JP3202051B2 - Offline teaching method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an offline teaching method for creating offline teaching data of an industrial robot displayed on the same screen by inputting operation information for operating a teaching box displayed on a graphic display. About.

[0002]

2. Description of the Related Art In the industrial world, robots are frequently used for purposes such as welding, and a method of creating teaching data of the robot by an off-line teaching device is widely used. That is, a robot, a work, and the like are displayed as a three-dimensional image on a screen of a graphic display, and a simulation is performed by operating the robot on the three-dimensional image.

In this case, a teaching box of an actual machine is connected to an off-line teaching device, and by operating the teaching box, a robot displayed on a screen of a graphic display is operated to perform a simulation to generate teaching data. The technical idea of this is disclosed in Japanese Patent Application Laid-Open No. 1-269105, entitled "Offline Programming Apparatus".

This "offline programming device"
Is to connect a teaching box of an actual machine to an off-line teaching device, and operate the teaching box to create teaching data while observing a graphic display play of the off-line teaching device.

[0005]

However, in the above-mentioned conventional technology, the teaching box must be replaced every time the type of the industrial robot for performing the simulation is different. Therefore, hardware for interfacing the offline teaching device and the teaching box is required, and a manufacturing cost for manufacturing the hardware is required. Further, there is a disadvantage that a space for installing the manufactured hardware must be secured near the offline teaching device.

Further, since the teaching box must be attached and detached each time offline teaching data is created, the joint of the teaching box is damaged, and the teaching box may be unusable.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problem, and corresponds to a teaching box of an actual machine for operating the actual robot on a graphic display on which a three-dimensional image of the industrial robot is displayed. By setting and displaying the teaching box according to the model that can be operated by the operator, there is no need for hardware for interfacing the offline teaching device and the teaching box, and an offline teaching method that can improve operability is provided. The purpose is to do.

[0008]

[0009]

In order to achieve the above object, the present invention displays a three-dimensional image of a robot on a graphic display, operates the three-dimensional image of the robot by an external input, and performs offline teaching. a line teaching method for creating a program, set each specifications of different real <br/> machine teaching pendant for operating the real machine of a plurality of types of the robot, in correspondence with the respective specifications <br/> like create an image information corresponding to the actual operable teaching box performs teaching the b
Corresponding to the robot with the 3D image of the bot
Copy the image of the teaching box to the graphic
Displayed on Isupurei, by operating the pre-Symbol teaching box appears by the external input, it is displayed
The said operating the three-dimensional image of the robot, the external input
Based on the power of the information, to create a teaching program of the displayed the robot, characterized by a crotch.

[0010]

In the offline teaching method according to the present invention, image information of a teaching box corresponding to an actual machine operable in accordance with the specification of a teaching box for operating a robot of the actual machine is created and displayed on a graphic display. displayed on, by manipulate the teaching pendant comprising the image information to operate the three-dimensional image of the robot.

The teaching program creating means creates a teaching program for the robot based on the operation information for operating the teaching box.

Therefore, the specification of the teaching box of the actual machine is
According to the image information of the teaching box corresponding to
Without the use of the actual equipment of the teaching box,
Offline teaching programs can be created.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An off-line teaching method according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows a robot control system 10 embodying the present invention.

The robot control system 10 comprises a robot controller 12 and an offline teaching device 14. The robot controller 12 controls a robot controller 18 for controlling a robot body 16, and a robot controller 16 for controlling the robot body 16.
Box 19 for manually driving the box
It is composed of

The offline teaching device 14 includes a graphic display 20 for displaying a three-dimensional image of the robot body 16, a keyboard 22 and a mouse 24 as input means for giving various instructions, and a flexible disk (hereinafter referred to as FD). An FD driver (hereinafter, referred to as FDD) 26 for storing information and a control circuit 28 are included.

FIG. 2 is a block diagram showing the configuration of the control circuit 28.

The control circuit 28 includes a keyboard 22 and a mouse 2
4 and an I / O controller 30 which is an interface circuit with the FDD 26, and a hard disk (hereinafter referred to as HD).
An HD controller 34 for storing information in the memory 32, a display controller 36 for displaying an image or the like on the graphic display 20, and a main memory 3.
8 and a CPU 40.

A method of creating offline teaching data by the offline teaching device 14 of the robot control system 10 configured as described above will be described.
This will be described with reference to FIGS.

First, a method of creating image information of the teaching box will be described.

The specifications of the basic functions of the teaching box are determined (step S31), and switches are set based on the functional specifications (step S32). Then
The appearance figure of the teaching box including the shape, size, position, etc. of the switch is set (step S33), and the function is assigned to each of the displayed switches (step S3).
4) A program is created according to these switch functions (step S35).

Image information of the teaching box created in steps S31 to S35;
A method for creating offline teaching data based on robot image information stored in advance is shown in FIG.
This will be described with reference to FIGS. 2, 4 and 6.

The three-dimensional image information of the robot stored in advance in the HD 32 is sent to the CPU via the HD controller 34.
The image information is read to the graphic display 20 via the display controller 36 (see FIG. 6) (step S41). Next, the image information of the teaching box stored in the HD 32 is displayed on the graphic display 20 similarly to the three-dimensional image of the robot (see FIG. 6) (step S).
42).

The keyboard 22 and the mouse 24 are operated by the operator, and the graphic display 2 is operated.
When the switch of the teaching box displayed at 0 is selected, the CPU 40 operates the robot displayed on the graphic display 20 based on the selected information and creates offline teaching data (step S43).

The created offline teaching data is stored in the main memory 38 and stored in the FD via the input / output controller 30 and the FDD 26 (step S44).

The method of generating the offline teaching data in step S43 will be described in detail with reference to FIG.

The CPU 40 reads a teaching box operation command input using the keyboard 22 and the mouse 24 (step S51) via the input / output controller 30 (step S52), and analyzes the operation command (step S53). . The analyzed operation command is converted into a command (step S54), the converted command is converted into a code (step S55), and the code-converted instruction is used to operate a robot image (step S56).

The code-converted operation command for operating the robot image is stored in the main memory 38 (step S57).

The offline teaching data thus created for each step is edited in the offline teaching device 14, becomes an offline teaching program, and stored in the FD via the FDD 26.
F in which this offline teaching program is stored
By mounting D to the robot controller 18 and reading the teaching program stored in the FD,
The robot main body 16 can be driven by the offline teaching program created by the offline teaching device 14.

As described above, according to this embodiment,
The teaching box and the robot are simultaneously displayed on the same graphic display 20, and the displayed teaching box is displayed on the keyboard 22 and the mouse 2.
4 to operate the robot body 16 displayed on the graphic display 20 and create an offline teaching program.

Therefore, the teaching box 19 of the actual machine is used.
Is not used, the interface between the offline teaching device 14 and the teaching box 19 can be reduced, and the hardware manufacturing cost can be reduced.

Further, since there is no need to provide a space for disposing the interface, the space near the offline teaching device 14 can be effectively utilized.

[0033]

The off-line teaching method according to the present invention
In the method , the operability is improved by operating the teaching box displayed on the graphic display that can be operated according to the specifications of the actual machine without using the teaching box of the actual machine, and the offline teaching program can be easily created can do.

Therefore, there is no need for hardware for interfacing the offline teaching device with the teaching box of the actual machine, so that the hardware manufacturing cost can be reduced, and there is no need to attach / detach the teaching box to the interface hardware. Therefore, there is an effect that damage to the joint of the teaching box can be prevented.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a robot control system that implements an offline teaching method according to the present invention.

FIG. 2 is a block diagram showing a configuration of a control circuit in the offline teaching device of the embodiment shown in FIG.

FIG. 3 is a flowchart for creating a teaching box image displayed on the offline teaching device of the embodiment shown in FIG. 1;

FIG. 4 is a flowchart for creating offline teaching data in the embodiment shown in FIG. 1;

FIG. 5 is a flowchart showing a method of creating offline teaching data in the embodiment shown in FIG.

FIG. 6 is a diagram showing a robot and a teaching box displayed on the offline teaching device of the embodiment shown in FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Robot control system 12 ... Robot control device 14 ... Offline teaching device 16 ... Robot main body 18 ... Robot controller 19 ... Teaching box 20 ... Graphic display 22 ... Keyboard 24 ... Mouse 26 ... FDD 28 ... Control circuit 32 ... HD 38 ... Main Memory 40 ... CPU

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Katsumi Takeishi, Inventor 1-10-1 Shinsayama, Sayama City, Saitama Prefecture Honda Engineering Co., Ltd. (72) Inventor Masakatsu 1-10-1 Shinsayama, Sayama City, Saitama Honda Engineering (56) References JP-A-60-97409 (JP, A) JP-A-61-279908 (JP, A) JP-A-61-153704 (JP, A) JP-A-2-15303 (JP, A A)

Claims (1)

(57) [Claims] 1. An offline teaching method for displaying a three-dimensional image of a robot on a graphic display, operating the three-dimensional image of the robot by an external input, and creating an offline teaching program, comprising the steps of: set each specification of different actual teaching pendant for operating the robot, the created image information corresponding to the actual machine correspondingly operable teaching box to the specification, a three-dimensional image of the robot for performing the teaching With
And the teaching box corresponding to the robot
The image displayed on the graphic display by the previous SL teaching box appears to the external input
By operating the robot, the displayed tertiary robot
Operating the original image, on the basis of the information of the external input, to create a teaching program of the displayed said robot off-line teaching method according to claim and this.