JPS59214586A - Controller for industrial robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] This invention relates to an improvement of the hand operation box 9 hand teaching box, and by changing the surface sheet, it is possible to use the same one for the hand operation box 1 hand teaching box. This is related to control equipment for industrial robots.

FIG. 1 is a diagram showing a control device for an arc welding robot using a conventional hand-held operation box and hand-held teaching box. In this figure, numeral 1 is a light emitting diode that displays the step number of the program during robot operation. 2 is a flat keyboard switch (hereinafter abbreviated as KBS) for inputting teaching position data to the control device; 3 is a surface sheet with a printed surface for the hand teaching box having a waterproof structure. Reference numeral 4 denotes a hand-held teaching box which houses the light emitting diode 1 and KBS 2 and has a top sheet 3 attached to its surface. Reference numeral 5 denotes an operation switch consisting of a push button switch or a toggle switch for inputting welding conditions such as welding speed and welding current when performing arc welding. Reference numeral 6 denotes a hand-operated operation box to which the operation switch 5 is attached. Cables 1 and 8 connect the hand teaching box 4 and the hand operating box 6 to an electrical control unit 9.

Next, the operation will be explained. First, hold the hand teaching box 4 before welding, move the robot's arm along the target workpiece to the desired position by pressing the movement command switch in the KBS2 in the hand teaching box 4, and move the arm of the robot to the desired position. The position data is stored in the control unit 9. By repeating such operations, welding conditions are taught for the working position of the robot's arm and the welding portion of the target workpiece. Next time I'm busy, I'll grab the control box 61 and try some actual welding. While checking the welding condition,
Using the operation switch 5 consisting of a push button switch or toggle switch on the handheld operation box 6 online, the welding speed and current are memorized in the control unit 9 to obtain the optimum welding conditions. Trial operation is performed as described above. Once the optimum conditions for welding are determined, welding work begins.

Conventional arc welding robot control devices are configured as described above, so when changing welding conditions online, for example, the user holds the hand control box 6 with his left hand and operates the control switch 51 with his right hand. It had poor operability as it required both hands to be busy at the same time. In addition, two types of devices are required separately for the hand operation box 6 and the hand teaching box 4.
There was a drawback that maintenance such as replacement and repair was poor.

This invention was made in order to eliminate the drawbacks of the conventional ones as described above, and has a common hand operation box and a hand teaching box, and furthermore, the hand operation box's operation switch KKB.
By using S&, the purpose is to provide an industrial robot control device with good operability, maintainability, and productivity. DESCRIPTION OF THE PREFERRED EMBODIMENTS The drawings representing one embodiment of the present invention will be described below.

FIG. 2 is a block diagram showing an embodiment of the present invention. In this figure, 1 to 4 and 7 to 9 are the same as those in FIG. 1, 10 is the same light emitting diode as light emitting diode 1 in FIG.
, 12 is a printed surface sheet for the hand operation box, and 13 is a hand operation box made of the same material as the hand teaching box 4.

3(a) and 3(b) are diagrams showing the surface sheet 14 which can be used for both the hand-held teaching box 4 and the hand-held operation box 13VC. (b
) is printed on the front sheet 12 of the hand control box 13.

FIGS. 4(a) and 4(b) are diagrams showing a transparent uneven sheet 14 placed on the top sheets 3 and 12 described above, and this uneven sheet 14 has a position corresponding to the printing position 1 of the top sheet 3.12. An uneven portion is formed.

As shown in FIG. 2, by simply making the hand operation box 13 the same shape as the hand teaching box 4, the robot can be operated in exactly the same way as the conventional robot. In addition, the switch part that is not used in KBSll for the hand control box 13 is the 3rd switch part.
As shown in Figure (b), the switch part is not printed on the surface sheet M2 for the hand control box 13. In addition, by placing the uneven sheet 14 shown in FIG. 4 on each surface sheet 3.12, the operator can easily confirm the position of the KBSll, making it easier to perform the suppression operation. Can be done.

In the above embodiment, a control device for an arc welding robot has been described, but the present invention may be applied to an assembly robot or a dedicated industrial machine, and the same effects as in the above embodiment can be obtained.

As explained above, in the present invention, the hand-held operation box and the hand-held teaching box are made common, and the top sheet is made replaceable, thereby improving maintainability and productivity.

Furthermore, by placing a concavo-convex sheet on the surface sheet of the hand-held operation box and hand-held teaching box, the switch to be pressed can be easily confirmed, which has the effect of providing good operability and high reliability.

[Brief explanation of drawings]

Fig. 1 is a diagram showing a conventional arc welding robot control device, Fig. 2 is a diagram showing a control device of an arc welding robot according to the present invention, and Figs. 3 (a) and (b) are a hand-held teaching box and a hand-held operation. Figure 4 showing the printed surface sheet of each box.
Figures (a) and (b) are a plan view and a sectional view taken along the line AA of the uneven sheet placed on the topsheet. “In the figure, 1.10 is a light emitting diode, 2.11 is a KBS
, 3 and 12 are surface sheets, 4 is a hand-held teaching box, 1.8 is a cable, 9 is a control unit, 13 is a hand-held operation box, and 14 is an uneven sheet. Note that the same reference numerals in Figure 1 indicate the same or corresponding parts. Agent: Masuo Oiwa (2 others; Figure 1, Figure 2, Figure 3, Figure 4 (b)) □

Claims (1)

[Scope of Claims] (Industrial technology in which a control unit is connected to a control unit by means of a case, in which a control box at hand consisting of a flat keyboard switch and a surface sheet made of waterproof i-structure and a teaching box at hand having the same structure as the control box at hand are connected to each other by means of cables. In the control device of the robot for
A control device for an industrial robot, characterized in that the hand operation box and the hand teaching box use the same flat keyboard switch, and each is provided with a removable surface sheet on which the necessary switches are printed. (2) The surface sheet of the flat keyboard switch of the hand-held operation box and the hand-held teaching box is characterized in that a transparent uneven sheet is removably provided thereon with uneven portions corresponding to the printed positions of the surface sorting. The scope of claim No. (
1) A control device for an industrial robot according to item 1).