JPS59200310A - Teaching controller of robot - Google Patents

Abstract

PURPOSE:To prevent previously the generation of a trouble by providing an alarm tone generator to a teaching controller of a robot. CONSTITUTION:The teaching control of a robot is carried out by selecting an operation mode with operation of a mode selection button 3 and selecting the working speed with a speed selection button 2 respectively. This mode and speed are supplied to a button signal input circuit 5 and sent to a robot controller via a signal transmission circuit 9. A display signal is sent to display output circuit 8 via the circuit 9 to turn on lamps 6 and 7. At the same time, the robot arm is moved to a desired position after confirming the lighting of the lamps. This position of the robot arm is stored in a memory. In this case, an alarm tone generator 10 is provided. Then an alarm tone is produced for a fixed period of time when an operation button 1 which actuates each control shaft is pushed while a high speed is selected for working of the robot arm.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a teaching operation device for a robot that can generate a warning sound.

2. Description of the Related Art Conventionally, the one shown in FIG. 1 has been known as a teaching operation device for a robot. Reference numeral 1 in the figure indicates each control axis operation button for operating each control axis of the robot, and buttons for forward direction and reverse direction are provided corresponding to each control axis of the robot.

2 is an operation speed selection button for selecting the operation speed when operating each of the control axes using the button 1, 6 is a position point record button used for teaching, 4 is a mode selection button for selecting an operation mode, and 5 is the above button. 1, 2, 3. A button signal input circuit for inputting signals of 4; 6 a speed display lamp for displaying the selected speed; 7 a mode display lamp for displaying the operating mode corresponding to the button 6; 8 A display output circuit outputs a signal for lighting the lamps 6 and 7, and a signal transmission circuit 9 exchanges signals with a robot control device (not shown).

Next, the operation of the teaching operation device will be explained. When a robot operator teaches a work to be performed by a robot, he carries this teaching operation device, operates the robot using buttons 1 to 4, takes it to a predetermined position, and records the position. That is, first select the operation mode (linear interpolation, circular interpolation, etc.) using mode selection button 3, and then press operation speed selection button 2.
When the operating speed is selected, the signal is input to the button signal input circuit 5 and sent to the robot control device via the signal transmission circuit 9. When the robot control device accepts the signal, a display signal is sent from the robot control device to the display output circuit 8 via the signal transmission circuit 9, and the mode display lamp 7 and speed display lamp 6 are turned on. After confirming these displays, the operator should press each control axis operation button 1. This moves the tip of the robot's arm to a desired position.

When this tip moves to the normal position, press the position point record button 4.
Press , and this will give you the value (coordinate value) representing the position of that point.
is stored in a storage device (not shown) within the robot control device.

In the above operations, the operator needs to select an appropriate speed in order to shorten the time required for teaching. In other words, if the tip of the robot's arm is far away from the position to be taught (hereinafter referred to as the teaching position), first select high speed using the operation speed selection button 2, and then move the arm until it reaches the vicinity of the teaching position. move at high speed. Thereafter, the speed is switched to low speed using button 2, and the tip of the arm is moved to the teaching position.

By the way, the operator sometimes forgets to change the speed mentioned above, so he moves his arm at high speed from near the teaching position.
There have been cases where the tip of the arm collides with the workpiece or workpiece table placed at the teaching position, causing the tip of the arm or the workpiece to be destroyed.

This invention eliminates the above-mentioned conventional drawbacks,
When the speed selection is set to high speed, a warning sound will be emitted when each control axis operation button is pressed, to prevent the operator from accidentally colliding the tip of the robot's arm with a workpiece, etc. The present invention provides a teaching operation device for a robot.

An embodiment of the present invention will be described below with reference to the drawings. Second
In the figure, the same reference numerals as in FIG. 1 indicate the same or corresponding parts. Reference numeral 1o indicates a warning sound generating device.

When the operator moves the arm in order to teach the robot a predetermined position, first select the operation mode using the mode selection button 3 in the same manner as described above, and select the operation speed using the operation speed selection button 2. The signal is input to the button signal input circuit 5 and sent to the robot control device via the signal transmission circuit 9 as described above.

When this control device receives the above signal, a display signal is sent from the robot control device to the display output circuit 8 via the signal transmission circuit 9, and the mode display lamp 7 and speed display lamp 6 are sent to the display output circuit 8.
lights up. After confirming these displays, the operator moves the tip of the robot's arm to a desired position by pressing each control axis operation button 1. In this case, as shown in time chart 'I'-1- in Fig. 3 and flow chart 7-) in Fig. 4, when each control axis operation button 1 is pressed, the speed changes to the high speed side in the robot control device. Check whether it is selected or not, and if the speed is not high, the robot's arm will move at the same time as each control axis operation button 1 is pressed. Furthermore, if the speed is on the high speed side, as shown in FIG. and a warning sound is generated.

If each control axis operation button 1 is pressed at the time this warning sound stops sounding, the arm starts moving at that time. Therefore, even if the speed happens to be high when attempting to move from the vicinity of the taught position to the actual taught position, the operator will receive a warning sound that will prevent him from selecting the wrong speed. In order to realize that the user is in a state of control, he or she can release each control axis operation button 1 to stop the operation. If you move your arm at high speed without noticing the above-mentioned error as in the conventional technique, there is a risk of breaking the tip or arm of the arm.

□ As described above, this invention provides a warning sound generating device in the teaching operation device of the robot, and when high speed is selected as the operating speed of the robot's arm, each control axis of the robot is operated. When you press the operation button, does the warning sound generator generate a warning sound until just before the control axis starts operating? (force exerted), the operator should be aware of this when he or she mistakenly moves the arm at a high speed, and therefore prevent the situation from occurring due to the operator moving the arm at a high speed when it should have been moved at a low speed. I can do it.

[Brief explanation of the drawing]

Figure 1 is a block diagram of a conventional robot teaching operation device.
2 to 4 show an embodiment of the present invention, in which FIG. 2 is a block diagram of a robot teaching device, FIG. 6 is a time chart for explaining the operation, and FIG. 4 is a flow chart. It is. 1...Each control axis operation button, 2...Operation speed selection button, 1
0... Warning sound generating device. Agent Masuo Oiwa Figure 1 Figure 2...

Claims (1)

[Claims] A teaching operation device for a teaching playback robot includes control axis operation buttons for operating each control axis of the robot, and an operation speed selection button for selecting the operation speed of each control axis operated by operating the button. , a warning sound generating device that generates a warning sound, and when each of the control axis operation buttons is operated with the operation speed selected to be high by the operation speed selection button, the operation of the control axis is controlled. A teaching operation device for a robot, characterized in that a warning sound is generated from the warning sound generating device until just before the start of the warning sound.