JPH0557646A - Industrial robot control device - Google Patents
Industrial robot control deviceInfo
- Publication number
- JPH0557646A JPH0557646A JP21834691A JP21834691A JPH0557646A JP H0557646 A JPH0557646 A JP H0557646A JP 21834691 A JP21834691 A JP 21834691A JP 21834691 A JP21834691 A JP 21834691A JP H0557646 A JPH0557646 A JP H0557646A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- signal
- teaching
- teaching operation
- operation panel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、２組以上のマニピュレ
ータを備えた産業用ロボツトの教示作業を容易にする産
業用ロボットの制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a controller for an industrial robot which facilitates teaching work of an industrial robot equipped with two or more sets of manipulators.
【０００２】[0002]
【従来の技術】２組のマニピュレータを備えた従来の産
業用ロボット（以下ロボットという）を図２に示す。図
２に示すこの従来例においては、ロボットマニピュレー
タ１と制御装置２の組合せのロボツトＡに対し教示操作
盤３が、ロボットマニピュレータ１１と制御装置１２の
組合せのロボツトＢに対し教示操作盤１３がそれぞれ１
対１で対応する。したがつて、ロボツトＡに対しては教
示操作盤３から、ロボットＢに対しては教示操作盤１３
から教示操作がなされていた。2. Description of the Related Art A conventional industrial robot (hereinafter referred to as a robot) equipped with two sets of manipulators is shown in FIG. In this conventional example shown in FIG. 2, a teaching operation panel 3 is provided for a robot A having a combination of a robot manipulator 1 and a controller 2, and a teaching operation panel 13 is provided for a robot B having a combination of a robot manipulator 11 and a controller 12. 1
Correspond with one to one. Therefore, the teaching operation panel 3 is used for the robot A and the teaching operation panel 13 is used for the robot B.
The teaching operation was performed from.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、上記の
ような組合せのロボツトの２台のマニピュレータを極め
て接近させて配置し、作業を行う場合が発生する。この
ような場合、両方のロボットのマニピュレータが干渉す
るため、各ロボツトを単独に教示することができず、２
つの教示操作盤を取り替えながら教示操作を行うことが
必要となる。However, there may be a case where two manipulators of the robot having the above-mentioned combination are arranged very close to each other to perform the work. In such a case, since the manipulators of both robots interfere with each other, it is impossible to teach each robot independently.
It is necessary to perform teaching operation while replacing one teaching operation panel.
【０００４】本発明は、上記の従来のロボットの問題点
を解消し、教示操作盤を取り替えることなく、１台の教
示操作盤で効率的に教示作業が行える産業用ロボットの
制御装置を提供することを目的とする。The present invention solves the above problems of the conventional robot, and provides an industrial robot control device capable of efficiently performing teaching work with one teaching operation panel without replacing the teaching operation panel. The purpose is to
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するため
に、本発明の産業用ロボツトの制御装置は、信号受信手
段を備えた２組以上のロボットに対して、指向性の強い
信号送信手段を有する１台の教示操作盤を備え、前記信
号送信手段からの信号を受信した信号受信手段につなが
るロボットマニピュレータを制御対象としたもので、信
号送信手段および信号受信手段として光素子を用いたも
のである。In order to achieve the above object, a controller for an industrial robot according to the present invention has a signal directing means having a strong directivity to two or more sets of robots having a signal receiving means. A robot manipulator connected to a signal receiving means that has received a signal from the signal transmitting means, using an optical element as the signal transmitting means and the signal receiving means. Is.
【０００６】[0006]
【作用】以上のような構成によれば、２組以上のロボツ
トマニピュレータの内、教示対象となる１台のロボット
マニピュレータの信号受信手段に対して教示操作盤の信
号送信手段から信号を照射する。ロボツト制御装置は教
示操作盤からの信号の照射を受けると排他信号を他のロ
ボツト制御装置に送り、他のロボツトマニピュレータの
動作を禁止した後、教示操作盤からの信号の照射を受け
たマニピュレータだけが、教示操作盤からの信号に従っ
て教示のための動作を行う。したがって、教示操作盤の
取り替えを行うことなく、２台以上のマニピュレータの
動作教示を１台の教示操作盤によって行うことができ
る。According to the above structure, the signal receiving means of one robot manipulator to be taught among the two or more sets of robot manipulators is irradiated with the signal from the signal transmitting means of the teaching operation panel. When the robot controller receives a signal from the teaching operation panel, it sends an exclusive signal to another robot controller, prohibits the operation of other robot manipulators, and then only the manipulator receiving the signal from the teaching operation panel. Performs an operation for teaching according to a signal from the teaching operation panel. Therefore, operation teaching of two or more manipulators can be performed by one teaching operation panel without replacing the teaching operation panel.
【０００７】[0007]
【実施例】以下、本発明の産業用ロボットの制御装置の
一実施例について、図面を参照して説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a control device for an industrial robot of the present invention will be described below with reference to the drawings.
【０００８】図１は２台のロボツトマニピュレータを制
御する例を示している。ロボットマニピュレータ１と、
制御装置２と、光信号受信手段４からなる１組のロボツ
トＡがあり、別にロボットマニピュレータ１１と、制御
装置１２と、光信号受信手段１４からなる１組のロボツ
トＢがある。それらのロボツトＡおよびＢは排他処理信
号線５および１５により接続されている。これらのロボ
ットＡおよびＢに共通の教示操作盤６は光信号送信手段
７を装備しており、指向性の強い光信号８を出射する。
この光信号８をロボットＡの光信号受信手段４が受信す
ると、ロボットＡが教示操作盤６の制御対象となり、排
他処理信号線５により排他処理信号がロボットＢに送ら
れロボットＢの動作が禁止される。逆に光信号８をロボ
ットＢの光信号受信手段１４が受信すると、ロボットＢ
が教示操作盤６の制御対象となり、排他処理信号線１５
により排他処理信号がロボットＡに送られロボットＡの
動作が禁止される。FIG. 1 shows an example of controlling two robot manipulators. Robot manipulator 1
There is a set of robots A consisting of the control device 2 and the optical signal receiving means 4, and another set of robots B consisting of the robot manipulator 11, the control device 12 and the optical signal receiving means 14. The robots A and B are connected by exclusive processing signal lines 5 and 15. The teaching operation panel 6 common to the robots A and B is equipped with an optical signal transmitting means 7 and emits an optical signal 8 having a strong directivity.
When the optical signal receiving means 4 of the robot A receives the optical signal 8, the robot A becomes a control target of the teaching operation panel 6, an exclusive processing signal is sent to the robot B through the exclusive processing signal line 5, and the operation of the robot B is prohibited. To be done. On the contrary, when the optical signal receiving means 14 of the robot B receives the optical signal 8, the robot B
Becomes the control target of the teaching pendant 6, and the exclusive processing signal line 15
Due to this, an exclusive processing signal is sent to the robot A and the operation of the robot A is prohibited.
【０００９】このようにして、本発明の産業用ロボット
の制御装置によれば、２組以上のロボットを１台の教示
操作盤６により教示操作を行うことが可能になる。As described above, according to the industrial robot control apparatus of the present invention, it is possible to perform the teaching operation on two or more sets of robots with the single teaching operation panel 6.
【００１０】[0010]
【発明の効果】以上の説明から明らかなように本発明の
制御装置によれば、１台の教示操作盤により複数台のロ
ボットの教示操作を行うことができるので、個々のロボ
ットの教示操作を行うごとに教示操作盤を取り替える必
要がなく、教示操作を容易にし、教示作業を効率化させ
るのと同時に、誤操作によりロボットマニピュレータを
破損させる可能性を著しく低下させることができる。As is apparent from the above description, according to the control device of the present invention, since the teaching operation of a plurality of robots can be performed by one teaching operation panel, the teaching operation of each robot can be performed. It is not necessary to replace the teaching operation panel each time it is performed, the teaching operation is facilitated, the teaching work is made efficient, and at the same time, the possibility of damaging the robot manipulator by an erroneous operation can be significantly reduced.
【図１】本発明の制御装置を用いた産業用ロボットの一
実施例を示す構成図FIG. 1 is a configuration diagram showing an embodiment of an industrial robot using a control device of the present invention.
【図２】従来の制御装置を用いた産業用ロボットの構成
図FIG. 2 is a block diagram of an industrial robot using a conventional control device.
１，１１ ロボットマニピュレータ ２，１２ 制御装置 ４，１４ 光信号受信手段（信号受信手段） ６ 教示操作盤 ７ 光信号送信手段（信号送信手段） 1, 11 Robot manipulator 2, 12 Control device 4, 14 Optical signal receiving means (signal receiving means) 6 Teaching operation panel 7 Optical signal transmitting means (signal transmitting means)
Claims (2)
と、指向性の強い信号送信手段を有する教示操作盤を備
え、前記信号送信手段からの信号を受信した信号受信手
段につながるロボットマニピュレータを教示対象とする
産業用ロボットの制御装置。1. A robot manipulator provided with two or more sets of robots having signal receiving means and a teaching operation panel having signal transmitting means having a strong directivity, and connected to the signal receiving means receiving a signal from the signal transmitting means. For controlling an industrial robot that teaches a robot.
素子を用いた請求項１記載の産業用ロボツトの制御装
置。2. An industrial robot controller according to claim 1, wherein optical elements are used as the signal transmitting means and the signal receiving means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3218346A JP2718294B2 (en) | 1991-08-29 | 1991-08-29 | Industrial robot controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3218346A JP2718294B2 (en) | 1991-08-29 | 1991-08-29 | Industrial robot controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0557646A true JPH0557646A (en) | 1993-03-09 |
| JP2718294B2 JP2718294B2 (en) | 1998-02-25 |
Family
ID=16718436
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3218346A Expired - Fee Related JP2718294B2 (en) | 1991-08-29 | 1991-08-29 | Industrial robot controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2718294B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010131705A (en) * | 2008-12-04 | 2010-06-17 | Fanuc Ltd | Robot system having a plurality of robot mechanism parts |
| CN107817769A (en) * | 2016-09-13 | 2018-03-20 | 发那科株式会社 | Possesses the robot system of the teaching operation disk to be communicated with robot control unit |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60186908A (en) * | 1984-03-05 | 1985-09-24 | Mitsubishi Electric Corp | Industrial robot controller |
| JPH0253707U (en) * | 1988-10-13 | 1990-04-18 | ||
| JPH02244204A (en) * | 1989-03-17 | 1990-09-28 | Citizen Watch Co Ltd | Robot teaching system |
-
1991
- 1991-08-29 JP JP3218346A patent/JP2718294B2/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60186908A (en) * | 1984-03-05 | 1985-09-24 | Mitsubishi Electric Corp | Industrial robot controller |
| JPH0253707U (en) * | 1988-10-13 | 1990-04-18 | ||
| JPH02244204A (en) * | 1989-03-17 | 1990-09-28 | Citizen Watch Co Ltd | Robot teaching system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010131705A (en) * | 2008-12-04 | 2010-06-17 | Fanuc Ltd | Robot system having a plurality of robot mechanism parts |
| CN107817769A (en) * | 2016-09-13 | 2018-03-20 | 发那科株式会社 | Possesses the robot system of the teaching operation disk to be communicated with robot control unit |
| JP2018043307A (en) * | 2016-09-13 | 2018-03-22 | ファナック株式会社 | Robot system provided with teaching operation panel communicating with robot control part |
| US10702987B2 (en) | 2016-09-13 | 2020-07-07 | Fanuc Corporation | Robot system having teach pendant communicating with robot controller |
| CN107817769B (en) * | 2016-09-13 | 2020-10-02 | 发那科株式会社 | Robot system having teaching operation panel communicating with robot control unit |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2718294B2 (en) | 1998-02-25 |
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