JP3424215B2 - Robot controller - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an industrial robot, and more particularly to a device capable of reducing the number of key operations. 2. Description of the Related Art FIG. 4 shows a configuration of a conventional robot controller. In this figure, 1 is a robot main body, 2 is a robot control device, and 3 is an operation panel. Further, in the robot control device 2, 21 is a key input unit, 22 is a key input interpreting unit, 23 is a screen control unit, 24 is a file management unit, 2
5 is a file for storing a robot operation program (hereinafter, referred to as a program), 26 is a robot language interpreter,
27 is an operation control unit, and 28 is a key input interpretation unit. The operation will be briefly described. Input from the operation panel 3,
For example, the key information “start operation” is received and received by the key input unit 21 and the key input interpretation unit 22 of the robot controller 2.
It is interpreted and transmitted to the file management unit 24 and the robot language interpretation unit 26. The file management unit 24 stores the file 25
The corresponding program is taken out and sent to the robot language interpreting unit 26. The robot language decoding unit 26 decodes in the robot language in the program, transmits it to the operation control unit 27, and drives the robot body 1. On the other hand, the screen control unit 23 transmits the information of the key input interpretation unit 22 and the display information of the robot language interpretation unit 26 to the operation panel 3. A conventional robot controller has a key input storage unit 28, as shown in, for example, Japanese Patent Application Laid-Open No. 59-071509, which stores a key operation order and stores the key operation order. Although the operation can be faithfully reproduced, there is a problem that the operation cannot be reproduced without selecting only a specific key and asking the operation order. The present invention
The present invention has been made in view of such a conventional situation, and has as its object to provide an apparatus that selects only a specific key from storage of a key operation and reproduces the operation regardless of the operation order. [0004] In order to achieve this object, a robot control device according to the present invention comprises, in a robot control device having operation keys, command selection means for selecting key input information for each command. Means for storing, for each instruction, an instruction, an information sequence attached to the instruction, and whether or not the instruction is stored; and, when the called instruction is stored, means for calling the stored instruction and the information sequence attached to the instruction. And means for giving a designated initial value when the called instruction is not stored. [0005] This makes it possible to memorize the key operation and reproduce the operation without selecting the specific key and asking the operation order, eliminating the necessity of inputting the entire command each time. It is possible to reduce the number of times and the number of erroneous operations, and to introduce a robot that is easier to use. Hereinafter, the present invention will be described. FIG. 1 shows the configuration of an embodiment of the present invention. 1, 2, 3 and 2 in the figure
Reference numeral 1-27 is the same as that of FIG. 4. Reference numeral 28 denotes an instruction selection unit for selecting key-input information for each instruction; 29, an instruction-specific key input storage unit; and 30, an instruction-specific initial value storage unit. FIG. 2 shows the details of the key input storage unit 29 for each instruction. Reference numeral 291 denotes an instruction portion, 292 denotes a content portion for storing an information sequence attached to the instruction, and 293 denotes a storage management portion indicating presence / absence of storage. FIG. 3 shows the details of the instruction-specific initial value storage section 30, where 301 is an instruction section and 302 is a content section. For example, in the case of inputting a command of WAIT IN # (2) = 0N T = 1.0 waiting for input of a signal, a key input of WAIT is performed. The selection is made, transmitted to the instruction-specific key input storage unit 29, and registered in the instruction unit 291. If the previous operation has not been performed, since 0 is set in the storage management unit, the storage unit is collated with the instruction unit 301, and the content unit 30 corresponding to the WAIT instruction is checked.
2 is IN = (1) = 0N T = 1.0 is the content section 302 of FIG.
Is set to Here, IN # (1) = 0N indicates that the signal 1 is input, and T = 1.0 indicates that the waiting time is 1 second. As a result, the WAIT IN # is displayed on the operation panel 3 via the key input interpretation unit 22 and the screen control unit 23 shown in FIG.
(1) The instruction of 0N T = 1.0 is displayed. The operator can input the necessary command only by changing the input signal 1 of this command to 2. When a command of PULSE OT # (10) T = 0.8 for outputting a pulse signal is input, this is already PULSE OT #
(10) Since the operation of T = 0.5 has been performed,
1 is set in the storage management unit 293, and the content unit 29 is set.
2 stores OT # (10) T = 0.5.
Here, OT # (10) indicates that the signal 10 is output,
T = 0.5 indicates the output time. As a result, similarly, PULSE OT # (10) T = P = 10 on the operation panel 3 via the key input interpretation unit 22 and the screen control unit 23 in FIG.
The command 0.5 is displayed. The operator can input necessary commands only by changing the output time 0.5 of this command to 0.8 without having to input the entire command each time, thereby reducing the number of key operations and the number of erroneous operations. Can be realized. According to the present invention, the number of key operations by the operator is reduced and the number of erroneous operations is reduced, so that an easy-to-use robot can be realized, and the working efficiency can be significantly improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing a configuration of an embodiment of the present invention. FIG. 2 is a diagram showing details of an instruction-specific key input storage unit 29 of the present invention. FIG. 4 is a diagram showing details of a value storage unit 30. FIG. 4 is a diagram showing a configuration of a conventional robot control device. [Description of References] 1 Robot main body 2 Robot control device 3 Operation panel 21 Key input unit 22 Key input interpretation unit 23 Screen control Unit 24 File management unit 25 Robot operation program 26 Robot language decoding unit 27 Operation control unit 28 Key input interpretation unit 29 Key input storage unit for each instruction 30 Initial storage unit for each instruction

──────────────────────────────────────────────────続 き Continued on the front page (58) Fields surveyed (Int. Cl. ⁷ , DB name) G05B 9/00-9/05 G05B 15/00-15/02 B25J 13/00

Claims (1)

(57) [Claims 1] In a robot control device provided with operation keys, a command selecting means for selecting key input information for each command , a command for each command, an information sequence attached to the command and a command for the command. With memory
Means for storing nothing, and when the called instruction is stored, it is stored
A robot control device comprising: means for calling a command and an information sequence attached to the command; and means for giving a designated initial value when the called command is not stored.