JPH0944227A - Robot teaching device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a teaching playback type robot teaching device which can restore only reteaching position data of a specific step to original teaching position data without moving a robot arm. SOLUTION: When a teaching button of an operation part 6 is turned ON, the original teaching position data of a last step are saved in an old teaching position data storage area of a program memory 2 before teaching position data of a current step are updated. To restore the reteaching position data of the specific step to the original teaching position data, the program step is changed to the corresponding step and then a restoration button of the operation part is turned ON, so that the reteaching position data of the current step are restored to the original teaching position data saved in the program memory 2. Further, a display part 5 displays a mark showing that the original teaching position data are saved for the current step together with a program list.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot teaching device, and is useful when applied to the case of re-teaching a teaching / playback type robot.

[0002]

2. Description of the Related Art Currently, most industrial robots employ a teaching / playback method as a teaching method. In the teaching / playback method, the tip of the robot arm is aligned with a large number of teaching points on the teaching route one after another by operating the operation box during teaching, and the tip of the robot arm is aligned with the teaching point. At that time, the position information of the robot at that time is stored in the memory in the controller. Then, at the time of playback, position information in the memory is read in a predetermined order, servo control is performed so that the tip position of the robot arm matches the position indicated by the position information, and automatic operation is performed.

[0003]

By the way, when the teaching / playback type robot as described above is re-teached, the original teaching position data is discarded (erased) in the conventional robot teaching device. , Is rewritten with new teaching position data. However, as a result of performing the confirming operation after re-teaching several teaching points, for example, it may be better to leave only one of the teaching points at the original teaching position.

In such a case, the conventional robot teaching device cannot return only the re-teaching position data of a specific step to the original teaching position data.

Therefore, in order to return to the state before re-teaching, the method of discarding the program in the middle of re-teaching and returning the whole program to the original image, or moving the robot arm to the original teaching position and teaching again You have to adopt the method of performing operations.

However, in the former method, the contents of the program taught or changed up to that point are discarded, so that the work time until then is wasted, and at the same time, it takes time to teach and change again. Further, in the latter method, it takes time to move the robot arm so as to accurately match the original teaching position. Furthermore, in both cases, since the robot arm is moved, it is necessary to pay sufficient attention so that the robot arm does not come into contact with the operator or peripheral devices, which is a heavy burden on the operator.

Therefore, in view of the above-mentioned prior art, it is an object of the present invention to provide a robot teaching device capable of returning only the re-teaching position data of a specific step to the original teaching position data without moving the robot arm. To do.

[0008]

Means for Solving the Problems A first method for solving the above problems is described below.
Is a teaching / playback system teaching device for a robot, the storing device storing a program and original teaching position data, and the original teaching position stored in the storing unit before updating the teaching position data. In addition to storing the data, the original teaching position data corresponding to the program step requiring restoration is extracted from the storage means based on the restoring operation, and the teaching position data of the program step is returned to the extracted original teaching position data. It is characterized by comprising data processing means, operation for changing a program step to a step requiring restoration, and operation means for performing the restoration operation.

In a second aspect of the invention, in the first aspect of the invention, there is provided means for displaying, together with the program list, a mark indicating that the original teaching position data for each program step is stored in the storage means. Characterize.

According to the first aspect of the invention, therefore, only the teaching position data of the specific step that needs to be restored is stored in the storage means by changing the program step to the step that needs to be restored and performing the restore operation. The original teaching position data can be restored.

According to the second aspect of the invention, it is possible to easily confirm with the mark whether or not the original teaching position data is stored for the program step.

[0012]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is an explanatory view showing the configuration of a robot teaching apparatus according to an embodiment of the present invention, FIG. 2 is a flow chart showing a procedure of a teaching basic operation by the robot teaching apparatus shown in FIG. 1, and FIG. 3 is shown in FIG. 9 is a flowchart showing a procedure of a teaching restoration operation by the robot teaching device shown.

As shown in FIG. 1, a robot controller 1 is connected to a teaching / playback type robot (main body) 7.
The operation box 4 is connected to the.

The operation box 4 is provided with a display section 5 and an operation section 6 having a teaching button, a restore button, etc. The display section 5 displays a program list at the time of editing, and the operation section 6 The movement operation of the arm of the robot 7, the program editing operation, and the program execution operation are performed.

The robot controller 1 is provided with a program memory 2 and a data processing unit 3. The program memory 2 has a program storage area and a storage area for old teaching position data (original teaching position data). The data processing unit 3 confirms the presence or absence of the old teaching position data (original teaching position data) and the program changing process at the time of editing the program.

Next, the procedure of the teaching basic operation and the teaching restoring operation by the robot teaching device having the above-mentioned configuration will be described with reference to FIGS.

The teaching basic operation is performed in the procedure of S1 to S5 shown in FIG. That is, first, the robot arm is moved to the teaching point (S1). After moving the robot arm to the teaching point, change the program step to the target step (S
2) Turn on the teaching button (S3). Teaching button is O
If the answer is N, the teaching position data of the current step (original teaching position data) is first saved in the program memory 2.
(S4), and then the teaching position data of the current step is updated (S5). It should be noted that, in the step S4, a flag indicating that there is saved data in the current step is set when the original teaching position data is saved, and a mark indicating that there is saved data in the current step is set so that the operator can see. It is displayed together with the program list on the display unit 5.
For example, it is displayed as “MV, 100, 1, *” (*
Is a mark indicating that the original teaching position data is stored).

On the other hand, the teaching restoration operation is performed from S11 to S11 shown in FIG.
The procedure is 16 steps. That is, first, the program step is changed to a step that requires restoration. After changing the step, the restore button is turned on (12). Restore button is O
When N is confirmed, it is confirmed whether or not the original teaching position data is stored for the current step (S13). If the original teaching position data is stored, the teaching position data of the current step is restored to the original one. Return to the teaching position data. On the other hand, if the original teaching position data is not stored, the fact is notified (S1).
5), teaching is executed after moving the robot arm (S1)
6). That is, the teaching position data is updated by a normal teaching operation. It should be noted that the notification as to whether or not the original teaching position data has been stored indicates that the old teaching position data (original teaching position data) is stored together with the program list display on the display unit 5 so that the operator can understand. This is done by displaying the mark. For example, "* MV,
100 ”(* indicates that the original teaching position data is saved).

Therefore, according to the robot teaching apparatus of the present embodiment, only the re-teaching position data of the specific step can be returned to the original teaching position data without moving the robot arm. Therefore, the restoration time of the teaching position data is significantly shortened as compared with the conventional case. Moreover, since the robot arm is not moved when restoring the original teaching position data, the burden on the worker is reduced.

Further, by displaying a predetermined mark together with the program list on the display unit 5, it is possible to easily confirm whether or not the original teaching position data is stored for the current step.

[0022]

As described above in detail with the embodiments of the present invention, according to the present invention, the storage means and the data processing means can be used without moving the robot arm.
Only the teaching position data of a specific step can be restored. Therefore, the restoration time of the teaching position data is significantly shortened as compared with the related art, and the burden on the worker is reduced because the robot arm is not moved.

Further, by displaying the predetermined mark together with the program list, it is possible to easily confirm whether or not the original teaching position data is stored for the current step.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a configuration of a robot teaching device according to an embodiment of the present invention.

2 is a flowchart showing a procedure of a teaching basic operation by the robot teaching device shown in FIG.

3 is a flowchart showing a procedure of a teaching restoration operation by the robot teaching device shown in FIG.

[Explanation of symbols]

 1 robot controller 2 program memory 3 data processing unit 4 operation box 5 display unit 6 operation unit 7 robot

Claims (2)

[Claims] 1. A teaching / playback system teaching device for a robot, comprising: storage means for storing a program and original teaching position data; and original teaching in the storage means before updating the teaching position data. While storing the position data, based on the restore operation,
Data processing means for extracting the original teaching position data corresponding to the program step that needs to be restored from the storage means and returning the teaching position data of the program step to the extracted original teaching position data, and for restoring the program step A robot teaching apparatus comprising: an operation unit for changing to a step and an operation unit for performing the restoration operation. 2. The robot teaching apparatus according to claim 1, further comprising means for displaying, together with a program list, a mark indicating that the original teaching position data for each program step is stored in the storage means. Robot teaching device.