JPH0985660A - Teaching device for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a left-handed person to operate a robot in the same operating environment as a right-handed person does. SOLUTION: The shape of a teaching device body 10 is nearly symmetrical about a central plane 10a. Dead man keys 14, 15 are provided at symmetrical positions on both the sides of the teaching device body 10, and can be operated at the same position by either of right and left hands. A teaching operating key 18 is provided on a transparent touch panel 17, and its function is displayed with LCD 19 on the back side. Since a multifunction panel 16 composed of the touch panel 17 and LCD 19 is changed over in the arrangement of function of the key 18 for the right-handed or the left-handed panel, the arrangement of key which is easily operated even by the left-handed person can be easily realized.

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 for teaching motions to an industrial robot or the like.

[0002]

2. Description of the Related Art Conventionally, an industrial robot is used with a structure as shown in FIG. That is, although the control panel 2 for controlling the robot 1 is provided with the input section 3 for inputting the control contents and the display section 4 for displaying the control state and the like, the teaching apparatus 5 which is portable and is also called a teach pendant is used. Motion teaching is widely practiced. The teaching device 5 is also provided with a simplified display unit 6 and input display unit 7, and the robot 1 can be operated manually or teaching of operation can be performed. Regarding the provision of the teaching device, for example, Japanese Patent Laid-Open No. 63-890.
6 describes that it is provided as an operating box for manual operation.

[0003]

Similar to various remote control devices, the conventional teaching device is highly functional and lightweight as far as technically possible. Also, regarding operability, basically, assuming a right-handed person, the operation is designed to be easy as long as the operation is mainly performed using the finger of the right hand.

Teaching the robot in a short time
It is especially important in terms of productivity that the taught operation is efficient. Therefore, the operability of the teaching device is important. However, if the teaching device is set for a right-handed person, it becomes difficult for a left-handed person to hold and difficult to operate.

It is an object of the present invention to provide a robot teaching device in which a left-handed person can operate the teaching device in the same operating environment as a right-handed person and can shorten the time required for teaching. That is.

[0006]

SUMMARY OF THE INVENTION The present invention is a robot teaching device for a robot operator to teach a motion while holding it by hand, and a pair of dead man keys symmetrically provided in a hand-held state and a motion teaching device. A plurality of input keys for controlling the input keys and a control means for controlling the function of the input keys so as to switch between a right-handed one and a left-handed one, and have a generally symmetrical shape in a handheld state. It is a robot teaching device. According to the present invention, the teaching device has a substantially symmetrical shape and a pair of dead man keys are provided symmetrically while being held by the operator of the robot. Since the deadman keys that need to be held down during teaching are symmetrically provided, the right-handed person operates with his left finger and the left-handed person operates with his right finger, while teaching with the right or left hand. Multiple input keys can be operated. Since the control means switches the function of the input key between right-handed and left-handed ones, a left-handed person can operate the teaching device in the same operating environment as a right-handed person, shortening the time required for teaching. can do.

Further, the present invention includes a touch panel having a plurality of keys operable as the input keys, and an image display means arranged on the back side of the touch panel, wherein the control means is right-handed or left-handed. According to the above, the functions of a plurality of keys on the touch panel are switched so that the display content of the image display means corresponds to the function of each key on the touch panel. According to the present invention, the input key for teaching the motion is formed by the touch panel and the image display means arranged on the back side thereof, and the control means displays the display content of the image display means according to whether it is right-handed or left-handed. Since the keys are switched according to the function of each key on the touch panel, it is possible to display keys that are easy to understand for both right-handed and left-handed users, and it is possible to easily realize the same operating environment.

Further, according to the present invention, a combination of the functions of the keys of the touch panel and the display contents of the image display means is prepared for a plurality of right-handed persons and left-handed persons, and it is possible to switch between the respective types. Is characterized by. According to the present invention, a plurality of combinations of key functions and display contents are prepared and can be transferred between the respective types, so that many functions can be divided and easily realized.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIGS. 1, 2 and 3 show the external configuration of a robot teaching apparatus according to an embodiment of the present invention. 1 is a front view, FIG. 2 is a bottom view, and FIG. 3 is a left side view. Teaching device main body 10 having a substantially rectangular flat plate shape
Is approximately plane-symmetric with respect to a plane 10a perpendicular to the surface. A connection cable 11 for electrically connecting to the control panel of the robot extends from the teaching device body 10. An emergency stop switch 12 and a teach lock on / off switch 13 are provided near the connection cable 11.

A pair of deadman keys 14 and 15 are provided near both ends of the teaching device body 10 at symmetrical positions with respect to the plane 10a. Dead mankey 14,15
Is also called a trigger key, and the brake of the robot is released only while one or both of them are pressed, and the teaching operation becomes possible.

In the vicinity of the center of the surface of the teaching device body 10,
A multi-function panel 16 is arranged. The multi-function panel 16
A touch panel 17 is provided on the surface. Touch panel 17
Is formed by stacking transparent resistance films, for example, and the pressed position can be known from the electric resistance value when locally pressed. The surface of the touch panel 17 is divided into areas occupied by a plurality of keys 18 arranged in a matrix. A liquid crystal display element (hereinafter abbreviated as “LCD”) 19 is arranged on the back surface side of the touch panel 17. In FIG. 1, the keys 18 are displayed in a grid shape for convenience of illustration, but actually, the display content of the LCD 19 can be seen through the transparent touch panel 17.

FIG. 4 shows the electrical construction of the teaching device. A central processing unit (hereinafter abbreviated as “CPU”) 20 as a control unit operates according to a program preset in a read-only memory (hereinafter abbreviated as “ROM”) 21, and a read / write memory as a work area. (Less than,
The multifunctional panel 16 is controlled while using a "RAM" 22). Multi-function panel touch panel 1
A touch panel interface (hereinafter, abbreviated as “touch panel I / F”) 23 and a graphic controller 24 are interposed between the CPU 7, the LCD 7, and the LCD 19. Graphic controller 24
Temporarily stores the contents to be displayed on the LCD 19 in the RAM 25 which is a display memory. A communication interface (hereinafter referred to as "communication I / F") is provided between the CPU 20 and the connection cable 11 connected to the robot control panel.
26 is interposed.

5 to 8 show images displayed on the LCD 19 of the multi-function panel 16 of FIG. 1 and the functions of the keys 18 of the touch panel 17. 5 and 6 show the case of teaching, and FIGS. 7 and 8 show a display screen for selecting an auxiliary function. 5 and 7 show a right-handed display screen, and FIGS. 6 and 8 show a left-handed display screen. As shown in FIGS. 5 and 6, in the teaching display screen 30, the common area 31 and the function selection area 3 are displayed.
2, a system message display area 33, a status display area 34, an auxiliary data area 35, a teaching related key 36, a check operation related key 37, an operation mode related key 38 and an axis operation key 39 are provided. Of these, the axis operation key 39 is used most frequently, so it is arranged on the right side for the right-handed person in FIG. 5 and on the left side for the left-handed person in FIG. It should be noted that, although the arrangement of each area can be switched between right-handed and left-handed ones, the same arrangement state continues for both right-handed and left-handed persons within each area. This is illustrated in FIG.
8 and the groups of the function selection area 32 and the numeric keypad area 40 shown in FIG. 8 and the groups of the common area 31, the system message display area 33 and the selection area 41 are switched between the right-handed person and the left-handed person, The arrangement within each group also appears to continue. However, the date / time area 42 occupies the upper right of the same display screen 30 for both right-handed and left-handed users.

The distinction between the right-handed use shown in FIGS. 5 and 7 and the left-handed use shown in FIGS. 6 and 8 is preset in the control panel of the robot, and is instructed to the teaching device main body 10 side via the connection cable 11. It Touch panel 17 on the teaching device body 10 side
It is also possible to switch using such as.

In the teaching mode shown in FIGS. 5 and 6, the name of the selected program is displayed in "PG" of the common area 31. Press this area to move to the program selection screen. Common area 31 "ST
The current step number is displayed in "EP". Press this area to move to the step selection screen. The selected PC program name is displayed in “PC” in the common area 31. Press this area to move to the program selection screen.

In the function selection area 32, "status display",
A graphic display for selecting either "Function" or "Next menu" is displayed. Except during teaching,
As shown as the function selection area 32 in FIGS. 7 and 8, a display for selecting “teaching” is also performed. In the system message display area 33, a display designated in advance by a command, an error display, etc. are displayed. Various states are displayed in the state display area 34. In the auxiliary data area 35, the teaching state display of the current step, the current state display and the like are performed.

The teaching-related key 36 includes "record",
"Teaching mode", "Auxiliary data setting display" and "S"
The area corresponding to the key such as is displayed. "record"
Is provided for writing the auxiliary data and the current position in the current step according to the teaching mode. "Teaching mode"
Is provided to specify the writing method to the step when operating the record. Every time this key is pressed, the order of overwriting, insertion, deletion, position rewriting and auxiliary rewriting, and overwriting is switched. By pressing the auxiliary data key 35 while pressing the "auxiliary data setting display", the setting function of each auxiliary data can be called. Thereby, the contents of the auxiliary data can be changed or confirmed. If you press a key such as auxiliary data while pressing "S",
The setting information can be changed in the opposite direction. By pressing this key and "speed" in the operation mode related key 38, the setting information can be changed in the opposite direction.

The check operation-related key 37 performs a check backward movement to the display step with an upward triangle, and performs a check forward operation to the display step with a downward triangle. "Check" sequentially switches the mode of the check operation between single and continuous. As the operation mode related key 38, "speed information", "operation mode", and "robot" are provided. The "speed information" switches the teach operation speed in three steps each time the button is pressed. There are 3 stages for inching and 3 stages for creep. To switch between inching and creep, use the "S" key in the teaching-related keys 36,
It is possible to switch between inching and creep.
In addition, the fastest state (jog) in creep is valid only while the button is being pressed. The "operation mode" sequentially switches the teaching operation in the order of each axis, base, tool, and each axis.
"Robot" switches between robots.

The axis operation key 39 is operated according to the state of the robot operation mode key. There are three types of operation modes: "each axis", "base", and "tool". Although the arrangement of the axis operation key 39 is different between the right-handed one in FIG. 5 and the left-handed one in FIG. 6, there is no difference in that the increasing direction is the right side and the decreasing direction is the left side.

In the auxiliary function selection screen as shown in FIGS. 7 and 8, a key input area for selecting the "teach" function is displayed in the function selection area 32. In this case, the numeric keypad area 40 including the numbers 0-9, which is preferably operated on the dominant hand side, is arranged on the dominant hand side. A function selection area 32 for switching the screen display is also arranged on the dominant hand side. However, the date / time area 42 is arranged at a fixed position in the upper right corner of the display screen 30.

FIG. 9 shows a state in which the teaching apparatus main body 10 according to the embodiment of FIGS. 1 to 3 is operated while being held by hand. FIG. 9A shows a state in which the right hand 51 and the left hand 52 are held by both hands. Support the teaching device body 10 with the palms of both hands,
Press the deadman keys 14 and 15 with your thumb. The thumb on the hand side extends further than the positions of the deadman keys 14 and 15 and operates the touch panel. 9 (b) and 9
(C) shows a state in which the left hand 52 and the right hand 51 respectively support the back side of the teaching apparatus body 10 and the right hand 51 and the left hand 52, which are the dominant hands, operate the multifunction panel.
In this way, the same operability can be achieved with either the right hand 51 or the left hand 52.

The external shape of the teaching device body 10 described above,
It is easy to change the display content of the display screen 30 according to the function of the robot to be taught. Further, although a touch panel made of a conductive film is used as the touch panel, the infrared light emitting element and the light receiving element may be arranged on both sides of the screen to form a grid on the screen. Although an LCD is used as a display element, electroluminescence (abbreviated as “EL”),
A plasma display or the like can also be used. In addition, the LCD 19 may be a color liquid crystal and can be used for easy color-coded display. It is also possible to arrange a mechanical key matrix and switch its function between right-handed and left-handed ones.

[0023]

As described above, according to the present invention, a right-handed person can operate a plurality of input keys for teaching the robot operation with the right hand and a left-handed person with the left hand.
For example, the operability of the teaching device is significantly improved as compared with the case where a left-handed person performs a teaching operation using the right-handed teaching device, and the same as when the right-handed person operates the right-handed teaching device. The time required for teaching can be shortened to a certain degree.

Further, according to the present invention, since a plurality of input keys for operation teaching are realized by combining with the touch panel image display means, it is possible to understand the input function and display contents switched between right-handed and left-handed. It is possible to easily cope with each other, and it is possible to perform switching so that the same operating environment can be obtained for the right-handed person and the left-handed person.

Further, according to the present invention, since the combination of the functions of a plurality of types of keys and the display contents is prepared, many functions can be operated in a good operability state by switching between the combinations of the respective types. You can easily select with.

[Brief description of drawings]

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

FIG. 2 is a bottom view of the teaching device body of FIG.

3 is a left side view of the teaching device main body of FIG. 1. FIG.

FIG. 4 is a block diagram showing a schematic electrical configuration of the teaching device according to the embodiment of FIGS. 1 to 3.

FIG. 5 is a front view of the multi-function panel of FIG. 1 when used for teaching for a right-handed person.

FIG. 6 is a front view showing a case where the multi-function panel of FIG. 1 is used for teaching for a left-handed person.

FIG. 7 is a front view showing a case where the multi-function panel of FIG. 1 is used for program selection for a right-handed person.

8 is a front view showing a case where the multi-function panel of FIG. 1 is used for program selection for a left-handed person. FIG.

9 is a diagram showing a state in which the teaching apparatus main body shown in FIGS. 1 to 3 is operated by hand.

FIG. 10 is a simplified front view showing a configuration for conventional robot control.

[Explanation of symbols]

 10 Teaching device body 10a Flat surface 11 Connection cable 14,15 Deadman key 16 Multi-function panel 17 Touch panel 18 key 19 LCD 20 CPU 21 ROM 23 Touch panel I / F 24 Graphic controller 30 Display screen 31 Common area 32 Function selection area 39 Axis operation key 40 Numeric key area 51 Right hand 52 Left hand

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Kazuhiro Saito 1-1 Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries Ltd. Akashi factory (72) Inventor Shogo Hasegawa 1-1 Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries Akashi Factory Co., Ltd.

Claims (3)

[Claims] 1. A robot teaching apparatus for teaching a motion while a robot operator holds it by hand, wherein a pair of dead man keys are provided symmetrically in a hand-held state, and a plurality of input keys for motion teaching. A teaching device for a robot, comprising: a control means for controlling a function of an input key so as to switch between a right-handed one and a left-handed one, and having a substantially symmetrical shape in a handheld state. 2. A touch panel having a plurality of keys operable as the input keys, and an image display unit arranged on the back surface side of the touch panel, wherein the control unit is a touch panel according to whether it is right-handed or left-handed. 2. The robot teaching apparatus according to claim 1, wherein the functions of the plurality of keys are switched so that the display content of the image display means corresponds to the function of each key of the touch panel. 3. A combination of a function of a key on the touch panel and a display content of the image display means is prepared for a plurality of right-handed persons and left-handed persons, and it is possible to switch between the respective types. The robot teaching apparatus according to claim 2.