JPH0774965B2 - Robot operating device display - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a display device of an operating device for teaching a robot a motion command.

[0002]

2. Description of the Related Art In this type of operating device, for example, as shown in FIG. 1, by operating a key 2 on an operating panel 1, various operation commands are input to a robot and teaching is performed. Then, the teaching data is sequentially displayed in a predetermined area on the display screen 3 in association with the step number indicating the teaching position and the statement number indicating the instruction execution sequence (see FIG. 2). The above-mentioned predetermined area is 4 in number of lines.
Only within a relatively narrow range of about 20 lines, all instructions are displayed in order of statement number.
In this case, when a plurality of commands are executed at the same teaching position, the same numerical value will be written as the step number. Then, the display contents on the display screen 3 are sequentially incremented by operating the keys.

[0003]

However, in the operation device as described above, conventionally, for a spray command (see FIG. 2) in a painting operation, for example, only a change point of ON / OFF operation is displayed, and Since it is displayed in a relatively narrow predetermined area in the display screen 3 in a state of being mixed with other commands, the display contents in the display screen 3 should be considered when examining the relationship before and after the spray command. Must be searched for while scrolling each time, and this command is extremely difficult to view because it cannot be simultaneously displayed on the display screen 3.

Therefore, an object of the present invention is to operate a robot equipped with a function capable of extracting only information relating to a desired instruction from a large number of types of instructions and displaying the information collectively on a display screen. To provide a display device for a container.

[0005]

In order to achieve the above object, the first means adopted by the present invention has the gist thereof, in which a command for a robot is input by operating a key on an operation panel. In the display device of the robot operating device, in which the above instructions are sequentially displayed in a predetermined area on the display screen in correspondence with the step number indicating the teaching position and the statement number indicating the instruction execution sequence. Of the plurality of commands input by operating the search means, a search means for searching a specified predetermined command, a selection means for selecting only the predetermined command searched by the search means, and a selection by the selection means. And a display means for displaying only the specified command that is executed on the display screen together with the corresponding step number and statement number. That is a display apparatus for a robot manipulator.

Further, the gist of the second means adopted by the present invention is that a command for the robot is input and taught by operating a key on the operation panel, and a step number indicating the teaching position and In a display device of a robot operating device in which the above-mentioned commands are sequentially displayed in a predetermined area on the display screen in correspondence with statement numbers indicating the order of command execution, a plurality of commands input by operating the above keys are Among these, only the contents of the predetermined instruction searched by the above-mentioned retrieval means and the retrieval means for retrieving the designated predetermined instruction are made to correspond to all the step numbers and displayed on the display screen together with all the step numbers. It is a display device of a robot operating device according to a point including a display means.

[0007]

In the first display device according to the present invention, of the plurality of commands input by operating the key, only the specified command is displayed on the display screen together with the corresponding step number and statement number. Are displayed in batch. In the second display device according to the present invention, of the plurality of commands input by operating the keys, only the specified predetermined command is associated with all the step numbers, and all the step numbers are grouped together. Is displayed on the display screen.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the accompanying drawings for the understanding of the present invention. The following embodiments are examples of embodying the present invention and are not intended to limit the technical scope of the present invention.

FIG. 1 is a front view of a display device according to an embodiment of the present invention, FIG. 2 is an explanatory view showing an example of contents displayed on the display screen of the display device, and FIG. FIG. 4 is an explanatory diagram showing an example of contents displayed on the display screen of the device, FIG. 4 is an explanatory diagram showing an example of contents displayed on the display screen of the display device, and FIG. 5 is an example of a processing procedure in the display device. FIG. 6 is a flowchart showing an example of a processing procedure in the display device.

In the display device according to this embodiment, as shown in FIG. 1, commands to the robot are input and taught by appropriately operating the keys 2 on the operation panel 1. Then, in the normal display state similar to the conventional apparatus, this teaching data is associated with the step number indicating the teaching position and the statement number indicating the instruction execution order as shown in FIG. It is displayed sequentially in the area.

Subsequently, the characteristic function of the apparatus, that is, only the information relating to the desired command is extracted from a large number of types of commands that are input in the above-described procedure in a mixed state, and the display screen 3 is displayed. A processing procedure in the case of collectively displaying the above will be described with reference to FIGS.

In this case, S1, S2, ... In FIG. 5 indicate processing steps. For example, when it is desired to collectively display the spray commands in FIG. 2 on the display screen 3, first, in S1, the operator operates the operation panel 1
When the spray is specified by operating the above keys (see Fig. 1), this signal is sent from the human interface to the controller, and the option-set value of the sent parameters is referred to in the memory. The corresponding instruction (spray) is searched from the teaching program (S2, searching means).

Only the spray-related command retrieved as described above is transmitted to the teaching data storage buffer of the human interface, and the flag is set in the buffer storing this teaching data (S3, selecting means). Then, the buffer in which the flag is set in the teaching data storage buffer is selected, and only the contents are collectively displayed on the display screen 3 (S
4, display means).

FIG. 3 shows a display form on the display screen 3 of the spray command extracted by the above procedure. That is, as shown in the figure, information on the spray command is displayed on the display screen 3 together with the step number and the statement number. Therefore, in the device, as described above, only the information related to the desired command can be extracted and displayed collectively on the display screen 3,
The operator can easily consider the work content of the robot.

Continuing on, characteristic functions of another display device according to the present invention will be described with reference to FIGS. In the following embodiments, as in the case of the above-described embodiments, a case will be described as an example in which only the spray-related command is extracted and displayed on the display screen 3. First, the S1 and S
The spray command is designated and the search is performed in a procedure substantially similar to that of step 2 (S11, S12). In this case,
In S12, the spray is turned on and off in FIG.
The search is carried out with a pair of and (corresponding to steps 2 and 5 in the figure).

Then, this information is transmitted to the ON / OFF information storage buffer, all bits in the buffer are initialized and transmitted by the default value determined by the spray (spray number is 2 in this embodiment). Based on the received information, the ON / OFF state of the spray at each step number is represented by setting or resetting in each bit (S13). That is, in the above S13, the spray 2
All the bits corresponding to the step number whose No. is in the ON state are set to 1, and all the bits corresponding to the step number in which the No. 2 spray is in the OFF state are reset to 0.

Then, in S14, the above ON / OF
Based on the contents of the F information storage buffer, only information about spray No. 2 is displayed on the display screen 3 together with all step numbers. An example of this display form is shown in FIG. 4C. Therefore, in the apparatus of this embodiment, all the instruction contents are collectively displayed even for the steps in which the instruction contents are not displayed in the normal display form, so that the operator can grasp the robot work in more detail. The work content can be examined very easily.

[0018]

Since the display device for the robot manipulator according to the present invention is configured as described above, only information relating to a desired command is extracted from a mixture of various types of commands and displayed on the display screen. It can be displayed collectively. Therefore, the operator can easily grasp the contents of the robot work and easily study the contents of the work.

[Brief description of drawings]

FIG. 1 is a front view of a display device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing an example of contents displayed on a display screen of the display device.

FIG. 3 is an explanatory diagram showing an example of contents displayed on a display screen of the display device.

FIG. 4 is an explanatory diagram showing an example of contents displayed on a display screen of the display device.

FIG. 5 is a flowchart showing an example of a processing procedure in the display device.

FIG. 6 is a flowchart showing an example of a processing procedure in the display device.

[Explanation of symbols]

 1 ... Operation panel 2 ... Key 3 ... Display screen S1 to S4, S11 to S14 ... Processing steps

Continuation of front page (51) Int.Cl. ⁶ Identification number Office reference number FI Technical display location G06F 17/00

Claims (2)

[Claims] 1. A command for a robot is input and taught by operating a key on a control panel, and the command is displayed on a display screen in correspondence with a step number indicating the teaching position and a statement number indicating the command execution sequence. In a display device of a robot operating device for sequentially displaying in a predetermined area of, a search means for searching a specified predetermined command from a plurality of commands input by operating the key, and the search. Selecting means for selecting only the predetermined instruction retrieved by the means, and display means for displaying only the predetermined instruction selected by the selecting means on the display screen together with the corresponding step number and statement number. A display device for a robot operating device characterized by the following. 2. A command for a robot is input and taught by operating a key on a control panel, and the command is displayed on a display screen in correspondence with a step number indicating the teaching position and a statement number indicating the command execution order. In a display device of a robot operating device for sequentially displaying in a predetermined area of, a search means for searching a specified predetermined command from a plurality of commands input by operating the key, and the search. And a display means for displaying only the content of the predetermined command retrieved by the means on all the step numbers and displaying the content on the display screen together with all the step numbers. Display device.