JPS60170811U - robot teaching device - Google Patents
robot teaching deviceInfo
- Publication number
- JPS60170811U JPS60170811U JP5419084U JP5419084U JPS60170811U JP S60170811 U JPS60170811 U JP S60170811U JP 5419084 U JP5419084 U JP 5419084U JP 5419084 U JP5419084 U JP 5419084U JP S60170811 U JPS60170811 U JP S60170811U
- Authority
- JP
- Japan
- Prior art keywords
- robot
- teaching device
- robot teaching
- movement
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Numerical Control (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
第１図はロボットの移動方向の指定を行う際に用いる座
標軸について示した斜視図、第２図は本考案に従う教示
装置を実施するための装置の構成の一実施例を示すブロ
ック図、第３図は本考案による教示装置の一実施例を示
す斜視図、第４図は本考案による教示装置をロボット制
御装置の操作卓に組み込んだ実施例を示す斜視図である
。
図において１は制御装置、２はロボット、１０は教示装
置操作卓、１１は３次元座標入力装置、１２は座標系選
択スイッチ、１３は移動方向選択スイッチ、１４は座標
系表示器、１５は移動方向表示器、１６は移動方向表示
板、２０はロボット制御装置の状態表示器、２１はロボ
ット制御装置への命令指示を行うキーボードである。
また、Ｘ、Ｙ、ｚ、に、ｌ９ｍは基準座標系における直
交座標軸及び各軸まわりの回転方向を示し、ａ、 Ｓ、
ｎ、□α、β、γは手先座標系における直交座標軸及
び各軸まわりの回転方向を示したものである。Ａは３次
元座標入力装置における操作レバーの左右位置、Ｂは同
じく前後位置、Ｃは同じく回転角を示す。FIG. 1 is a perspective view showing the coordinate axes used when specifying the moving direction of the robot, FIG. 2 is a block diagram showing an example of the configuration of a device for implementing the teaching device according to the present invention, and FIG. FIG. 4 is a perspective view showing an embodiment of the teaching device according to the present invention, and FIG. 4 is a perspective view showing an embodiment in which the teaching device according to the present invention is incorporated into a console of a robot control device. In the figure, 1 is a control device, 2 is a robot, 10 is a teaching device console, 11 is a three-dimensional coordinate input device, 12 is a coordinate system selection switch, 13 is a movement direction selection switch, 14 is a coordinate system display, and 15 is movement A direction indicator 16 is a movement direction display board, 20 is a status indicator for the robot control device, and 21 is a keyboard for issuing commands to the robot control device. In addition, in X, Y, z, l9m indicates the orthogonal coordinate axes in the reference coordinate system and the rotation direction around each axis, a, S,
n, □α, β, and γ indicate the orthogonal coordinate axes and the rotation direction around each axis in the hand coordinate system. A indicates the left and right positions of the operating lever in the three-dimensional coordinate input device, B indicates the front and rear positions, and C indicates the rotation angle.
Claims (1)
をロボット制御装置に与える際、ロボットの持つ多自由
度による複数の移動方向から一組の独立な方向を選択す
る選択スイッチと、−組の前記方向に対する移動速度及
び移動方向の正負を入力する３次元座標入力装置を具備
することを特徴とするロボット教示装置。In a robot motion teaching device, when an instruction for robot movement is given to a robot control device, a selection switch for selecting a set of independent directions from a plurality of movement directions due to the multiple degrees of freedom of the robot; A robot teaching device comprising a three-dimensional coordinate input device for inputting moving speed and sign of moving direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5419084U JPS60170811U (en) | 1984-04-13 | 1984-04-13 | robot teaching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5419084U JPS60170811U (en) | 1984-04-13 | 1984-04-13 | robot teaching device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60170811U true JPS60170811U (en) | 1985-11-12 |
Family
ID=30575726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5419084U Pending JPS60170811U (en) | 1984-04-13 | 1984-04-13 | robot teaching device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60170811U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016068236A (en) * | 2014-10-01 | 2016-05-09 | 株式会社デンソーウェーブ | Robot operation device, robot system, and robot operation program |
| JPWO2017043583A1 (en) * | 2015-09-11 | 2018-07-05 | ライフロボティクス株式会社 | Robot equipment |
-
1984
- 1984-04-13 JP JP5419084U patent/JPS60170811U/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016068236A (en) * | 2014-10-01 | 2016-05-09 | 株式会社デンソーウェーブ | Robot operation device, robot system, and robot operation program |
| JPWO2017043583A1 (en) * | 2015-09-11 | 2018-07-05 | ライフロボティクス株式会社 | Robot equipment |
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