JP3481367B2 - Robot teaching operation panel - 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 operation panel for teaching or operating a robot.

[0002]

2. Description of the Related Art As a teaching operation panel of a robot, an operation panel for teaching, a simple character display device, etc. are provided. Then, using these teaching operation panels, teaching and operation have been performed while watching the movement of the robot arm.

An alarm is displayed using a character display device.

[0004]

However, since the conventional character display device has a small display portion and the contents are only characters, the alarm contents are simply displayed.
The operator looked at the content of the alarm and used a maintenance manual or the like to investigate or recover the cause.

The present invention has been made in view of the above points, and it is an object of the present invention to provide a robot teaching operation panel in which the cause of an alarm can be easily investigated. Another object of the present invention is to provide a robot teaching pendant that can automatically instruct a recovery procedure to an operator when an alarm occurs.

Further, another object of the present invention is to provide a robot teaching operation panel which can graphically display a restoration operation portion.

[0007]

According to the present invention, in order to solve the above problems, in a robot teaching operation panel for teaching or operating a robot, alarm processing data necessary for alarm processing is stored and alarm information is received. That ara
Alarm processing data storage means for outputting alarm processing data required for alarm processing , alarm display data generating means for receiving the alarm processing data and generating alarm display data, and alarm processing data for receiving the alarm processing data Investigation item data generating means for generating investigation item data for specifying the type of the robot and the alarm processing data, and inspects the internal state of the robot controller for investigation of the alarm factor and generates alarm factor data. Alarm factor investigation means, and investigation data input means for the operator to enter investigation data in accordance with the investigation item; and the alarm processing data, the alarm factor data, and the investigation data to determine the cause of the alarm. Receiving the alarm cause judgment means, the alarm cause and the alarm processing data Provided is a robot teaching operation panel comprising: a recovery procedure data generating means for generating recovery procedure data; and a display device for displaying the alarm display data, the investigation item data, the alarm cause and the recovery procedure data. To be done.

Here, the alarm processing data storage means stores the contents of the alarm generated by the robot controller and the information for restoration. The alarm display data generating means generates alarm display data for notifying the operator of the alarm occurrence. The survey item data generation means generates survey item data for notifying the operator of the alarm type. The alarm factor investigation means investigates the alarm factor of the internal state of the robot controller. The survey data input means allows the operator to input survey data based on the survey item data. The alarm cause determining means determines the final cause of the alarm. The recovery procedure data generating means generates recovery procedure data for the cause of the alarm.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a conceptual diagram of the present invention.
The robot teaching operation panel 10 includes alarm processing data storage means 1 for storing alarm processing data, alarm display data generating means 2 for generating alarm display data, and survey item data generating means 3 for generating survey items corresponding to alarms. Alarm factor investigation means 4 for investigating the internal state of the robot controller 60, investigation data input means 5 for the operator to input investigation data, alarm cause judgment means 6 for determining the cause of the alarm, and recovery from the alarm state. Recovery procedure data generating means 7 for generating procedure data,
And a display device 40.

The alarm processing data storage means 1 stores all data necessary for alarm processing. When the alarm is generated on the side of the robot controller 60, this alarm processing data has investigation items for the alarm and all information necessary for recovery. Therefore, the robot teaching operation panel 10 can display necessary alarm processing information to the operator based on the alarm processing data.

The alarm display data generating means 2 generates alarm display data based on the alarm processing data and displays it on the display device 40. Specifically, the display device 40 includes an alarm display panel. When an alarm occurs, the display form of the alarm display panel changes, so that the operator can be notified that an alarm has occurred. For example, the color of the alarm display panel changes or flashes. The alarm display data is composed of general alarm display data and detailed alarm display data. The general alarm display data is data indicating whether the alarm is generated by hardware or software. The detailed alarm display data is more specific data such as the cause of the alarm and the location of occurrence.

The survey item data generating means 3 generates item data which is considered to require a survey based on the alarm processing data and displays it on the display device 40. The alarm factor investigating means 4 investigates the internal state of the robot controller 60 via the communication line 90 and generates alarm factor data based on the alarm processing data in order to investigate the alarm factor generated in the robot controller 60. .

The survey data input means 5 is inputted by the operator in accordance with the survey item displayed on the display device 40. Based on the alarm processing data, the alarm cause judging means 6 comprehensively judges the investigation data input by the operator and the alarm factor data investigated by the alarm factor investigation means 4, and displays the final alarm cause on the display device 40. indicate.

The recovery procedure data generating means 7 generates recovery procedure data for the cause of the alarm based on the alarm processing data and displays it on the display device 40. FIG. 2 is a schematic view of a usage state of the robot teaching pendant according to the present invention. The robot teaching operation panel 10 has operation switches 30 arranged on the operation panel for performing teaching operations, a display device 40 capable of graphic display, and a touch panel 41 mounted on the display screen. ing. The robot teaching operation panel 10 relays the operation box 50 installed on the outside of the safety fence 80, and connects the robot control unit 60 adjacent to the robot mechanism unit 70 via the communication line 90.
It is connected to the. The operation box 50 separates the operation part of the robot controller 60 from the safety fence 80.
It is a remote control part that can be operated outside. The operator carries the robot teaching operation panel 10 and operates the touch panel 41 and the operation switch 30 to perform the teaching operation of the robot or manually operate the robot while watching the movement of the arm of the robot mechanism unit 70 over the fence. can do.

Next, a display example from the alarm occurrence to the recovery procedure will be described in detail using an actual screen. FIG. 3 is a display screen of the robot teaching operation panel according to the present invention. The operation switch 30 includes an emergency stop button 30a, an enable / disable switch 30b, a jog button 30c, and a program operation button 30d. Also, display screen 4
0 is a liquid crystal display module (LC
D) and has a touch panel 41. The touch panel 41 has an alarm display panel 42. Further, the alarm display panel 42 is composed of touch panels such as a system 42a, a key 42b, and a code 42c so that the operator can easily understand the content and type of the alarm.

The emergency stop button 30a is a button for performing an emergency stop of the robot mechanism section. Valid / invalid switch 30
Reference numeral b is a switch for switching whether the program displayed on the screen is valid or invalid. The jog button 30c is a button for manually operating the robot. The program operation button 30d includes forward / backward keys for starting a program to start the robot, and a hold key for temporarily stopping the robot.

Further, the system 42a is a touch panel showing general alarm display data, and displays whether it is a hardware alarm or a software alarm, for example. The key 42b displays a level indicating the risk level of the alarm. This means letting the operator know if the alarm is a serious alarm that needs immediate repair or not. The code 42c is a touch panel showing detailed alarm processing data, and displays more specific alarm contents such as an alarm code number, its title, and an alarm occurrence location.

Next, the operation procedure of the operator will be described. First, it is assumed that the robot controller 60 issues a low battery voltage alarm. Then, the alarm display panel 42 blinks in red. As a result, the operator knows that an alarm has occurred in the robot controller 60. Also,
In the code 42c, the alarm code number 035 and its title "Battery Den Attaker" are displayed. Then, the operator touches the code 42c to display the detailed content on the screen.

FIG. 4 is a display screen showing details of the alarm. Details 43 about the low battery alarm are displayed. Since the operator wants to know the procedure for recovering the battery voltage drop, the operator touches the procedure panel 43a.

FIG. 5 is a display screen showing an alarm recovery procedure. Details 44 about the low battery alarm recovery are displayed. The operator further wants to know where in the robot controller 60 the battery voltage drop has occurred, and thus touches the drawing panel 44a.

FIG. 6 is a display screen showing the place where the alarm is generated. Detailed location where battery voltage drop 45
Is displayed. Through the above operation procedure, the operator can know the cause of the alarm, the details, the recovery procedure, and the place where the alarm occurred. As a result, recovery work can be performed early, and efficient maintenance management can be performed.

FIG. 7 is a schematic block diagram of hardware in which the present invention is implemented. The robot teaching operation panel 10 includes a processor (CPU) 11 and a read-only memory (ROM) 12
Robot control via a main memory (RAM) 13, a hard disk device 14, a PCMCIA socket 15 for mounting an IC card 15a, a liquid crystal display (LCD) interface 16, a touch panel interface 17, and an operation box 50. Device 6
A serial input / output (I / O) interface 18 for connecting to 0 and a switch interface 19 are provided, and these components are coupled to each other by a bus 20. The robot teaching operation panel 10 further includes a liquid crystal display device (LCD) 40 connected to a liquid crystal display device (LCD) interface 16 and the liquid crystal display device (L).
CD) 40 mounted on the display surface of the touch panel 41 connected to the touch panel interface 17, and the operation switch 30 connected to the switch interface 19.
It has and.

The processor 11 controls the entire robot teaching operation panel 10 as a whole. Read-only memory 12
Stores programs necessary for starting up the robot teaching operation panel 10 and the like. In the main memory 13, programs required for teaching operation of the robot, data required for screen display, etc. are loaded. Hard disk drive 14
Stores an operating system, application programs for executing and editing robot programs, and alarm processing data. IC card 1
For example, a robot program is stored in 5a.
By mounting the C card 15a in the PCMCIA socket 15, the robot program can be loaded into the robot teaching pendant 10.

[0024]

As described above, in the present invention, since the robot teaching operation panel is provided with the investigation item data generating means and the alarm cause judging means, the operator can easily find out the cause of the alarm.

Further, since the recovery procedure data generating means is provided, it is possible to easily and early perform the recovery work by observing the recovery procedure. Further, since the restoration operation portion is graphically displayed, the restoration operation can be performed without sufficient maintenance knowledge.

[Brief description of drawings]

FIG. 1 is a principle block diagram of a robot teaching operation panel according to the present invention.

FIG. 2 is a schematic diagram of a usage state of a robot teaching operation panel.

FIG. 3 is a display screen of a robot teaching operation panel.

FIG. 4 is a display screen showing details of an alarm.

FIG. 5 is a display screen showing an alarm recovery procedure.

FIG. 6 is a display screen showing a location where an alarm occurs.

FIG. 7 is a schematic configuration diagram of hardware in which the present invention is implemented.

[Explanation of symbols]

1 Alarm processing data storage means 2 Alarm display data generation means 3 Survey item data generation means 4 Alarm factor investigation means 5 Survey data input means 6 Alarm cause judgment means 7 Recovery procedure data generation means 10 Robot teaching operation panel 40 display device 60 Robot controller 90 communication line

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP 62-121514 (JP, A) JP 64-81010 (JP, A) JP 7-160983 (JP, A) JP 7- 49711 (JP, A) (58) Fields surveyed (Int.Cl. ⁷ , DB name) B25J 9/22 B25J 19/06 G05B 19/42

Claims (7)

(57) [Claims] 1. A robot teaching operation panel for teaching or operating a robot, storing alarm processing data required for alarm processing ,
Alarms required for alarm processing after receiving alarm information
And alarm processing data SL billion means for outputting the processed data, receiving said alarm processing data, and alarm display data generating means for generating an alarm display data, receiving said alarm processing data, for identifying the type of alarm Survey item data generating means for generating survey item data, alarm factor surveying means for receiving the alarm processing data, surveying the internal state of the robot controller for investigating the alarm factor, and generating alarm factor data, Survey data input means for the operator to input survey data according to the survey item, alarm cause determining means for determining the cause of the alarm by receiving the alarm processing data, the alarm factor data, and the survey data, and the alarm cause And receiving the alarm processing data,
A robot teaching pendant comprising: a recovery procedure data generating means for generating recovery procedure data; and a display device for displaying the alarm display data, the investigation item data, the alarm cause, and the recovery procedure data. 2. The robot teaching pendant according to claim 1, wherein the alarm display data includes general alarm display data and detailed alarm display data. 3. The robot teaching operation panel according to claim 1, wherein the alarm display data portion is displayed in a display form (color, blinking) different from other display portions. 4. The robot teaching pendant according to claim 1, wherein the alarm display data includes a level indicating a risk level of an alarm. 5. The robot teaching pendant according to claim 1, wherein the survey data input means is a touch panel. 6. The robot teaching pendant according to claim 1, wherein the display device is a graphic display device. 7. The robot teaching operation panel according to claim 6, wherein an operation portion of a recovery procedure is graphically displayed on the graphic display device.