JPH074782B2 - Industrial robot controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement of a hand operation box and a hand teaching box. By changing the surface sheet, the same hand operating box and hand teaching box can be used. The present invention relates to a control device for an industrial robot.

FIG. 1 is a view showing a control device for an arc welding robot using a conventional hand operation box and a hand teaching box. In this figure, reference numeral 1 is a light emitting diode for displaying a step number of a program during a robot operation. 2 is a waterproof flat keyboard switch (hereinafter abbreviated as KBS) for inputting teaching position data to the control device, and 3 is a surface sheet printed for the hand-held teaching box. Reference numeral 4 is a hand teaching box in which the light emitting diode 1 and the KBS 2 are housed and the surface sheet 3 is attached to the surface. Reference numeral 5 denotes an operation switch including a push button switch and a toggle switch for inputting welding conditions such as welding speed and welding current when performing arc welding. Reference numeral 6 is a hand operation box to which the operation switch 5 is attached. Reference numerals 7 and 8 are cables for electrically connecting the teaching box 4 at hand and the operating box 6 at hand to the control unit 9.

Next, the operation will be described. First, before welding, hold the hand teaching box 4 in hand and along the target work, move the robot arm to the desired position by pressing the movement command switch in KBS2 in the hand teaching box 4 and move it to the desired position. Data is stored in the control unit 9. By repeating such work, the welding conditions are taught to the work position of the arm of the robot and the welding portion of the target work. Next, hold the operation box 6 at hand and actually perform welding to see it. While observing the welding state, the control unit 9 stores the welding speed and current so that the optimum welding conditions are achieved by using the operation switch 5 consisting of the push button switch and the toggle switch in the hand operation box 6 online. The trial operation is performed as described above, and the welding work is started when the optimum welding conditions are obtained.

Since the conventional arc welding robot control device is configured as described above, when changing the welding conditions online, for example, the operator holds the hand operation box 6 with the left hand and operates the operation switch 5 with the right hand. There was a poor operability that the work of was required. Further, it is necessary to separately provide two types of teaching boxes 4 of the hand operation box 6,
There was a defect that maintainability such as replacement and repair was poor.

The present invention has been made to eliminate the above-mentioned drawbacks of the conventional ones, a common operating box and a local teaching box are common, and KBS is used for the operating switch of the local operating box.
The purpose of the present invention is to provide an industrial robot controller with good operability, maintainability, and productivity. An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2 is a block diagram showing an embodiment of the present invention. In this figure, 1 to 4 and 7 to 9 are the same as those in FIG. 1, 10 is the same light emitting diode as the light emitting diode 1 in FIG. 1, 11 is the same KBS as KBS2 in FIG. 1, and 12 is A surface sheet printed for the hand operation box, 13 is a hand operation box made of the same material as the hand teaching box 4.

3 (a) and 3 (b) are a teaching box 4 at hand and an operation box at hand.
13A and 13B are views showing a surface sheet that can also be used for 13; FIG. 3A shows printing of the surface sheet 3 of the hand-held teaching box 4, and FIG. 3B shows printing of the surface sheet 12 of the hand-operated box 13. It has been subjected.

4 (a) and 4 (b) are views showing the transparent uneven sheet 14 placed on the above-mentioned surface sheets 3 and 12, and this uneven sheet is shown.
An uneven portion corresponding to the printing position of the surface sheets 3 and 12 is formed on the surface 14.

As shown in FIG. 2, the operation box itself can be made exactly the same as the conventional one by simply making the operation box 13 at the same shape as the instruction box 4 at hand. As for the switch portion which is not used in the KBS 11 for the hand operation box 13, the switch portion is not printed on the surface sheet 12 for the hand operation box 13 as shown in FIG. 3 (b). Further, by placing the uneven sheet 14 shown in FIG. 4 on the respective surface sheets 3 and 12, the operator can easily confirm the position of the KBS 11, so that the pressing operation can be performed easily. it can.

In the above embodiment, the case of the control device for the arc welding robot has been described, but the present invention may be an assembly robot or an industrial-purpose machine, and has the same effect as that of the above embodiment.

As described above, according to the present invention, the hand operation box and the hand teaching box are made common, and the surface sheet is exchangeable, so that maintainability and productivity are improved. Furthermore, by placing the uneven sheet on the surface sheet of the hand operation box and the hand teaching box, the switch to be pressed can be easily confirmed,
There is an effect that the one with good operability and high reliability can be obtained.

[Brief description of drawings]

FIG. 1 is a diagram showing a conventional arc welding robot control device, FIG. 2 is a diagram showing an arc welding robot control device according to the present invention, and FIGS. 3 (a) and 3 (b) are a teaching box at hand and a hand operation. FIGS. 4A and 4B are a plan view and a sectional view taken along the line AA of the uneven sheet to be placed on the top sheet, respectively. In the figure, 1 and 10 are light emitting diodes, 2 and 11 are KBS, 3 and 12 are surface sheets, 4 is a teaching box at hand, 7 and 8 are cables, 9 is a control unit, 13 is a control box at hand, and 14 is an uneven sheet. Is. The same reference numerals in the drawings indicate the same or corresponding parts.

Claims (2)

[Claims] 1. An industrial robot in which a hand-operated box composed of a flat keyboard switch having a waterproof structure and a surface sheet and a hand-operated teaching box having the same structure as the hand-operated box are connected to a control unit by cables, respectively. In the controller, the same flat keyboard switch is used for the hand-operated box and the hand-operated teaching box, and a surface sheet on which the necessary switches are printed is detachably provided in each of the industrial robots. Control device. 2. The surface sheet of a flat keyboard switch of the hand operation box and the hand teaching box is detachably provided with a transparent uneven sheet having an uneven portion corresponding to the printing position of the surface sheet thereon. The control device for an industrial robot according to claim (1).