JPH07136977A - Robot control device and teaching box thereof - Google Patents

Abstract

PURPOSE:To limit operable teaching boxes to only one by supplying a connection authorization signal to the teaching box to be connected, and eliminating a connection authorization signals to be supplied to the teaching boxes excluding the own teaching box so as to inhibit the connection of plural teaching boxes simultaneously. CONSTITUTION:When 'H' level voltage, a connection authorization signal, is inputted to No. 1 pin of a plug 8 from the pull-up circuit 20 of a robot controller 3A in the case of pressing the valid/invalid switch 11 of a teaching box 7A, the input side (right side) of an inverter 16 becomes a 'l' level, and a lamp 12 indicating an operable state is lighted. A transmitting buffer 13 becomes valid, and transmit data ia sent to the receiving buffer 19 of the robot controller 3A through No. 1 pins of the plug 8 and connector 4 so as to make operation on the teaching box 7A valid. When 'L' level voltage is inputted, operation on the teaching box 7A becomes invalid.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, a robot control device for controlling a robot which automatically performs welding work or moving work of assembled parts in a production line, and teaching of the robot control device used for teaching the robot. Regarding the box.

[0002]

2. Description of the Related Art The structure of a conventional robot controller will be described with reference to FIGS. FIG. 4 is a diagram showing a configuration of a conventional robot controller. Also, FIG.
FIG. 6 is a diagram showing a front surface of a teaching box of a conventional robot controller.

In FIG. 4, reference numeral 1 is a traveling platform, and 2 is a traveling platform 1.
A robot 3 traveling above the robot is a robot controller connected to the traveling platform 1 via a cable. Also, 4
Is a connector installed on the robot controller 3, 5 and 6 are connectors installed on the traveling platform 1, and 7 is a teaching box connected to the connector 4 of the robot controller 3 or the connectors 5 and 6 of the traveling platform 1 via a cable. Is.

In FIG. 5, 8 is a plug connected to the connectors 4 to 6, 9 is an operating portion, 9a is an emergency stop button for stopping the operation of the robot 2, and 10 is a display portion.

Next, the operation of the above-mentioned conventional robot controller will be described. When the traveling platform 1 of the traveling robot 2 is long, for example, about 10 to 20 m,
As shown in FIG. 4, the teaching box connecting connectors 5 and 6 were arranged at appropriate positions on the traveling platform 1, and the teaching box 7 was used in place. That is,
When the robot 2 is located on the left side (on the drawing) of the traveling platform 1, the connector 6 is connected to the plug 8 of the teaching box 7.
Was connected to operate the robot 2. Similarly, when the robot 2 is located at the center of the carriage 1,
When the robot 2 is operated by connecting the teaching box 7 to the connector 5 and the robot 2 is located on the right side of the traveling platform 1, the teaching box 7 is connected to the connector 4 of the robot controller 3 to operate the robot 2. I was operating.

[0006]

In the conventional robot control device as described above, the teaching box 7 needs to be replaced depending on the case, which is complicated and troublesome, and the teaching box 7 can be provided at two or more locations at the same time. When it is connected to, there is a problem that it is very dangerous in operation because it cannot be detected.

The present invention has been made to solve the above problems, and its object is to limit the number of operable teaching boxes to one, even when the teaching boxes are connected to two or more locations at the same time. A robot controller and a teaching box for the robot controller are provided.

[0008]

A robot controller according to claim 1 of the present invention includes the following means. [1] A robot controller having a connection permission signal supply circuit that supplies a connection permission signal to a teaching box to be connected. [2] A connection circuit that eliminates the connection permission signal supplied to the teaching boxes other than itself and prohibits the connection of a plurality of teaching boxes at the same time.

A robot controller according to a second aspect of the present invention includes the following means. [1] A robot controller having a connection permission signal supply circuit that supplies the same number of connection permission voltage signals as the connectors. [2] A connection circuit that grounds connection permission voltage signals supplied to teaching boxes other than its own among the same number of connection permission voltage signals as the above-mentioned connectors by the enable / disable switch and prohibits the connection of a plurality of teaching boxes at the same time Teaching box with.

In the teaching box of the robot controller according to the third aspect of the present invention, the teaching box is provided with a connection circuit for extinguishing the connection permission signal supplied to the teaching boxes other than the teaching box and prohibiting the connection of a plurality of teaching boxes at the same time. It is a thing.

In the teaching box of the robot controller according to the fourth aspect of the present invention, among the voltage signals of the connection permission of the same number as the connector on the robot controller side, the voltage signals of the connection permission supplied to the teaching boxes other than the self are provided. It is equipped with a connection circuit that is grounded by an enable / disable switch and that prohibits the connection of multiple teaching boxes at the same time.

The teaching box of the robot controller according to the fifth aspect of the present invention is provided with the following means. [1] Of the same number of connection permission voltage signals as the number of connectors on the robot controller side, the connection permission voltage signal supplied to the other teaching pendant is grounded by the enable / disable switch to prohibit the connection of multiple teaching pendants at the same time. Connection circuit to do. [2] A lamp lighting circuit that interlocks with the enable / disable switch and lights an operable lamp when only its own teaching box is enabled.

A teaching box of a robot controller according to a sixth aspect of the present invention includes the following means. [1] Of the same number of connection permission voltage signals as the number of connectors on the robot controller side, the connection permission voltage signal supplied to the other teaching pendant is grounded by the enable / disable switch to prohibit the connection of multiple teaching pendants at the same time. Connection circuit to do. [2] A receiving circuit that receives data even if its own teaching box is disabled. [3] A display unit that displays the received data equivalent to a valid teaching box.

[0014]

In the robot controller according to the first aspect of the present invention configured as described above, the connection permission signal is supplied to each teaching box to be connected by the connection permission signal supply circuit of the robot controller. Also,
The connection circuit of the teaching box causes the connection permission signal supplied to the teaching boxes other than itself to disappear, and at the same time prohibits the connection of a plurality of teaching boxes.

In the robot controller according to the second aspect of the present invention configured as described above, the connection permission signal supply circuit of the robot controller supplies the same number of connection permission voltage signals as the connectors for each connector. It Also, by the connecting circuit of the teaching box,
Of the same number of connection permission voltage signals as the number of connectors, the connection permission voltage signals supplied to the teaching boxes other than the self are grounded by the enable / disable switch, and the connection of a plurality of teaching boxes is prohibited at the same time.

In the teaching box of the robot controller according to the third aspect of the present invention configured as described above, the connection permitting signal supplied to the teaching boxes other than the self is lost by the connection circuit, and a plurality of the teaching boxes are simultaneously released. The operation of the teaching pendant is prohibited.

In the teaching box of the robot control apparatus according to the fourth aspect of the present invention configured as described above, the teaching circuit other than the self of the same number of connection permission voltage signals as the robot controller side connector is provided by the connection circuit. The voltage signal for connection permission supplied to the box is grounded by the enable / disable switch, and the connection of multiple teaching boxes is prohibited at the same time.

In the teaching box of the robot controller according to the fifth aspect of the present invention having the above-described structure, the connection circuit allows the voltage signals other than the self among the voltage signals of the connection permission signals in the same number as the connectors on the robot controller side. The voltage signal of the connection permission signal supplied to the teaching pendant is grounded by the enable / disable switch, and the connection of multiple teaching pendants is prohibited at the same time. Further, the lamp lighting circuit interlocks with the valid / invalid switch, and lights the operable lamp when only the teaching box of the self is valid.

In the teaching box of the robot controller according to the sixth aspect of the present invention configured as described above, the operation prohibiting circuit causes the voltage signals other than the self among the same number of connection permission voltage signals as the connectors on the robot controller side. The voltage signal for connection permission supplied to the teaching pendant is grounded by the enable / disable switch, and the operation of multiple teaching pendants is prohibited at the same time. Also,
The receiving circuit receives data even if its teaching box is invalid. Further, the display unit displays the received data equivalent to the valid teaching box.

[0020]

【Example】

Example 1. A configuration of an embodiment of the present invention will be described with reference to FIGS. 1, 2 and 3. FIG. 1 is a front view of a teaching box according to an embodiment of the present invention, in which the plug 8 to the display unit 10 are the same as those of the conventional device described above. FIG. 2 is a diagram showing a circuit in the teaching box of the embodiment of the present invention. Further, FIG. 3 is a diagram showing a circuit when three teaching boxes are connected in one embodiment of the present invention. In each figure, the same reference numerals indicate the same or corresponding parts.

In FIGS. 1 and 2, 7A is a teaching box, 8 is a plug, 9 is an operation unit including various buttons for operating the robot 2, 9a is an emergency stop button for stopping the operation of the robot 2, 10 is a display unit such as a liquid crystal display, 11 is an enable / disable switch, and 12 is an LED
Etc. lamp. Further, 13 is a control signal "H"
A transmitting buffer 14 is valid when a level is input, and is invalid when an "L" level is input, and a receiving buffer 14 is provided. Further, 15 is a power source, 16 is an inverter, and 17 is a pull-down resistor.

In FIG. 3, 3A is a robot controller, and 7A, 7B and 7C are teaching boxes. Further, 18 is a transmission buffer, 19 is a reception buffer,
Reference numeral 20 is a pull-up circuit that outputs a connection permission signal to each of the teaching boxes 7A to 7C.

By the way, the connection permission signal supply circuit according to claims 1 and 2 of the present invention corresponds to the pull-up circuit 20 in the first embodiment, and the robot controller according to claims 1 and 2 of the present invention is The first embodiment corresponds to the robot controller 3A, and claims 1 and 2 of the present invention,
The connection circuits according to 3, 4, 5 and 6 correspond to the circuit of the enable / disable switch 11 in the first embodiment, and the teaching box according to claims 1 and 2 of the present invention is the teaching box in the first embodiment. It corresponds to 7A to 7C.

The lamp lighting circuit according to claim 5 of the present invention is composed of the power supply 15, the lamp 12 and the inverter 16 in the first embodiment, and the display section according to claim 6 of the present invention is the same as that of the present embodiment. 1 corresponds to the display unit 10.

Next, the operation of the above-described embodiment will be described. The operator enables the teaching box 7A
When the invalidation switch 11 is pressed, the robot controller 3A is attached to the pin 1 of the plug 8 of the teaching box 7A.
When a "H" level voltage, which is a connection permission signal, is input from the pull-up circuit 20, the input side (the right side in the figure) of the inverter 16 becomes "L" level and the lamp 12 indicating that the operation is possible is turned on. Further, the transmission buffer 13 becomes valid, and the transmission data is transmitted to the reception buffer 19 of the robot controller 3A through the plug 8 and the pin 1 of the connector 4. In other words, teaching box 7A
The above operation is effective.

On the contrary, the teaching box 7
When the valid / invalid switch 11 of A is pressed, when the voltage of "H" level which is the connection permission signal is not input from the pull-up circuit 20 of the robot controller 3A to the pin 1 of the plug 8 of the teaching box 7A, that is, When the "L" level voltage is input, the input side of the inverter 16 becomes the "H" level and the lamp 12 does not light. Further, the transmission buffer 13 becomes invalid, and the transmission data is not sent to the reception buffer 19 of the robot controller 3A. That is, in this case, the operation on the teaching box 7A is invalid.

FIG. 3 shows a case where the teaching boxes 7A to 7C are connected to three places as an example. For convenience of explanation, the teaching box is numbered 7
Although distinguished from A, 7B, and 7C, they have the same configuration.

First, when only the enable / disable switch 11 of the teaching box 7A connected to the connector 4 of the robot controller 3A is pressed and the enable / disable switch 11 of the other teaching boxes 7B and 7C is not pressed, The "H" level voltage is input to the 1st pin of the plug 8, and as described above, the teaching box 7A
The above operation becomes effective.

Similarly, the enable / disable switch 11 of the teaching box 7B connected to the connector 5 of the traveling platform 1
If only the teaching box 7B is pushed, the teaching box 7B becomes valid, and if only the valid / invalid switch 11 of the teaching box 7C connected to the connector 6 of the traveling platform 1 is pushed, the teaching box 7C becomes valid.

On the other hand, when both the valid / invalid switches 11 of the teaching boxes 7A and 7B are pressed, the valid / invalid switch 1 of the teaching box 7A is pressed.
1 pulls down the "H" level voltage from the pull-up circuit 20 of the robot controller 3A to the ground through the connector 4 and the pin 3 of the plug 8, and similarly, by the enable / disable switch 11 of the teaching box 7B, 3A pull-up circuit 20
Since the "H" level voltage from is pulled down to the ground through the connector 5 and the pin 2 of the plug 8, the pin 1 of each plug 8 receives the "L" level voltage. Thus, the operation of the teaching boxes 7A and 7B is invalid.

Similarly, when the other two combinations, and further three, simultaneously press the enable / disable switch 11, it becomes invalid.

Separately from this, each of the teaching boxes 7A, 7B and 7C is connected to the robot controller 3
The reception data from the transmission buffer 18 of A can be input to the reception buffer 14 through the pins 5 of the connectors 4 to 6 and the plug 8 regardless of the state of the valid / invalid switch 11. For example, when the teaching box 7A is operable, the state of the robot 2 can be confirmed on the teaching boxes 7B and 7C. This is very convenient when teaching the robot 2 by a plurality of operators, because the teaching contents of other operators can be confirmed on the display unit 10 of the teaching boxes 7B and 7C at their hands.

Above, the three teaching boxes 7A-
Although an example in which 7Cs are connected has been shown, the case of 4 or more can be similarly realized.

The first embodiment of the present invention, as described above,
In a robot control device for controlling the traveling robot 2, a teaching box 7 for teaching the robot 2 is provided.
When connecting A, 7B, and 7C to a plurality of places, attach a valid / invalid switch 11 to the teaching boxes 7A to 7C, and connect the teaching boxes 7A to 7C to the connector 4 to 6 side, which is shown in FIG. By wiring, a circuit that prohibits the operation of two or more teaching boxes at the same time, that is, a circuit of a valid / invalid switch 11 connected to pins 1 to 3 of the plug 8 is provided.

Further, in conjunction with the enable / disable switch 11 of the teaching boxes 7A to 7C, a circuit for lighting the lamp 12 when only one teaching box is enabled, that is, a lamp connected to the power supply 15 1
2 and an inverter 16 connected to the lamp 12 are provided in the teaching boxes 7A to 7C.

Furthermore, a circuit that enables data to be received in an invalid teaching box and can display information equivalent to that in a valid teaching box, that is, a circuit having a display unit 10 and a reception buffer 14 is provided. Is.

[0037]

The robot controller according to claim 1 of the present invention is configured as described above, that is, it has the connection permission signal supply circuit for supplying the connection permission signal to the teaching box to be connected. Since the robot controller and the teaching box that has a connection circuit that prohibits the connection of a plurality of teaching boxes at the same time by eliminating the connection permission signal supplied to the teaching boxes other than itself, two or more teaching boxes are provided. At the same time, it is possible to prohibit being operable, and it is possible to safely perform the teaching work of the robot.

Since the robot controller according to the second aspect of the present invention is configured as described above, that is, the connection permission signal supply circuit for supplying the same number of connection permission voltage signals as the connectors for each connector. Of the robot controller with the same number of connection permitting voltage signals as the connector permitting voltage signals that are supplied to other teaching boxes than the self are grounded by the enable / disable switch to prohibit the connection of multiple teaching boxes at the same time. Since the teaching box having the connecting circuit for controlling the robot is provided, it is possible to prohibit that two or more teaching boxes can be operated at the same time, and the teaching work of the robot can be performed safely.

Since the teaching box of the robot control apparatus according to the third aspect of the present invention is configured as described above, that is, a plurality of teaching permission boxes supplied to other teaching boxes are erased at the same time. Since a connection circuit for prohibiting the connection of the teaching box is provided, it is possible to safely perform the teaching work of the robot.

Since the teaching box of the robot control apparatus according to the fourth aspect of the present invention is configured as described above, that is, the teaching box other than the self of the same number of connection permission voltage signals as the robot controller side connector is provided. It has a connection circuit that grounds the connection permission voltage signal supplied to the teaching pendant with the enable / disable switch and prohibits the connection of multiple teaching pendants at the same time, so it can safely teach the robot. Produce an effect.

Since the teaching box of the robot control apparatus according to the fifth aspect of the present invention is configured as described above, that is, the teaching box other than the self of the same number of connection permission voltage signals as the robot controller side connector is provided. A connection circuit that grounds the voltage signal for connection permission supplied to the teaching box by the enable / disable switch and prohibits the connection of multiple teaching boxes at the same time, and it is linked to the enable / disable switch to enable only its own teaching box. Since it has a lamp lighting circuit that lights an operable lamp when it is, it is possible to safely teach the robot and clearly recognize whether or not the operation is possible. Play.

Since the teaching box of the robot controller according to the sixth aspect of the present invention is configured as described above, that is, the teaching box other than the self is included among the voltage signals of the connection permission of the same number as the robot controller side connector. A connection circuit that grounds the voltage signal of connection permission supplied to the teaching pendant with the enable / disable switch to prohibit the connection of multiple teaching pendants at the same time, and receives data even if its own teaching pendant is disabled. Since the circuit and the display unit that displays the received data equivalent to the valid teaching box are provided, the teaching work of the robot can be performed safely, and the teaching box equivalent to the valid teaching box is provided. It is possible to display information.

[Brief description of drawings]

FIG. 1 is a front view of a teaching box according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a circuit in a teaching box according to the first embodiment of the present invention.

FIG. 3 is a diagram showing a circuit when three teaching boxes are connected in the first embodiment of the present invention.

FIG. 4 is a diagram showing a configuration of a conventional robot controller.

FIG. 5 is a diagram showing a front surface of a teaching box of a conventional robot controller.

[Explanation of symbols]

 1 Travel Platform 2 Robot 3A Robot Controller 4 Connector 5 Connector 6 Connector 7A Teaching Box 8 Plug 10 Display 11 Valid / Invalid Switch 12 Lamp 13 Receive Buffer 14 Transmit Buffer

Claims (6)

[Claims] 1. A robot controller having a connection permission signal supply circuit for supplying a connection permission signal to a teaching box to be connected, and a plurality of teaching boxes at the same time by eliminating the connection permission signal supplied to a teaching box other than itself. A robot control device comprising a teaching box having a connection circuit for prohibiting connection. 2. A robot controller having a connection permission signal supply circuit for supplying the same number of connection permission voltage signals as each connector, and a teaching box other than its own among the same number of connection permission voltage signals as the connectors. A robot control device comprising a teaching box having a connection circuit for grounding a supplied connection permission voltage signal by an enable / disable switch and prohibiting the connection of a plurality of teaching boxes at the same time. 3. A teaching box for a robot control device, comprising a connection circuit for extinguishing a connection permission signal supplied to a teaching box other than itself to prohibit the connection of a plurality of teaching boxes at the same time. 4. A plurality of teaching permission boxes are connected at the same time by grounding a connection permission voltage signal supplied to a teaching box other than itself among the same number of connection permission voltage signals as the robot controller-side connector by grounding the teaching permission box. A teaching box for a robot controller, which is provided with a connection circuit for prohibiting the above. 5. A plurality of teaching permission boxes are connected at the same time by grounding a connection permission voltage signal to be supplied to a teaching box other than itself among the same number of connection permission voltage signals as the robot controller side connector by grounding them with a valid / invalid switch. Of the robot controller, which is provided with a connection circuit for prohibiting the operation and a lamp lighting circuit that interlocks with the valid / invalid switch and lights the operable lamp when only the teaching box of the self is valid. Teaching box. 6. A plurality of teaching permission boxes are connected at the same time by grounding a connection permission voltage signal supplied to a teaching box other than itself among the same number of connection permission voltage signals as the robot controller side connector by means of an enable / disable switch. A connection circuit for prohibiting the operation, a reception circuit for receiving data even if the teaching box of the user is invalid, and a display unit for displaying the reception data equivalent to the valid teaching box. A teaching box for the robot controller.