JPH10254527A - Instructing device for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to edit instruction data and to facilitate operation for instructing a robot by setting the display screen of the robot instructing device to an editing mode and touching a place displayed on the screen. SOLUTION: To edit the instruction data with an operation unit, a place where editing is displayed on an initial screen is touched for switching to the editing mode. On the editing mode screen, a program number can be specified by touching a program number display part 11 and a step number can be specified by touching a step number display part 12; and editing operation displayed at a touched place becomes possible by touching an editing operation content display part 13 and instruction data display at an instruction data display part 14 can be edited by touching the data. Thus, editing such as the replacement of instruction data on some operation with instruction data on other operation can be carried out by the simple operation of touching a display on the operation unit in an operation site, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a teaching device for a robot. More specifically, the present invention relates to a robot teaching device that integrally teaches operation information for directly operating a robot and various other auxiliary information.

[0002]

2. Description of the Related Art Conventionally, in order to cause a robot to perform a predetermined operation, for example, an operation device (teaching pendant) is operated at a work site to sequentially input operation information of a work point and various auxiliary information to a robot controller. That has been done. That is, the work point is taught. Since this teaching is performed every time the work is changed, there is a problem that work efficiency or work efficiency is poor.

In order to improve the work efficiency or work efficiency in the teaching work, it has been proposed to edit teaching data using a personal computer.

For example, Japanese Unexamined Patent Publication No. Hei 5-143152 discloses an industrial robot apparatus provided with a manipulator having at least two degrees of freedom and controlled by a teaching / playback system. The coordinates of the reference work are obtained from the teaching data taken in from the robot, and the robot operation path teaching data of the reference work expressed by the robot coordinate system is converted into the operation path teaching data expressed by the reference work coordinate system. Then, it is converted into the motion path teaching data for the target work using the component dimension data of the reference work and the target work and the correction data obtained from the deviation amount of the component mounting position, etc., and then converted to the motion path in the robot coordinate system. By converting to teaching data, you can obtain motion path teaching data for the target work. Configuration automatic teaching method for an industrial robot, characterized in that the have been proposed as.

However, editing of teaching data using the personal computer cannot be easily performed at a work site. For this reason, teaching data such as operation information and various auxiliary information is unavoidably corrected at an operation site by using an editing function provided in the operation device.

However, there are the following problems in correcting or editing teaching data using the operating device.

(1) It is necessary to modify the teaching data for each work point.

(2) Part of the teaching data at a certain working point cannot be copied as teaching data at another working point.

(3) A part of the teaching data at a certain work point in the teaching program cannot be copied as teaching data to another program stored in the robot controller.

(4) The teaching data spanning a plurality of working points cannot be copied to other portions in block units.

(5) Compensation of the teaching data by the operating device often requires complicated function key operations, so that the operation is complicated.

(6) Due to the problems (1) to (5), the work efficiency and work efficiency cannot be drastically improved.

[0013]

SUMMARY OF THE INVENTION The present invention has been made in consideration of the above-mentioned problems in the prior art, and has as its object to provide a robot teaching device capable of easily editing teaching data at a work site. .

[0014]

A teaching device for a robot according to the present invention is a teaching device for a robot having an image display device, wherein a display screen of the image display device can be set to an edit mode and the editing mode can be set. On the mode screen,
It is characterized in that all or a part of the teaching data can be edited by touching a place where teacher information or the like is displayed in a predetermined order.

Specifically, the teaching device for a robot according to the present invention includes a program number display section for displaying a program number of an operation or a work program for editing on the edit mode screen, and a program number display section for displaying the program number display section. A step number display section for displaying a program step number;
A teaching data display section for displaying the teaching data of the step displayed on the step number display section, and an editing work content display section for specifying the content of the editing work of the teaching data are formed, and the program number display section is touched. Then, the program number can be specified, and the step number can be specified by touching the step number display section.
Touching the editing work content display section can complete the editing work displayed at the touched location, and touching the teaching data displayed on the teaching data display section can complete the editing. It is characterized by.

In the robot teaching device of the present invention,
In the editing or editing operation, for example, all or a part of the teaching data of a certain program is overwritten or inserted into the teaching data of another program.

Further, in the robot teaching device of the present invention, the editing or the editing operation may be performed over a plurality of steps.

In the teaching device for a robot according to the present invention, it is preferable that the image display device is a color image display device.

[0019]

The teaching data can be edited only by setting the display screen of the teaching device of the robot to the edit mode and touching the location displayed on the screen, thereby greatly simplifying the teaching operation of the robot. In addition, since other devices such as a personal computer are not required, the teaching data can be edited at a work site or a teaching place.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to only such embodiments.

FIG. 1 is a schematic diagram showing a robot teaching device (hereinafter simply referred to as a teaching device) according to an embodiment of the present invention, and FIG. 2 is a block diagram showing the teaching device. 20 as main components, and the operating device 10 and the controller 20 are connected to the cable 3
0 is connected. Also, this cable 3
0 is, for example, 15 m long.

The operation device 10 is, specifically, a color liquid crystal display device with a touch panel (hereinafter simply referred to as an operation panel).
When the display on the operation panel 10 is touched, an instruction corresponding to the touched display is made to the controller 20 via the cable 30, and the controller 20 executes a process according to the instruction. Therefore, a program for processing the instruction is stored in the controller 20 in advance. An area for the processing is also provided in the memory.

In order to edit the teaching data using the operation device 10, the user touches a location where "edit" is displayed on the initial screen to switch the screen to the edit mode. That is, the display screen is set to the edit mode screen. In the following, from the viewpoint of simplification of the expression, “touching the location indicated by XX” is simply referred to as “touching the XX display” or “touching YY of the XX display”.

The edit mode screen is configured to allow designation of the program number and step number of the copy source program, the contents of the teaching data to be copied, and designation of the program number and step number of the copy destination program. I have. Therefore, as shown in FIGS. 3 and 4, the edit mode screen includes a program number display section 11, a step number display section 12, a program name display section 13, a numeric keypad display section 14, a teaching data display section 15, A work content display section 16 and the like are provided. The editing work content display section 16 displays editing work contents such as deletion, cancellation, cut, paste (paste), copy, mode insertion, partial copy, and registration (see FIG. 3). In addition,
As shown in FIG. 4, the numeric keypad display unit 14 is displayed only when it is necessary to input a number, such as when designating a program number or a step number.

Then, when the program number display section 11 is touched on the edit mode screen, the display on the display section is inverted so that the program number can be specified, and the numeric keypad display section 14 is displayed. Here, for example, when the user touches “1” on the displayed ten-key display unit 14, a program number corresponding to the touched “1” is specified, and the program specified in a state where the display of the program number display unit 11 is inverted. The number is displayed, for example, as “pg1”. In this state, “Register” on the numeric keypad display section 14
When is touched, the program number display section 11 returns to the normal display, the display on the numeric keypad display section 14 disappears, and the editing work content display section 16 is displayed again. As a result, the copy source program number is specified. When the designation of the program number is completed, the program name is displayed on the program name display section 13.

Next, when the user touches the step number display section 12, the step number display section 12 is inverted so that the step number can be specified, and the numeric keypad display section 14 is displayed. Then, the displayed numeric keypad display unit 1
For example, when the user touches “3” and then touches “Register”, the step number corresponding to the touched “3” is specified, and the display of the step number display unit 12 returns to normal, and the specified step is performed. The number is displayed as, for example, “3”, and the teaching data in the designated step 3 is displayed on the teaching data display unit 15. Here, when only the specific data in step 3 is partially copied, the user touches "partial copy" in the editing work content display section 16 and then touches the data to be partially copied in the teaching data to display the data. Is specified. To copy all of the teaching data in step 3, touch "copy" on the editing work content display section 16. Then "Registration"
Touching returns the step display section 12 to the normal display,
Thereby, the copy start step number and the teaching data to be copied are designated. This operation is repeated from step 4 to the final step of copying, for example, to step 12. As a result, the program number, step number, and teaching data to be copied are temporarily stored in the editing area of the memory of the controller 20. It is not always necessary to continuously specify the step numbers to be specified. For example, only the necessary steps such as 4, 7, 9, and 12 can be specified.

Thereafter, when the program number display section 11 is touched again, the program number display section 11 is inverted again and the program number of the copy destination can be specified, so that the display on the numeric keypad display section 14, for example, "2" Is touched, the program number corresponding to the touched “2” is specified, and the program number specified in a state where the display of the program number display section 11 is inverted is, for example, “pg
2 "is displayed. When "Register" is touched in this state, the program number display section 11 returns to the normal display, and the program number of the copy destination is designated. Then, the user touches the step number display section 12 to specify the copy destination step number in the same manner as described above, and replaces the teaching data with the previously specified copy source teaching data. For example, the teaching data of steps 15 to 24 of “pg2” of the copy destination are sequentially replaced with the teaching data of steps 3 to 12 of “pg1” of the copy source.

As described above, according to this embodiment, the teaching data of a certain operation or work program can be changed to another operation or work program by a simple operation of touching the display of the operating device 10 at a work site or a teaching place. Editing such as replacement with teaching data can be performed.

[0029]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a case will be described in which part of the teaching data of step 15 (the first step of the copy destination) of "pg2" is replaced with part of the teaching data of step 3 (the first step of the copy source) of "pg1". I do. The hatching in the display of FIGS. 5 to 8 indicates that the location is inverted.

(1) On the screen displaying step 3 of “pg1”, touch “partial copy” on the editing work content display section 16.

(2) The display of the partial copy is reversed to be in the partial copy mode (see FIG. 5).

(3) Touch the teaching data to be partially copied. For example, "accuracy", "tool", "jump"
Touch.

(4) The display of the touched "accuracy", "tool", and "jump" is inverted (see FIG. 6).

(5) “Registration” in the editing work content display section 16
Touch. As a result, the contents of “accuracy”, “tool”, and “jump” in step 3 of “pg1” are temporarily stored in the editing area of the memory of the controller 20.

(6) The screen is changed to the display screen of step 15 of "pg2" (see FIG. 7).

(7) Touch “Paste” on the editing work content display section 16 to paste the contents of “Accuracy”, “Tool”, and “Jump” in Step 3 into Step 15. When touched, “paste” is displayed in reverse, and the attached “accuracy”, “tool”, and “jump” are displayed in reverse (see FIG. 8). If there is a problem with the contents, the user touches "cancel" on the editing work content display section 16 to restore the contents of "accuracy", "tool" and "jump" to the original ones.

(8) “Registration” of the editing work content display section 16
Touch to register the pasted or canceled content. As a result, the content of the paste or the cancellation is determined. That is, “p” stored in the controller 20
The “accuracy”, “tool”, and “jump” of the teaching data in step 15 of “g2” are replaced with the “accuracy”, “tool”, and “jump” of the teaching data in step 3 of “pg1”.

As described above, the present invention has been described based on the embodiments and the examples. However, the present invention is not limited to the embodiments and the examples, and various modifications are possible. For example, in the embodiment and the example, an example in which a certain range of a step of a certain operation program is partially copied to another operation program has been mainly described, but the whole operation program is copied to another operation program. Can also. Alternatively, a part of the steps of one operation program can be inserted at a certain position of another operation program.

[0039]

As described in detail above, according to the present invention, the following excellent effects can be obtained.

(1) It is not necessary to modify the teaching data for each work point.

(2) Part of the teaching data at a certain working point can be copied as teaching data at another working point.

(3) A part of the teaching data of a certain work point in the work program being taught can be copied as teaching data for another program stored in the robot controller.

(4) Teaching data spanning a plurality of working points can be copied to other portions in block units.

(5) Editing can be performed simply by touching a location displayed on the operating device, and editing can be easily performed. Therefore, the teaching data can be edited at the work site or the teaching location.

(6) By the effects of (1) to (5), work efficiency and work efficiency can be dramatically improved.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a robot teaching device according to the present invention.

FIG. 2 is a block diagram of the teaching device.

FIG. 3 is an explanatory diagram showing an example of an edit mode screen.

FIG. 4 is an explanatory diagram illustrating a state in which a numeric keypad display unit is displayed on an edit mode screen.

FIG. 5 is an explanatory diagram showing a state where the display of a partial copy is inverted on the edit mode screen.

FIG. 6 is an explanatory diagram showing a state where a part of the display of teaching data is inverted on the edit mode screen.

FIG. 7 is an explanatory diagram illustrating a state in which a copy destination program number and the like are displayed on the edit mode screen.

FIG. 8 is an explanatory diagram showing a state in which a part of the teaching data of the copy source is pasted on a part of the teaching data of the copy destination on the edit mode screen;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Operating device, operation panel 11 Program number display section 12 Step number display section 13 Program name display section 14 Numeric keypad display section 15 Teaching data display section 16 Editing work content display section 20 Controller 30 Cable T Robot teaching device

Claims (5)

[Claims] 1. A teaching device for a robot having an image display device, wherein a display screen of the image display device can be set to an edit mode, and a position where teaching information and the like are displayed on the edit mode screen. The teaching data can be edited in whole or in part by touching in a predetermined order. 2. A program number display unit for displaying a program number of an operation or a work program to be edited on the edit mode screen, and a step number display unit for displaying a step number of the program displayed on the program number display unit. A teaching data display section for displaying the teaching data of the step displayed on the step number display section, and an editing work content display section for designating the content of the editing work of the teaching data are formed, and the program number display section is touched. Then, the program number can be specified, the step number can be specified by touching the step number display section, and the editing work displayed at the touched location can be completed by touching the editing work content display section, Touch the teaching data displayed on the teaching data display to edit it Teaching apparatus of a robot which is characterized by comprising the sea urchin. 3. The teaching of a robot according to claim 1, wherein all or a part of the teaching data of the program in which the editing or the editing operation is performed is overwritten or inserted into the teaching data of another program. apparatus. 4. The robot teaching device according to claim 1, wherein the editing or the editing operation can be performed over a plurality of steps. 5. The robot teaching device according to claim 1, wherein the image display device is a color image display device.