JP3263819B2 - Portable 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 an operation board for controlling industrial robots and other automatic machines, and more particularly to a portable teaching device suitable for manipulating and programming these machines by hand. It is about.

[0002]

2. Description of the Related Art Some portable teaching devices include, for example, a display portion capable of displaying an arbitrary character string and an automatic reset type operation switch. And a program edit mode in which a predetermined character string is displayed on an edit screen by operating one key of the operation switch.

In such a portable teaching device, for example, there is a case where it is desired to check the operation of a valve or a chuck by manually outputting a so-called I / O (digital input / output) output signal. There were several operating switches, and the number of output signals that could be checked was only that many. As described above, the number and variations are limited as long as the dedicated buttons are used. For example, it is very convenient to assign not only an output signal but also an arbitrary function to a function key dedicated to an operation switch.

There are the following methods for programming a program. For example, in a programming device with a small number of functions, in addition to numeric keys, one key is assigned all character strings necessary to compose a program, and a program is created with them. In many cases, individual alphabet keys are not provided. . In some multifunctional programming devices, full keys of numbers and alphabets are prepared to create a program one character at a time, and a frequently used character string is assigned to one key.

[0005] Furthermore, although the standardization of the programming language of industrial robots has recently been advanced, the description method often differs in detail. For this reason, detailed instruction manuals are created. The more sophisticated the robot, the more complicated and complicated the instructions, and it takes a great deal of effort for the user to understand everything.

[0006] On the other hand, for a normal user, if there is a suitable sample that needs to understand all the functions of the robot, it is possible to quickly create a program unique to the user with reference to the sample. Therefore, a detailed instruction manual often accompanies several possible sample programs.

[0007]

By the way, in addition to the function of moving, the current robot is required to exchange a large number of data with an externally connected device such as a sequencer. May send an output signal to an external device, or simply need to repeat an operation that cannot be normally performed with a single key several times. In order to cope with this, it is desirable that the number of buttons dedicated to this cannot catch up, and that the user can freely determine the function of some buttons as needed.

Further, since a programming device is also used as a position teaching device for a robot in most cases, it is required to be small and lightweight, and keys are small and difficult to press. On the other hand, programming languages are simpler than ordinary languages, and fixed combinations of character strings frequently appear. For example, 1
In the method of selecting and assigning several character strings to one key, in a multifunctional programming device that requires full alphabet keys, there are not enough keys to assign satisfactory functions, and it is necessary to assign a fixed character string every time It is hard to enter each one.

The present invention has been made in view of such a point, and a series of procedures can be described in a sentence structure similar to that of a normal program. Because it is different from the above, the explanation in the instruction manual may cause esoteric or unnecessary confusion, so a sample program will be attached, but naturally input work including key operation is necessary, and this input It is an object of the present invention to provide a portable teaching device that simplifies the operation, reduces the number of input keys, and allows the device to be reduced in size and weight.

[0010]

Means for Solving the Problems In order to solve the above problems and achieve the object, the present invention has the following constitution.

[0011] The invention according to claim 1 is based on "the main body of the apparatus,
An operation mode for causing an automatic machine to perform an operation represented by the character string by operating the function key, and a display unit capable of displaying an arbitrary character string and an automatic return type function key; It has a program editing mode that is displayed on the editing screen by operating function keys, and the procedure for expressing this function can be described as a kind of program similar to a normal program for operating an automatic machine A portable teaching device that can be managed in the same manner, wherein the device main body is provided with a holding portion that can be held by one hand, and a plurality of operation keys including the function keys are provided on the front surface of the device main body including the front surface of the holding portion A shift switch on a side surface of the holding section, which is configured to assign a plurality of functions to operation keys by switch operation, and In the description of the function of the program, it has a function to be executed by pressing the function key and to be executed by releasing the function key, and it is determined whether the program is the normal program or the specific program, and the normal program and the specific program are determined. Uses the same programming language, when processing as a specific program, first determines whether or not the operation mode, if the operation mode, the operation program set in the display unit corresponding to the function key A character string for indicating is displayed, and an operation program corresponding to the character string is executed by pressing and releasing a predetermined function key. Then, by pressing the function key,
A portable teaching device for displaying a program creation character string corresponding to the function key and editing the program. ].

According to the present invention, the apparatus main body is provided with a holding portion that can be held with one hand, and a plurality of operation keys including function keys are provided on the front of the device main body including the front of the holding portion.
By providing a shift switch that assigns a plurality of functions to operation keys by switch operation on the side of the holding unit, the number of operation programs that can be executed by pressing or releasing any of the function keys in the operation mode by operating the shift switch Can be doubled at least, and the number of character strings that can be displayed by pressing one of the function keys can be doubled to simplify the input operation in the edit mode.

Further, since a shift switch is provided on the side surface of the holding unit, a function key is pressed or released for executing an operation program in an operation mode, and a character string is displayed for simplifying an input operation in an edit mode. , To facilitate the function key pressing operation.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of a portable teaching device according to the present invention will be described below in detail with reference to FIGS.

FIG. 1 is a schematic view of a portable teaching device, FIG. 2 is a diagram showing a state in which the portable teaching device is operated while being held, and FIG. 3 is a diagram showing a state in which a conventional portable teaching device is operated on a desk. FIG. 4 is a diagram showing a state in which a conventional portable teaching device is held and operated.

The portable teaching device is used as an operation board for controlling industrial robots and other automatic machines, and is particularly suitable for manual operation and programming of these machines performed by humans.

The main body 1 of the portable teaching device is formed in a substantially T-shaped box shape, and the main body 1 is provided with a holding portion 1A that can be held with one hand. A display unit 3 and an emergency stop switch 4 are arranged side by side on an upper part 2 of the surface of the apparatus main body 1. Further, five function keys F1 to F5 are arranged below the display part 3, and a lower part 5 thereof is provided. Is provided with an operation switch group including a large number of operation switches 6.

An upper shift switch 7 and a lower shift switch 8 are arranged at the lower left of the front surface of the apparatus main body 1 in the group of operation switches in the same manner as other operation switches. An upper shift switch 9 and a lower shift switch 10 that function similarly to the upper shift switch 7 and the lower shift switch 8 are disposed on the left side surface 1a of the apparatus main body 1.

As described above, in this portable teaching device, the box-shaped device main body 1 having the operation switch 6 disposed on the surface thereof, the upper shift switch 7 disposed on the surface of the device main body 1 adjacent to the operation switch 6, and An upper shift switch 9 and a lower shift switch 10 having the same function as the lower shift switch 8 are arranged on the side surface 1 a of the apparatus main body 1.

In the case of an industrial robot or the like, a portable teaching device connected by a cable from a control device of the robot is usually used to teach the operation of the robot.
In many cases, the portable teaching device is used as a device for changing the operating conditions of the control device and creating / editing programming, and therefore has many key switches. Furthermore, since it is required to be lightweight and small because it is portable, many of them have a shift switch for assigning a plurality of functions to one key. By operating the shift switch at the same time as the other operation switches 6, a different function is assigned to the operation switch 6 than when the switch is operated alone. Since the mechanical structure of this shift switch is usually the same as the other operation switches 6, it is arranged adjacent to the operation switches,
It is often identified with other operation switches.

In the conventional device, as shown in FIGS. 3 and 4, the shift switch 11 and the operation switch 12 are arranged on the surface of the portable teaching device without being particularly distinguished. In such a case, when operating the operation switch 12 while pressing the shift switch 11,
As shown in FIG. 3, once the portable teaching device is operated on the desk or the like with both fingers, or when the portable teaching device is operated with the portable teaching device as shown in FIG. 4, hold the portable teaching device. While pressing the shift switch 11 on the surface of the portable teaching device with the thumb of the other hand, the operation switch 1 with the finger of the other hand
It is necessary to operate the teaching device 2 or to use two fingers of a hand having no portable teaching device, and the feature that the teaching device is portable cannot be used or it is very unnatural. You are forced to operate in a posture.

In this portable teaching device, when the shift switch is operated while holding the portable teaching device, the thumb of the hand holding the portable teaching device is used to move the upper shift switch 9 or the lower shift switch on the left side 1a of the device main body 1. Switch 1
0 can be manipulated. Therefore, a finger that does not hold the portable teaching device can operate the operation switch 6 freely. When the portable teaching device is placed on a desk, the upper shift switch 7 or the lower shift switch 8 and the operation switch 6 disposed on the surface of the device main body 1 can be freely operated.

This portable teaching device comprises a display unit 3 capable of displaying the above-mentioned arbitrary character strings, and automatic return function keys F1 to F5.
An operation mode for causing the automatic machine to perform the operation represented by the character string by the operation of F5 to F5, and a program editing mode for displaying the character string on an editing screen by operating the function keys F1 to F5, The procedure for expressing this function can be described as a kind of program similar to a normal program for operating an automatic machine, and can be managed similarly. In this portable teaching device, In the description of the function of the operation mode, the function is executed by an operation of pressing the function keys F1 to F5, and has a function of being executed by an operation of releasing the function keys F1 to F5.

Next, all procedures are described on a program of the same format and management method as the program for operating the robot. However, the program is given a reserved special name, "FUNCTION" in this embodiment, and the user does not particularly recognize it from other programs, but the controller handles it specially. It is.

Although the following program description method basically conforms to the Japanese Industrial Standards Draft prepared by the Japan Industrial Robot Association, the details of the original specifications are widely accepted because the interpretation is widely extended. It is a description method.

First, a normal program will be described with reference to FIGS.

The program of "WORK1" is shown in FIG.
As shown in the figure, the article A is transported from the point X1 to the point X2.

Hereinafter, a description example of a general program will be shown.

DO: Digital output DI: Digital input 1: ON 0: OFF MOVE P1, (P2, P11, P12): Move point DO (20) = 0: Digital output No. 20 is turned off. Specifically, a check opens (FIG. 6).

DO (20) = 1: No. 20 is turned on similarly. The check also closes (FIG. 7).

WAIT DI (10) = 1: Waits for the digital input No. 10 to turn on. Specifically, the system waits for a sensor signal to confirm that the preparation is good.

Next, in order to explain the function of the present invention, an example of a program for a so-called pick and place operation in which a robot is frequently used will be described. NAME = "WORK1" * HAJIME: 'Working MOVE P, P1'P1 HEDOKU DO (20) = 0'Chuck Hiraku WAIT DI (10) = 1'Jumbi? MOVE P, P2'P2Heoroth DO (20) = 1'Tube MOVE P, P1'P1 Hair Gel MOVE P, P11'P11Heidowsur WAIT DI (30) = 1'Sensor Singing Machi? MOVE P, P12 'P12 Heolos DO (20) = 0' Hanas MOVE P, P11 'P11 Hair gel GOTO HAJIM When such a program is created and the operation adjustment of a mechanical system functioning according to this program is performed, for example, chuck There are times when it is desired to operate the position confirmation by grasping and releasing the object or moving to each point even if the preparation is completed and the sensor signal is not turned on. In this program, a fixed character string such as MOVE P, P DO (WAIT DI () is used many times.

Next, a description example of a program according to the present invention suitable for efficiently creating the "WORK1" program will be shown.

Here, * M-: the key operation shown in FIG. 8 is performed in the motion mode in the operation mode. NAME = “FUNCTION” * M-F1; 'Chuck Hiraku DO (20) = 0 * M-F2;' Chuck Toku DO (20) = 1 * M-F3; 'Tsumami Hanashi DO (20) = 1 DO (20) = 0 * P-F1; 'MOVE P, P * P-F2;' DO (* P-F3; 'WAIT (DI * P-F4;' GOTO *) According to the program of the present invention, the following operations are performed. Efficiency is achieved.

As a part of the program "FUNCTION", it is programmed as follows.

* P-: The key operation shown in FIG. 9 is performed in the program editing mode.

First, the operation mode will be described. * M-F1: 'Chuck to cam ... Function key F1ON DO (20) = 1 * M-F2:' Chuck Hiraku ... Function key F2ON DO (20) = 0 * M-F3: 'Chuck picking torn' ··· Function key F3ON, OFF DO (20) = 1 DO (20) = 0 "* M-F1" and the like are program labels used as jump destination addresses in a normal program. In this embodiment, M- indicates that the operation is described. F1 corresponds to the function key F1ON. It represents that.

A character string (function label) starting with "'" is a comment sentence that does not execute anything in a normal program, and is often used as a memo so as to be useful for understanding the program later. In this embodiment, the first seven characters are displayed on the screen to indicate to the user the contents of the functions of the function keys F1 to F5.

In this * M-F3: 'Chuck picking off' function key F3 ON, OFF DO (20) = 1 DO (22) = 0 With execution of function key F3, execution statement 1 is executed. When the function key F3 is released, the executable statement 2 is executed, and one function key has two functions. When the execution statement 2 is omitted, nothing is executed when the key is released.

Next, the program editing mode will be described as a part of the program "FUNCTION". * P-F1: 'MOVE P, P * P-F2:' DO (* P-F3: 'WAIT * P-F4:' GOTO * ' The first seven characters of the function label are displayed on the screen, and the character string appears at once with one key operation during program creation.

A sample of the program "FUNCTION" is stored in advance in a ROM (read only memory) of the controller. After performing the prescribed operation,
The sample appears as one of the programs. If a program with the same name already exists, it is overwritten after confirming with the user.

The operation of this embodiment will be described with reference to the flowcharts shown in FIGS.

FIG. 10 is a flowchart for interpreting the program name. In step a, the program returns "FUNCTI
ON ”or not, and the program“ FUNCIO ”
If it is not N ", it is processed as a normal program (step b).

In the case of the program "FUNCTION", the processing shifts to a specific program of the present invention (step c), the state of the control device is determined (step d), and if it is determined that the operation mode is set, the function is executed. The label can be displayed and the flowchart shown in FIG. 11 can be executed (step e). Further, in step d, the state of the control device is determined, and if it is determined that the mode is the program editing mode (step f), the function label is displayed and the flowchart shown in FIG. 12 can be executed (step g).

FIG. 11 is a flowchart of the operation mode. In step a, it is determined which function key is pressed, and the execution statement 1 of the pressed function key is determined.
(Step b). Then, in step c, it is determined whether or not the function key has been released. When the function key has been released, it is determined whether or not there is an executable statement 2 (step d). In this case, the process directly proceeds to step a, and if there is an executable statement 2, the executable statement 2 is executed and the process proceeds to step a (step e), and the same operation is performed thereafter.

The operation of the program configured as described above will be specifically described by taking a normal switch operation as an example. In the case of the configuration of only the executable statement 1 indicating a certain state, the state is changed by pressing the switch, or nothing happens in the state from the beginning. When the execution statement 1 is composed of an execution statement 1 indicating a certain state and the execution statement 2 indicating the opposite state, the function is to maintain the state only while the switch is pressed. Also,
For the state represented by 0 and 1, if the function consists of only the executable statement 1 and takes the two's complement of the previous state (0 for 1, 1 for 0), the previous state can be obtained by pressing a switch. Is a function that changes either of them.

As described above, the executable statement itself is merely described by a normal mathematical method. However, the structure of "press and execute, release and execute, and omission" does not perform anything as described above with one key. All functions required for switch operation can be described.

Focusing on the number of such special-purpose machine function switches, for example, when the five function keys of this embodiment are used in combination with the shift switch, there are 15 possible uses including the upper and lower switches. By rewriting the specific program according to the invention, even if there are more than several hundred digital out signals, it is possible to check all of them. If this is handled as a dedicated operation key, it is necessary to perform a work of reconnecting wiring and the like every 15 ways.

FIG. 12 is a flowchart of the program editing mode. In step a, it is determined what number of function keys F1 to F5 have been pressed, the function label of the pressed function key is displayed on the display unit 3 at the position where the cursor is located (step b), and the process proceeds to step a. Thereafter, the same operation is performed.

As a result, when a sentence starting with a fixed character string such as MOVE P, P DO (WAIT DI (
First, these are displayed by the function keys, and thereafter, unique numbers and the like are described, whereby the efficiency of the program input operation can be improved. In addition, since the order and contents of the function keys for displaying these can be freely set, a character string used most frequently by the user can be assigned to a favorite key, or a special character is frequently used by a user. , A very long character string, etc. can be set.

In this embodiment, as shown in FIGS. 10 to 12, it is determined whether the program is a normal program or a specific program, and the normal program and the specific program use the same program language and are processed as a specific program. In this case, it is first determined whether or not the operation mode is set. If the operation mode is selected, a character string of the operation mode corresponding to the function keys F1 to F5 is displayed on the display unit, and a predetermined function key F1 to F5 is pressed and released. To execute the command corresponding to the character string. If the mode is not the operation mode, it is determined whether or not the mode is the program edit mode. If the mode is the program edit mode, the function keys F1 to F5 are pressed to display the command and edit the program. I do.

As described above, the function keys F1 to F5 can be provided with as many functions as possible while considering the operability when operating the small portable teaching device with both hands. The user can easily operate and edit a special program different from a normal program.

[0053]

As described above, according to the first aspect of the present invention, the apparatus main body is provided with the holding portion that can be held with one hand,
A plurality of operation keys including function keys are provided on the front of the apparatus body including the front of the holding unit, and a shift switch that assigns a plurality of functions to the operation keys by switch operation is provided on a side surface of the holding unit. The number of operation programs that can be executed by pressing or releasing any of the function keys in the operation mode can be doubled at least by operation, and each function key can be displayed by pressing any of the function keys to simplify the input operation in the edit mode The number of character strings can be doubled, and the device can be reduced in size and weight.

Further, since a shift switch is provided on the side surface of the holding unit, a function key is pressed or released for executing the operation program in the operation mode, and a character string is displayed for simplifying the input operation in the edit mode. , Function key pressing operation can be facilitated.

[Brief description of the drawings]

FIG. 1 is a schematic view of a portable teaching device.

FIG. 2 is a diagram illustrating a state in which a portable teaching device is held and operated.

FIG. 3 is a diagram showing a state in which a conventional portable teaching device is operated by being placed on a desk.

FIG. 4 is a diagram showing a state in which a conventional portable teaching device is held and operated.

FIG. 5 is a diagram illustrating an operation of transporting an article A from a point X1 to a point X2.

FIG. 6 is a view showing an operation of opening a chuck.

FIG. 7 is a diagram showing an operation of closing a chuck.

FIG. 8 is a diagram showing a key operation in an operation mode.

FIG. 9 is a diagram showing key operations in a program editing mode.

FIG. 10 is a flowchart for interpreting a program name.

FIG. 11 is a flowchart of an operation mode.

FIG. 12 is a flowchart of a program editing mode.

[Explanation of symbols]

 1 device main body 3 display unit F1 to F5 function keys

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-63-123104 (JP, A) JP-A-63-54610 (JP, A) JP-A-3-55195 (JP, A) 31954 (JP, U) (58) Field surveyed (Int. Cl. ⁷ , DB name) B25J 9/22 B25J 13/06 G05B 19/42

Claims (1)

(57) [Claims] An apparatus main body is provided with a display portion capable of displaying an arbitrary character string and an automatic return function key, and the operation of the function key causes an automatic machine to perform an operation represented by the character string. It has an operation mode and a program edit mode for displaying the character string on an edit screen by operating the function key, and a procedure for expressing this function is the same as a normal program for operating an automatic machine. In a portable teaching device that can be described as a kind of program and can be managed in the same manner, the device main body includes a holding portion that can be held with one hand, and a front surface of the device main body including a front surface of the holding portion, A shift including a plurality of operation keys including the function keys, wherein a plurality of functions are assigned to the operation keys by a switch operation on a side surface of the holding unit. A description of the function of the operation mode, which has a function to be executed by an operation of pressing the function key, and a function to be executed by an operation of releasing the function key, and determines whether the program is the normal program or the specific program. When the normal program and the specific program use the same program language and are processed as the specific program, it is first determined whether or not the operation mode is set, and if the operation mode, the display unit corresponds to the function key. A character string for indicating an operation program to be set is displayed, and an operation program corresponding to the character string is executed by pressing and releasing a predetermined function key. If the operation mode is not the operation mode, it is determined whether or not a program editing mode is set. In the program editing mode, by pressing the function key, A portable teaching device characterized by displaying a program creation character string corresponding to a function key and editing a program.