices, the conventional teaching device is designed to be as sophisticated and lightweight as technically possible. In addition, the operability is designed such that the operation is easy as long as the operation is performed mainly using the right finger, assuming basically a right-handed person.

[0004] The teaching of the robot is performed in a short time,
It is particularly important in terms of productivity that the taught operation is efficient. Therefore, the operability of the teaching device is important. However, if the teaching device is set for a right-handed person, it is difficult for a left-handed person to hold and difficult to operate.

[0005] An object of the present invention is to provide a robot teaching device in which a left-handed person can operate the teaching device in the same operating environment as a right-handed person, and the time required for teaching can be reduced. That is.

[0006]

According to the present invention, there is provided a robot teaching device for teaching an operation while being held by an operator of a robot, comprising: a pair of deadman provided symmetrically on the upper surface of the teaching device in a hand-held state. A key, a plurality of input keys for teaching operation, and control means for dividing the functions of the input keys into groups and controlling the arrangement of the groups to be switched between right-handed and left-handed. And a robot having a substantially symmetrical shape in a hand-held state. According to the present invention, the teaching device has a substantially symmetrical shape when the robot operator holds the pair, and a pair of deadman keys are provided symmetrically on the upper surface of the teaching device. Since the deadman key that must be kept pressed during teaching operation is provided symmetrically, right-handed people operate with the left hand finger, and left-handed people operate with the right hand finger, while using the right or left hand to teach operation Can operate a plurality of input keys. Since the control means switches the function of the input key between right-handed and left-handed in divided groups, the left-handed person can operate the teaching device in the same operating environment as the right-handed person. Thus, the time required for teaching can be reduced.

Further, the present invention includes a touch panel having a plurality of keys operable as the input keys, and image display means arranged on the back side of the touch panel, wherein the control means is for right-handed or left-handed use. The functions of a plurality of keys on the touch panel are switched according to the above, and the display contents of the image display means correspond to the functions of each key on the touch panel. According to the present invention, the input key for teaching the operation is formed by the touch panel and the image display means arranged on the back side thereof, and the control means changes the display content of the image display means according to whether it is right-handed or left-handed. Since switching is performed in accordance with the function of each key on the touch panel, it is possible to display keys that are easy to understand for right-handed and left-handed use, and the same operation environment can be easily realized.

In the present invention, the combination of the key function of the touch panel and the display content of the image display means may be prepared in a plurality of types for right-handed and left-handed, respectively, and may be switched between each type. It is characterized by. According to the present invention, since a plurality of combinations of key functions and display contents are prepared and can be switched between the types, many functions can be divided and realized in an easily understandable manner.

[0009]

FIG. 1, FIG. 2 and FIG. 3 show the external structure of a robot teaching device according to an embodiment of the present invention. 1 is a front view, FIG. 2 is a bottom view, and FIG. 3 is a left side view. Teaching device body 10 having a substantially rectangular flat plate shape
Are generally plane-symmetric with respect to a plane 10a perpendicular to the surface. A connection cable 11 for electrically connecting to the control panel of the robot extends from the teaching device main body 10. An emergency stop switch 12 and a teach lock on / off switch 13 are provided near the connection cable 11.

A pair of deadman keys 14 and 15 are provided in the vicinity of both ends of the teaching device main body 10 at symmetrical positions with respect to the plane 10a. Deadman key 14, 15
Is also called a trigger key, and the brake of the robot is released only while one or both of the keys are pressed, so that the teaching operation can be performed.

Near the center of the surface of the teaching device body 10,
A multi-function panel 16 is provided. The multi-function panel 16
The touch panel 17 is provided on the surface. Touch panel 17
Is formed by stacking transparent resistive films, for example, and the pressed position can be known from the electric resistance value when locally pressed. The surface of the touch panel 17 is divided by a region occupied by a plurality of keys 18 arranged in a matrix. On the back side of the touch panel 17, a liquid crystal display element (hereinafter abbreviated as “LCD”) 19 is arranged. In FIG. 1, the keys 18 are displayed in a grid for convenience of illustration, but the display contents of the LCD 19 are actually visible through the transparent touch panel 17.

FIG. 4 shows the electrical configuration of the teaching device. A central processing unit (hereinafter abbreviated as “CPU”) 20 serving as a control means operates according to a program preset in a read-only memory (hereinafter abbreviated as “ROM”) 21 and reads and writes a memory as a work area. (Less than,
The multi-function panel 16 is controlled while using the “RAM” 22). Multifunctional panel touch panel 1
A touch panel interface (hereinafter, abbreviated as “touch panel I / F”) 23 and a graphic controller 24 are interposed between the CPU 7 and the LCD 19 and the CPU 20, respectively. Graphic controller 24
Temporarily stores the content to be displayed on the LCD 19 in the RAM 25 serving as a display memory. A communication interface (hereinafter abbreviated as “communication I / F”) is provided between the CPU 20 and the connection cable 11 connected to the robot control panel.
26 are interposed.

FIGS. 5 to 8 show images displayed on the LCD 19 of the multi-function panel 16 of FIG. 1 and the functions of each key 18 of the touch panel 17. 5 and 6 show the case of teaching, and FIGS. 7 and 8 show display screens for selecting an auxiliary function. 5 and 7 show right-handed display screens, and FIGS. 6 and 8 show left-handed display screens. As shown in FIGS. 5 and 6, on the display screen 30 for teaching, the common area 31, the function selection area 3
2. A system message display area 33, a status display area 34, an auxiliary data area 35, a teaching-related key 36, a check operation-related key 37, an operation mode-related key 38, and an axis operation key 39 are provided. Of these, the axis operation key 39 is the most frequently used, and is arranged on the right side for right-handed users in FIG. 5 and on the left side for left-handed users in FIG. It should be noted that the arrangement of each area is switched between right-handed and left-handed, but within each area, the same arrangement state is maintained for both right-handed and left-handed. This is illustrated in FIG.
Although the position of the group of the function selection area 32 and the numeric keypad area 40 shown in FIG. 8 and the group of the common area 31, the system message display area 33, and the selection area 41 are switched between right-handed and left-handed, This shows that the arrangement in each group is continued as it is. However, the date and time area 42 occupies the upper right of the same display screen 30 for both right-handed and left-handed use.

The distinction between the right-handed type shown in FIGS. 5 and 7 and the left-handed type shown in FIGS. 6 and 8 is set in advance on the control panel of the robot, and is instructed to the teaching device main body 10 via the connection cable 11. You. Touch panel 17 on teaching device body 10
It is also possible to switch using such a method.

In the teaching mode shown in FIGS. 5 and 6, the name of the selected program is displayed in "PG" of the common area 31. Pressing this area moves to the program selection screen. “ST” in the common area 31
In “EP”, the current step number is displayed. Pressing this area moves to the step selection screen. In the “PC” of the common area 31, the name of the selected PC program is displayed. Pressing this area moves to the program selection screen.

In the function selection area 32, "status display",
A graphic display for selecting one of “function” and “next menu” is provided. Except during teaching,
As shown as the function selection area 32 in FIGS. 7 and 8, a display for selecting “teach” is also performed. In the system message display area 33, a display specified by a command in advance, an error display, and the like are performed. Various states are displayed in the state display area 34. In the auxiliary data area 35, a teaching state display of the current step, a current state display, and the like are performed.

The teaching-related keys 36 include “record”,
"Teaching mode", "Auxiliary data setting display" and "S"
The area corresponding to the key such as is displayed. "record"
Is provided to write the auxiliary data and the current position in the current step according to the teaching mode. "Teach mode"
Is provided to specify a method of writing to a step at the time of a record operation. Each time this key is pressed, the order is switched, such as overwriting, insertion, deletion, position rewriting and auxiliary rewriting, and overwriting. By pressing the auxiliary data key 35 while holding down the "auxiliary data setting display", the setting function of each auxiliary data can be called. Thus, the contents of the auxiliary data can be changed or confirmed. If you press a key such as auxiliary data while pressing "S",
The setting information can be changed in the opposite direction. By pressing this key and “speed” in the operation mode related keys 38, the setting information can be changed in the opposite direction.

The check operation-related key 37 performs a check backward operation to the display step with an upward triangle, and performs a check advance operation to the display step with a downward triangle. “Check” sequentially switches the mode of the check operation between single and continuous. The operation mode-related keys 38 include “speed information”, “operation mode”, and “robot”. The “speed information” switches the teach operation speed in three stages each time the button is pressed. There are three stages of inching and three stages of creep. Switching between inching and creep is performed in combination with the "S" key in the teaching-related keys 36.
Switching between inching and creep can be performed.
Note that the fastest state (jog) in creep is effective only while pressing. In the “operation mode”, the teaching operation is sequentially switched in the order of each axis, base, tool, and each axis.
"Robot" switches robots.

The axis operation key 39 is operated according to the state of the robot operation mode key. There are three types of operation modes: “each axis”, “base”, and “tool”. Although the arrangement of the axis operation keys 39 is different between the right-handed one in FIG. 5 and the left-handed one in FIG. 6, the point that the increasing direction is on the right side and the decreasing direction is on the left side remains the same.

In the auxiliary function selection screen as shown in FIGS. 7 and 8, a key input area for selecting the "teach" function is displayed in the function selection area 32. In this case, the ten-key area 40 including the numbers 0 to 9 which is preferably operated on the dominant hand side is arranged on the dominant hand side. A function selection area 32 for switching the screen display is also arranged on the dominant hand side. However, the date and time area 42 is arranged at a fixed position in the upper right corner of the display screen 30.

FIG. 9 shows a state in which the teaching device main body 10 according to the embodiment shown in FIGS. FIG. 9A shows a state where the right hand 51 and the left hand 52 are held by both hands. Support the teaching device main body 10 with the palms of both hands,
Press the deadman keys 14, 15 with your thumb. The thumb on the hand side extends further than the positions of the deadman keys 14 and 15, and operates the touch panel. 9 (b) and 9
(C) shows a state in which the left side 52 and the right hand 51 support the back side of the teaching device main body 10, respectively, and the right hand 51 and the left hand 52, which are the dominant hands, respectively, operate the multifunctional panel.
In this way, the same operability can be realized by the right hand 51 and the left hand 52.

The outline of the teaching device body 10 described above,
It is easy to change the display content on the display screen 30 according to the function of the robot to be taught. Although a touch panel made of a conductive film is used, a structure in which infrared light emitting elements and light receiving elements are arranged on both sides of the screen to form a grid on the screen can also be used. In addition, although an LCD is used as a display element, electroluminescence (abbreviation "EL"),
A plasma display or the like can also be used. In addition, the LCD 19 uses a color liquid crystal, and can perform easy-to-understand color-coded display. Furthermore, a mechanical key matrix can be arranged so that its function can be switched between right-handed and left-handed.

[0023]

As described above, according to the present invention, a right-handed person can operate a plurality of input keys for teaching the operation of the robot with his / her right hand and a left-handed person with his / her left hand.
For example, the operability of the teaching device is significantly improved as compared with a case where a left-handed person performs a teaching operation using a right-handed teaching device, and the same as when a right-handed person operates a right-handed teaching device. The time required for teaching can be reduced to the extent. Since the pair of deadman keys is provided on the upper surface of the teaching device, it can be easily operated by either left or right hand.

Further, according to the present invention, a plurality of input keys for teaching the operation are realized by combining with the touch panel image display means, so that the input function switched to right-handed use or left-handed use and the display contents can be understood. Switching can be performed such that the same operation environment is obtained for right-handed and left-handed users.

According to the present invention, a combination of a plurality of types of key functions and display contents is prepared. By switching between the combinations of each type, many functions can be set in a state of good operability. Can be selected easily.

[Brief description of the drawings]

FIG. 1 is a front view of a teaching device main body according to an embodiment of the present invention.

FIG. 2 is a bottom view of the teaching device main body of FIG. 1;

FIG. 3 is a left side view of the teaching device main body of FIG. 1;

FIG. 4 is a block diagram showing a schematic electrical configuration of the teaching device according to the embodiment of FIGS. 1 to 3;

FIG. 5 is a front view of the case where the multi-function panel in FIG. 1 is used for teaching right-handed use.

FIG. 6 is a front view showing a case where the multifunctional panel of FIG. 1 is used for teaching a left-handed person.

FIG. 7 is a front view showing a case where the multifunctional panel of FIG. 1 is used for selecting a right-handed program.

FIG. 8 is a front view showing a case where the multi-function panel of FIG. 1 is used for selecting a left-handed program.

9 is a diagram showing a state in which the teaching device main body shown in FIGS. 1 to 3 is operated by hand.

FIG. 10 is a simplified front view showing a configuration for conventional robot control.

[Explanation of symbols]

 Reference Signs List 10 teaching device main body 10a plane 11 connection cable 14, 15 deadman key 16 multifunctional panel 17 touch panel 18 key 19 LCD 20 CPU 21 ROM 23 touch panel I / F 24 graphic controller 30 display screen 31 common area 32 function selection area 39 axis operation key 40 Numeric keypad area 51 Right hand 52 Left hand

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Shogo Hasegawa 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Inside the Akashi factory (56) References JP-A-6-55476 (JP, A) Showa 60-44282 (JP, A) Actually open Showa 61-153244 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) B25J 13/06 B25J 9/22

Claims (3)

(57) [Claims] A robot teaching device for teaching an operation while being held by an operator of a robot, comprising: a pair of dead man keys provided symmetrically on an upper surface of the teaching device in a hand-held state; A plurality of input keys and control means for dividing the functions of the input keys into groups and controlling the arrangement of the groups so as to switch between right-handed and left-handed use; A robot teaching device characterized by having a symmetrical shape. 2. A touch panel having a plurality of keys operable as the input keys, and an image display unit disposed on a back side of the touch panel, wherein the control unit determines whether the touch panel is for right-handed use or left-handed use. 2. The robot teaching device according to claim 1, wherein the functions of the plurality of keys are switched so that the display content of the image display means corresponds to the function of each key of the touch panel. 3. A combination of a key function of the touch panel and a display content of the image display means is provided in a plurality of types for right-handed and left-handed, respectively, and can be switched between each type. The teaching device for a robot according to claim 2.