JP3206210B2 - Robot operating 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 operating device, and more particularly to a robot operating device having a pulse jog feed function.

[0002]

2. Description of the Related Art Conventionally, normal jog feed (arm movement)
In the robot operation unit having the pulse jog feed function in addition to the function, when performing the jog feed of the robot, that is, when performing the arm movement of the robot, after selecting either the normal jog feed or the pulse jog feed as shown in FIG. The jog feed operation according to each selection is performed. Normally, the jog feed is one in which a pulse is continuously output while the jog feed key is pressed, and is used when the arm is moved quickly and largely. The pulse jog feed performs a small arm movement. Used in cases.

[0003] Among these, in the pulse jog feed, each time the jog feed key is pressed, a fixed number of pulses set in advance by a parameter are output to a servo motor which is a pulse motor of a designated axis in the arm. The servo motor is driven to jog-feed the shaft by a constant amount. Therefore, the amount of one pulse jog feed is fixed.

[0004]

However, when the pulse jog feed of the robot is performed in the robot operation unit according to the prior art as described above, there are the following problems.

(1) One jog feed key operation outputs a fixed number of pulses only once. That is, the fixed number of pulses are output only when a change in the state of the jog feed key from OFF to ON is detected. Therefore, when it is desired to continue pulse jog feed, it is necessary to release the hand from the jog feed key, turn it off, and then press the jog feed key again to turn it on. Therefore, when pulse jog feed is to be performed continuously, the jog feed key must be pressed many times. This operation is complicated, and when teaching the position of the robot, the teaching time is correspondingly long. Take it.

(2) Since the amount of movement of the arm is very small, the operator needs to bring his / her face close to the tip of the arm and directly check the movement of the tip of the arm with his / her eyes. Because it is difficult to tell whether it is sent,
There is a risk that an operator may contact the arm.

SUMMARY OF THE INVENTION In view of the above prior art, the present invention can perform continuous pulse jog feeding with one switch operation, and can know when pulse jog feeding is performed without directly looking at the robot. It is an object of the present invention to provide a robot operating device capable of performing such operations.

[0008]

In order to achieve the above object, the construction of the present invention is to output a fixed number of pulses each time a jog feed switch is operated, drive a pulse motor, and control the robot by a fixed pulse jog feed amount. In a robot operating device having a pulse jog feed function for performing a jog feed, a jog feed switch is periodically scanned for the ON / OFF state of the jog feed switch.
If the ON state of the switch is continued, the operator is notified by the notification means.
To execute pulse jog feed to
Pulse jog feed is performed by the pulse jog feed amount, and
At the same time that the pulse jog feed is completed,
The process of stopping the notification is repeated .

[0009]

[0010]

According to the present invention having the above-described structure, when the jog feed switch is operated and turned on, and thereafter the ON state is held, the ON state is periodically detected by the scanning unit. A fixed number of pulses are output from the pulse output unit to the pulse motor. As a result, the robot is continuously pulse jog-fed.

During the execution of the pulse jog feed, the notification means notifies the operator that the pulse jog feed is being executed.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a block diagram of a robot operating device according to an embodiment of the present invention. As shown in the figure, the robot operating device according to the present embodiment has an operation unit 1 and a robot control unit 2, both of which transmit signals (key codes) from each key of the operation box 1. Communication cable 3 for connection. The operation unit 1 further includes a normal jog feed / pulse jog feed selection key 1a, a pulse jog feed execution key 1b, a pulse jog feed amount selection key 1c, a pulse jog feed execution LED 1d, a buzzer 1h, and a pulse jog feed amount selection display LED 1e. 1f, 1g, and the robot control unit 2 includes a scanning unit 2a, selecting units 2b, 2c, and a pulse output unit 2d.

A normal jog feed / pulse jog feed selection key 1a of the operation unit 1 is a key for selecting either a normal jog feed or a pulse jog feed of the robot. To choose. After the pulse jog feed execution key 1b is selected by the normal jog feed / pulse jog feed selection key 1a,
This is a key for executing the pulse jog feed. The pulse jog feed amount selection key 1c is a key for selecting a pulse jog feed amount per time. Each time the key is pressed, the number of pulses specific to each of the "normal", "medium" or "small" mode is changed. Select sequentially. If "Normal" is N pulses,
“Medium” is N / 2 pulses, and “Small” is N / 4 pulses.

A pulse jog feed amount selection display LED 1e,
1f and 1g are LEDs for notifying the operator which pulse jog feed amount has been selected by the pulse jog feed amount selection key 1c. For example, when the "normal" pulse jog feed amount is selected, The pulse jog feed amount selection display LED 1e is turned on. The LED 1d and the buzzer 1h during the execution of the pulse jog feed press and hold the pulse jog feed execution key 1b, and light and sound while the pulse jog feed is being executed, so as to inform the operator that the pulse jog feed is being executed. Notification means.

In the scanning section 2a of the robot control section 2, the pulse jog feed execution key 1
Scan the ON / OFF state of b. The selection unit 2b selects one of the normal jog feed and the pulse jog feed based on the operation of the normal jog feed / pulse jog feed selection key 1a. In the selection unit 2c, “normal”, “medium” or “small” is selected based on the operation of the pulse jog feed selection key
Of the pulse jog feed amount selection coefficients "1", "1/2", and "1/4" in order to set the number of pulses specific to any of the modes. Subsequently, in the pulse output unit 2d, the pulse jog feed amount selection coefficient “1” selected by the selection unit 2c.
This is a pulse motor of an axis in which a product of “１ ／” or “１ ／” and the value of the parameter N is calculated, and a number of pulses specific to one of the modes determined by the calculation result is designated. Output to the servo motor 4.

Next, the execution procedure of the pulse jog feed according to the above embodiment will be described with reference to the flowchart of FIG.

First, in step 101, the pulse jog feed is selected by the normal jog feed / pulse jog feed selection key 1a. If it is necessary to change the pulse jog feed amount here, the desired pulse jog feed amount "normal", "medium" or "small" is selected by the pulse jog feed amount selection key 1c. In step 102, it is determined whether or not pulse jog feed is selected in step 101.
In the case of, the procedure proceeds to step 104, and in the case of No, the procedure 1
In step 03, an operation relating to the normal jog feed is performed.

In step 104, it is determined whether the state of the pulse jog feed execution key 1b has changed (OFF → ON). As a result, in the case of Yes, that is, when the pulse jog feed execution key 1b is pressed, the state change (OFF → O
If it is determined that N) has occurred, the process proceeds to the next step 105, and if No, that is, the state change (OFF → O
N), the state change (OF) is determined.
(F → ON) is detected, that is, scanning is repeated until the pulse jog feed execution key 1b is pressed.

In step 105, the LED 1d is turned on during the execution of the pulse jog feed, and the buzzer sounds. At the same time, in step 106, the number of pulses based on the calculation result is output only once from the pulse output unit 2d, and the robot is jogged. In step 107, the pulse jog feed execution LED1
d is turned off, and the buzzer sounds are stopped.

In step 108, the scanning unit 2a scans the ON / OFF state of the pulse jog feed execution key 1b, and keeps the pulse jog feed execution key 1b pressed down in step 104 to keep the ON state. It is determined whether it has been performed. As a result Y
In the case of es, that is, when it is determined that the ON state is continuing, the process proceeds to the next step 109. In the case of No, that is, when it is determined that the ON state is not continued, Return to step 104. This procedure 108
Is executed one second after the procedure 105 is executed.

In steps 109, 110 and 111, step 1
The same processing as in steps 05, 106 and 107 is performed. After the process of step 111 is completed, the process returns to step 108, and the scanning unit 2a again executes the pulse jog feed execution key 1
The ON / OFF state of b is scanned. This scan cycle is 0.5 seconds.

That is, according to the above embodiment, when the operator presses the pulse jog feed execution key 1b once and holds this state, the robot is continuously pulse jog fed.

[0024]

According to the present invention, as described above in detail with the embodiment, the pulse jog feed of the continuous robot can be easily performed by operating the jog feed switch once. When performing position teaching, the teaching time can be shortened accordingly. Further, the operator can surely know when the pulse jog feed is being executed by the notification means, thereby improving the safety of the operation.

[Brief description of the drawings]

FIG. 1 is a block diagram of a robot operating device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing an execution procedure of continuous pulse jog feeding.

FIG. 3 is an explanatory diagram illustrating types of jog feed.

[Explanation of symbols]

 1 Operation unit 1a Normal jog feed / pulse jog feed selection key 1b Pulse jog feed execution key 1d LED during pulse jog feed execution 2 Robot control unit 2a Scan unit 2b selection unit 2d Pulse output unit 4 Servo motor

Continued on the front page (58) Fields surveyed (Int. Cl. ⁷ , DB name) B25J 3/00-3/10 B25J 9/10-9/22 B25J 13/00-13/08 B25J 19/02-19 / 06 G05B 19/18-19/46 G06F 3/033-3/037

Claims (1)

(57) [Claims] 1. A robot operating device having a pulse jog feed function for outputting a fixed number of pulses each time a jog feed switch is operated, driving a pulse motor, and performing a jog feed of the robot by a fixed pulse jog feed amount. The ON / OFF state of the jog feed switch is periodically scanned, and the jog feed switch is scanned every scan cycle.
If the switch is in the ON state, operate by the notification means
To perform pulse jog feed to the
Pulse jog feed for the pulse jog feed amount of
When the pulse jog feed of
An operation device for a robot, characterized in that a process of stopping notification by the robot is repeated .