JPH07205071A - Industrial robot - Google Patents

Abstract

PURPOSE:To conduct action on a normal track without correcting instruction data even if a work tool whose shape and posture have been changed from a predetermined state is furnished and used. CONSTITUTION:In a case in which the shape of a work tool 3 furnished to the tip 2 of a manipulator 1 has been deformed, a worker sets the mode of a controller 4 at an instruction mode, and conducts reinstruction by means of the deformed work tool 3 in regard to one instruction point that has been instructed already by means of the normal work tool 3 before deformation, and the controller 4 seeks by operation a shift amount that is due to the deformation of the work tool 3, by the former instruction data and reinstructed instruction data, and memorizes the shift amount as tool correction data to correct a track, and at actual action, the deformation of the tool 3 is offset by correcting the track by means of the tool correction data. Even if the work tool 3 is deformed, there is no need of correcting the instruction data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching playback type industrial robot provided with a correction means when a working tool attached to the tip of a manipulator is deformed.

[0002]

2. Description of the Related Art In recent years, robots have been widely used in the industrial field, but a means for maintaining their accuracy is an issue.

A conventional industrial robot will be described below with reference to the drawings. FIG. 1 is a side view showing the configuration of a general industrial robot. In the figure, 1 is a manipulator having 6 degrees of freedom, 2 is a manipulator 1
The tip 3 is a work tool such as a welding torch attached to the tip 2. Reference numeral 4 is a control device, and 5 is a teaching box used for teaching operation. In the above configuration, the work tool 3 attached to the tip 2 of the manipulator 1 is controlled by the control device 4 to perform welding work. Regarding the trajectory of the tip P of the work tool 3, the operator teaches the mode. By operating the controller 4 and the teaching box 5 set to “1”, the tip P of the work tool 3 is
A plurality of positions on the orbit to be passed during work are stored in advance as teaching points, and during work, the position between teaching points is interpolated according to the data of the teaching points stored by the control device 4 set to the work mode. And drive,
The relative position between the tip P of the work tool 3 and the work is controlled so as to be kept in a predetermined state.

In this case, with respect to the reference position of the manipulator 1, JP-A-1-257584 and JP-A-3-25784 are used.
As disclosed in Japanese Unexamined Patent Publication No. 86487, it is possible to set a predetermined position before work by using a specific jig and execute the work as taught. However, the rigidity of the work tool attached to the tip 2 of the manipulator 1, particularly the torch for welding, is generally lower than the rigidity of the manipulator 1, and as shown in FIG. The mechanical deformation occurs due to the interference of 1. and the tip position of the working tool 3 is not at the correct position even if the reference position of the manipulator 1 is correct. In addition, when the tool is replaced with a new working tool or the welding torch is replaced with another welding torch depending on the application, an error occurs in the position of the torch tip. Normal,
The teaching data of the robot is stored as the rotation angle data of each drive axis, and the manipulator 1 executes the operation as taught, but when the working tool is mechanically deformed, the work and the working tool are taught at the teaching point. There is a gap between and. Therefore, in the related art, FIG.
As shown in (b), the tool adjusting jig 7 is used, and the tip of the working tool is aligned with the point T at a predetermined position of the tool adjusting jig 7 in advance.
He had to adjust itself to a predetermined standard posture.

[0005]

In such a conventional industrial robot, even if a work tool which is easily deformed is re-adjusted to a predetermined state before deformation by a tool adjusting jig, a slight deviation remains. Will end up. Therefore, there is a problem that it cannot be used unless all teaching points of the teaching program created by teaching before the work tool is transformed cannot be used, and a great amount of labor and time must be spent. There is a problem that teaching data with the working tool causes incorrect teaching data to be registered.

Further, in order to know whether the working tool is in a normal state or correction is required, a troublesome operation such as applying an adjustment jig is required.

The present invention solves the above problems. Even when a work tool is mechanically deformed, a normal operation can be performed by the teaching program created before the deformation while the work tool is deformed. , An industrial robot that can obtain normal teaching data with a deformed work tool, and can easily know the shape state of the work tool and easily determine whether correction is required The purpose is to provide a robot.

[0008]

According to a first aspect of the present invention, there is provided a manipulator having a plurality of drive shafts and an arm which is rotated or rotated by the drive shafts and which holds a working tool on an arm at a tip thereof. An operation of creating teaching data for controlling the operation of the manipulator, and a control device for controlling the operation of the manipulator based on the created teaching data, wherein the shape of the working tool is exchanged or mechanical. When it changes due to deformation, the amount of deviation of the work tool is calculated based on the position and orientation of the work tool at any one taught point that has already been taught and stored as tool correction data. When operating based on teaching data, it is a control device for controlling so that the trajectory is corrected and driven by the stored tool correction data for industrial use. The present invention according to claim 5 is a bot, and a manipulator that has a plurality of drive shafts and an arm that rotates or rotates by the drive shafts, and a manipulator that holds a working tool on the tip arm, and A control unit for controlling the operation, wherein the control unit inputs, for each of the plurality of work tools, a tool offset amount representing the shape dimension and tool correction data corresponding to the shape dimension; And a storage unit for storing the stored tool offset amount and the tool correction data as a set, and a display unit for displaying the stored tool offset amount, and stores an identifier for identifying the presence or absence of the tool correction data for each tool. The display means is an industrial robot that displays the location of the tool together with the identifier.

[0009]

In the present invention according to claim 1, when the state of the work tool changes due to deformation or replacement, any one teaching point taught before the change is re-teached by the work tool after deformation, and the control device Calculates the deviation amount of the work tool from the original teaching data and the re-teaching teaching data and stores it as tool correction data. The correction data obtained at one teaching point is correction data that can be commonly used for all teaching points, and the control device offsets the deformation effect of the tool by correcting the trajectory with the tool correction data. No modification of teaching data is required.

In the present invention according to claim 5,
The tool offset data, which is the shape dimension of the work tool, is stored together with the tool correction data for each work tool, and the presence / absence of the tool correction data is stored as an identifier, and the presence / absence of the tool correction data is identified on the location screen of the work tool. Are distinguished and displayed.

[0011]

【Example】

(Embodiment 1) An embodiment of the industrial robot of the present invention will be described below with reference to the drawings. The construction of the industrial robot of the present invention is the same as that shown in FIG.
FIG. 4 is a schematic diagram showing the configuration of the manipulator 1. The same components as those in FIG. 1 are assigned the same numbers.
Further, although the working tool is described below as a welding torch, other tools may be used. In the figure, Σ0 is a reference coordinate system provided on the installation surface of the manipulator 1, and X, Y, and Z are unit vectors in the reference coordinate system Σ0. Also, a, b, c, d, e, f
Are drive shafts that are rotated by being controlled by the control device 4, and each constitute a joint of the robot. Also,
a ', b', c ', d'and e'are drive axes a,
An arm fixed to b, c, d, and e, which rotates or rotates by a drive shaft. The end of the drive shaft f constitutes the tip 2 of the manipulator 1. A torch 3 is mounted there, and its tip P is at a distance L1 from the tip 2 of the manipulator 1 and at an offset position at a distance L2 from the center of the drive shaft f.

The drive axis a is an axis which rotates about the Z axis of the reference coordinate system Σ 0, and rotates the arm a'in its axial direction. Further, the drive shaft b is a drive shaft provided at a right angle to the tip of an arm a ′ having a length La, and rotates the arm b ′ in a direction perpendicular to the shaft. The drive shaft c is a drive shaft provided at a right angle to the tip of an arm b ′ having a length of Lb, and rotates the arm c ′ in a direction perpendicular to the shaft. The same applies to the other drive shafts d, e, f and the arms d ', e'. The tip 2 of the manipulator is rotated by the drive shaft f, and thus the torch 3 is rotated by the drive shaft f. By rotating these drive shafts in accordance with the teaching data and rotating or rotating each arm, the position and posture of the tip P of the torch 3 can be moved while setting the position and posture thereof to a predetermined state.

The teaching data is the angle θ1 of the drive shaft of each joint.
θ6 is stored as data, and the position and orientation of the tip 2 of the manipulator 1 as viewed from the reference coordinate system Σ0 and the position and orientation of the tip P of the torch 3 use the homogeneous transformation matrix A of 4 rows and 4 columns. Is represented. That is, the position and attitude of the tip 2 of the manipulator 1 are Am = A1, A2, A3, A4, A5, A6, and the position and attitude of the tip P of the torch 3 are AP = A1, A2, A3, A4. A5 ・ A6 ・ A7 = Am ・ A7. Where each matrix is

[0014]

[Equation 1]

[0015] However, Cθ = cosθ, Sθ = sinθ
And The matrix A1 is a transformation matrix that gives the origin position of the coordinate system in which the origin is fixed to the tip of the arm a'and the direction of its three-dimensional unit vector with reference to the reference coordinate system Σ0.
The transformation matrix when the drive axis b is the Y axis in the coordinate system and the arm b ′ is the Z axis is shown. The matrix A2 is the origin position of the coordinate system in which the origin is fixed at the tip of the arm b'and its 3
A transformation matrix that gives the direction of the dimensional unit vector and the coordinate system defined by the matrix A1 as a reference, where the drive axis c is the Y axis and the arm b'is the Z axis, Show. The same applies to the matrices A3 to A6. Further, the matrix A7 is a transformation matrix which gives the origin position of the coordinate system in which the origin is fixed to the tip P of the torch 3 and the direction of its three-dimensional unit vector on the basis of the coordinate system defined by the matrix 6, and is L1. The conversion matrix when the length direction is the Z axis and the direction of the side L3 is the X axis is shown. Matrix A7 is distance L
1, which is determined by the directions of L2 and L3, and which gives the shape and posture of the torch. If the shape is deformed, this matrix will change.

Now, the matrix A showing the state of the tip of the torch 3
The result of computing p is

[0017]

[Equation 2]

Then, as shown in FIG. 4, the matrix Mp represents the posture in the reference coordinate system Σ0 of the unit vectors px, py, pz of the coordinate system in which the origin is fixed to the tip P of the torch 3.

[0019]

[Equation 3]

It is given as Px, Py and Pz are the position coordinates of the tip P of the torch in the reference coordinate system Σ0.

[0021]

[Equation 4]

Given as Similarly, manipulator 1
The result of computing the matrix Am that shows the state of the tip 2 of

[0023]

[Equation 5]

Then, as shown in FIG. 4, the matrix Mm represents the posture in the basic coordinate system Σ0 of the unit vectors tx, ty, tz of the coordinate system in which the origin is fixed to the tip 2 of the manipulator 1.

[0025]

[Equation 6]

Is given as Qx, Qy and Qz are the position coordinates of the tip in the basic coordinate system Σ0.

[0027]

[Equation 7]

Given as In the robot as described above, as shown in FIG. 2, the welding torch 3 as a working tool is mechanically deformed due to interference with the work or the like, and is in the state of the posture shown by the deformed torch 6. If it does, the teaching mode for detecting the torch correction amount and the means for calculating the torch correction data will be described.
FIG. 5 is an explanatory diagram showing a teaching method in a teaching mode for detecting the deformation amount of the deformation torch 6. In the figure,
3 shows a state before the torch is deformed, and 6 shows a state in which the torch is deformed. The operator activates the program created by teaching in a state before the torch is deformed, and operates so that the tip of the torch becomes an arbitrary teaching point P. At this time,
Since the program does not consider the torch deformation,
As shown in (a), if the torch 3 is not deformed, the position of the tip is the teaching point P, but with the deformed torch 6,
It is set at a position P ′ deviated from the teaching point P. This deviation is due to the deformation of the torch tip, but the present invention
This deviation is regarded as a deviation of the trajectory, and the effect of the deformation is corrected by the trajectory correction.

Hereinafter, the amount of deviation is detected by the following method. First, the operator sets the apparatus to the teaching mode, positions the tip P ′ of the modified torch 6 at the regular teaching point position P, and sets the posture of the modified torch 6 as shown in FIG. 5B. The teaching operation is performed by setting the posture of the torch 3 before the deformation in FIG. There are innumerable settings to match the tip of the torch with the position before deformation, but by adjusting the torch posture before deformation, the above setting becomes unique and the torch posture is adjusted to the original position suitable for work. The posture will be set. When the teaching operation is executed in such a state, the position vector P ′ and the matrix Mm ′ indicating the attitude of the tip 2 of the manipulator 1 are obtained as the teaching data after the torch deformation represented by the reference coordinate system Σ0. On the other hand, the above-described position vector P and the matrix Mm representing the posture of the tip 2 of the manipulator 1 exist as teaching data before deformation. These are shown together,

[0030]

[Equation 8]

It is assumed that As the trajectory correction data of the robot, it is necessary to obtain the displacement amount as coordinate rotation and parallel movement that give the tip P of the torch. Now, assuming that the coordinate rotation and the parallel movement are a rotation matrix Mt and a parallel shift vector Pt, these are obtained by using the data p, M and p ′, M ′ before and after the deformation of the torch obtained in the above teaching operation, It can be obtained by the following calculation in the correction data calculation mode. The transformation matrix of Torch 3 before transformation is A7,
Now, assuming that the transformation matrix of the modified torch 6 is A7 'and the transformation matrix of the shift amount is At, the transformation matrix of the transformed torch 6 is the transformation matrix of the torch 3 before transformation multiplied by the transformation matrix of the shift amount, A7 '= A7.At. However,

[0032]

[Equation 9]

It is assumed that Also, with the original teaching data,
For the torch 3 before deformation, there are a matrix Ap indicating the position and orientation of the tip P of the torch 3 and a transformation matrix Am indicating the position and orientation of the tip 2 of the manipulator 1. For these,

[0034]

[Equation 10]

The following holds. In addition, by the deformed torch 6,
By setting and teaching so that the tip P ′ becomes the original teaching point P, the teaching data of the tip P of the torch 3 before deformation is obtained.

[0036]

[Equation 11]

Holds. At this time, the modified torch 6
By teaching by setting the posture of the torch to be the same as the posture of the torch 3 before deformation, Mp = Mp 'Therefore, Mm.M7 = Mm'.M7' = Mm'.M7.Mt is established. From these relationships,

[0038]

[Equation 12]

Is satisfied. By comparing these two sides,

[0040]

[Equation 13]

Can be obtained as The parallel shift vector pt and the rotation matrix Mt are stored and stored as tool correction data corresponding to the amount of deviation between the tip position and the attitude of the torch due to the deformation of the torch. This correction data is obtained at one teaching point, but since it is the data for correcting the position and orientation of the tool to the same state as before the deformation, the correction data can be commonly used for all the teaching points.

The operation of driving the robot by the program created by teaching before the torch is deformed and correcting the deviation when the torch is deformed will be described below with reference to the drawings. FIG. 6 is a flowchart showing the correction operation in this embodiment. An operator starts a normal operation by a program created in advance corresponding to a torch having a normal shape. In step 1, the control device 4 calculates a transformation matrix of each joint with respect to a plurality of teaching points S1 to SN designating a trajectory based on the angle data of each joint stored in the teaching data, and the tip 2 of the manipulator 1 is operated. Calculate position and orientation. Next, in step 2, the position and orientation of the tip of the torch are calculated from the transformation matrix of the tool that indicates the shape and orientation of the torch. Next, in step 3, the operator checks the deformation of the tool, and when it is determined that there is no deformation, the process proceeds to step 4 and the parallel shift vector P of the shift amount already stored is stored.
The calculation of the interpolation points corrected by t and the rotation matrix Mt is executed to obtain the trajectory, and the process proceeds to step 5. If it is determined that the tool is deformed, the process proceeds to step 6 and the control device 4 is set to the teaching mode, and the tip of the deformed tool at one of the arbitrary teaching points is set as the teaching point. Teaching is performed by the above-described operation of positioning the robot in a predetermined posture. Next, in step 7, the operator sets the control device 4 in the correction mode, the control device 4 calculates the parallel shift vector Pt and the rotation Mt of the shift amount by the above-described calculation, and in step 8, the parallel shift vector Pt. And rotation Mt are stored as tool correction data. Next, in step 4, the control device 4 executes the interpolation calculation in which the trajectory is corrected based on the correction data. In step 5, the angle of each joint for realizing the corrected position of each interpolation point is calculated and output to a drive control unit (not shown) that drives each joint. The manipulator 1 is driven by the joint angle according to the data, and even a deformed tool follows the same trajectory as when it is not deformed.

Next, the processing when a new teaching point of the teaching program is created by the modified torch having the parallel shift vector pt and the rotation Mt which are the tool correction data will be described with reference to the drawings. FIG. 7 is an explanatory diagram showing a teaching operation, and FIG. 8 is a flowchart showing a processing operation. Now, as shown in FIG. 7A, the work 18 is moved by the deformation torch 6 having the tool correction data.
It is assumed that a new teaching point is created for. In this case, if the angle data of each joint at the time of registration is stored as the teaching data as it is as in the teaching operation using a normal tool, the position and orientation of the tip 2 of the manipulator 1 correspond to the tip P ′ of the normal tool 3. Therefore, the teaching point of P'is stored. Therefore, even if the tool after deformation is corrected by the correction data by the program and the tool is operated,
As shown in (b), the tip of the tool traces P ', and the intended purpose cannot be achieved.

The present invention solves the above-mentioned problems.
As shown in the flow chart of FIG. 8, the position and orientation of the tool tip is once calculated, and then the obtained data is inversely corrected by the vector-pt and Mt ⁻¹ which are the inverse tool correction data, and the inverse correction is performed. Each joint angle is recalculated from the subsequent tool tip position and posture, and the data is stored as teaching point data. That is, FIG.
(A) means for storing teaching point data assuming that the torch 3 before deformation is in the position and orientation of the deformed torch 6,
It is a means for converting into the same teaching data as taught by the torch before deformation.

In FIG. 8, in step 1, the teaching operation is executed and the data of each joint angle is temporarily registered as teaching data. Next, in step 2, it is checked whether or not the tool used has tool correction data. If there is no tool correction data, the process proceeds to step 3 and the data of each joint angle registered as a normal tool without deformation is stored as teaching data. If the tool has tool correction data, the process proceeds to step 4, and the position and orientation of the tip of the tool is calculated using the registered joint angle data. Next, tool correction data pt and M
The inverse correction data −pt and Mt ⁻¹ are obtained from t. Next, in step 6, the position and orientation of the tool tip obtained in step 4 are corrected by the inverse correction data, and the process proceeds to step 7, where each joint angle for the inversely corrected position and orientation of the tool tip is used as teaching data. Remember. By the above teaching process, the teaching data is converted and stored in the same manner as the teaching data by the tool without deformation. Therefore,
The created teaching data is always normal, and the operator does not need to consider whether or not the created teaching program is created in the state before and after the tool is deformed.

Next, a method of storing the correction data of the tool and a means for displaying the presence / absence of the tool correction data will be described with reference to the drawings. FIG. 9 is a pattern diagram for displaying the presence or absence of the correction data of the tool on the screen. Normally, the robot may be used by exchanging tools depending on the work contents, so a tool number is given to each tool and the tool offset amount that represents the shape of the tool such as L1 to L3 shown in FIG. A plurality of can be set for each tool, and when teaching a program, the teaching work is performed after setting the tool number which tool is to be taught.

In the present invention, the tool correction data is stored together with the tool offset amount of the tool number, and
As an identifier for identifying the presence or absence of the tool correction data, the tool number for which the tool correction data is registered is displayed with an asterisk. As shown in FIG. 9A, in the display screen for specifying the tool number, the tool number 1 has *
A mark is added and displayed, and it can be seen at a glance that the tool correction data is registered. 9B is a pattern diagram showing the tool offset amount and the correction data of the tool designated on the tool designation screen. When the tool correction data is registered, the tool correction data is commonly valid for all programs taught before the transformation with the tool number.

As described above, according to the industrial robot of the present embodiment, one teaching point taught before the torch is deformed is taught again using the deformed torch, and teaching data corresponding to a normal tool is obtained. By calculating the parallel shift vector and rotation corresponding to the tool shift amount as the correction data by the operation based on the teaching data by the deformed torch and correcting the trajectory with the correction data, the normal tool before the deformation can be obtained. It is possible to start and operate the program created by modifying it.

Further, in the teaching work, the taught data is inversely corrected by the tool correction data and stored as the teaching data, so that the teaching data which is the same as the teaching data by the normal tool can be obtained even when teaching by the deformed tool. Obtainable.

Further, the tool correction data is added to the tool offset data and stored, and an identifier showing the presence or absence of the tool correction data is added to the tool number and displayed for each tool, so that the state of the tool is displayed. You can easily know.

[0051]

As is apparent from the above embodiments, the present invention has a plurality of drive shafts and an arm that rotates or rotates by the drive shafts, and a manipulator that holds a working tool on the tip arm. And an operation for creating teaching data for controlling the operation of the manipulator, and a control device for controlling the operation of the manipulator based on the created teaching data, wherein the shape of the working tool is exchanged or machined. When the work tool is changed due to the dynamic deformation, the deviation amount of the work tool is calculated based on the position and the posture of the work tool at any one taught point that has already been taught, and is stored as tool correction data. When the robot is operated based on the teaching data, it is a control device that controls so as to correct the trajectory by the stored tool correction data and drive it. Therefore, even with a deformed work tool, it is not necessary to correct the trajectory for all teaching points by the tool correction data obtained at one teaching point, cancel the deformation effect, and correct the teaching data. By inversely correcting the data taught by the deformed work tool with the tool correction data, the same teaching data as taught by the normal work tool can be obtained.

In addition, a manipulator having a plurality of drive shafts, an arm that rotates or rotates by the drive shafts and holds a working tool on the arm at the tip, and a control device that controls the overall operation. The control device includes setting means for inputting, for each of a plurality of working tools, a tool offset amount representing the shape dimension and tool correction data corresponding to the shape dimension, the input tool offset amount and the tool. A storage unit that stores the correction data as a set and a display unit that displays the stored tool offset amount are provided, and an identifier for identifying the presence or absence of the tool correction data is stored for each tool. By displaying the location together with the identifier, it is easy to know the status of the working tool and the presence or absence of tool correction data. Door can be.

[Brief description of drawings]

FIG. 1 is a side view showing the configuration of an embodiment of an industrial robot of the present invention.

FIG. 2 is a side view showing a state of the welding torch in which mechanical deformation has occurred.

FIG. 3 is a side view showing a state in which the torch deformation is adjusted by a tool adjusting jig.

FIG. 4 is a schematic diagram showing an arrangement state of a drive axis of a manipulator and an arm with respect to a reference coordinate system in an industrial robot.

FIG. 5 is an explanatory diagram showing a deviation amount detecting operation of a work tool in the industrial robot of the present invention.

FIG. 6 is a flowchart showing an operation of a work tool correction process of the industrial robot of the present invention.

FIG. 7 is an explanatory diagram showing a malfunction when operating with data taught by a deformed work tool.

FIG. 8 is a flowchart showing an operation of newly creating teaching data with a work tool deformed in the industrial robot of the present invention.

FIG. 9 is a pattern diagram showing the location of a work tool in the industrial robot of the present invention and a pattern diagram showing the tool offset amount and the tool correction data.

[Explanation of symbols]

 1 Manipulator 2 Tip of Manipulator 3 Work Tool (Torch) 4 Control Device 6 Deformation Torch 7 Tool Adjustment Jig

Claims (5)

[Claims] 1. A manipulator having a plurality of drive shafts and an arm that rotates or rotates by the drive shafts, the manipulator holding a working tool on an arm at the tip, and teaching data for controlling the operation of the manipulator. The action to create,
A control device for controlling the operation of the manipulator based on the created teaching data, and when the shape of the working tool changes due to replacement or mechanical deformation, the working tool at any one taught point already taught The amount of deviation of the working tool is calculated based on the position and orientation of the tool and stored as tool correction data, and when the working tool is operated based on the teaching data, the trajectory is calculated by the stored tool correction data. An industrial robot that is a control device that controls to correct and drive. 2. When normal teaching data is created with a deformed work tool, data obtained by inversely correcting teaching data with stored tool correction data is stored as teaching data, and teaching is performed with a normal work tool that does not deform. The industrial robot according to claim 1, which is a control device that creates the same teaching data as the above. 3. Teaching point data for teaching a predetermined position and posture to a normal work tool in advance, and a work tool deformed in a teaching mode are set to the predetermined position and posture and re-teaching. 2. The industry according to claim 1, further comprising a controller configured to calculate a shift amount due to the deformation of the work tool as a parallel movement amount and a rotation movement amount based on the taught data, and store the shift amount as tool correction data. Robot. 4. The teaching data and the re-teaching data are used to determine the work tool's position based on the amount of change in the position and orientation of the tool tip expressed by a coordinate system provided on the drive shaft of the manipulator tip holding the work tool. The industrial robot according to claim 2, wherein the shift amount is calculated. 5. A manipulator having a plurality of drive shafts, an arm rotating or rotating by the drive shafts, the manipulator holding a working tool on an arm at the tip, and a control device for controlling the overall operation, The control device includes setting means for inputting a tool offset amount representing a shape and a tool correction data corresponding to the shape for each of a plurality of work tools, and the input tool offset amount and tool correction data. And a display unit for displaying the stored tool offset amount. An identifier for identifying the presence or absence of tool correction data is stored for each tool, and the display unit indicates the location of the tool. An industrial robot configured to be displayed together with the identifier.