JPS6020881A - Robot-controller - 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 Technical Field of the Invention The present invention relates to improvements in robot controllers.

[Prior art]

The robot controller (ζ) commands and controls the position and posture of the robot's hands, etc., and performs processing and assembly based on programs input through teaching. Machining and IR+ setting can be performed automatically and electrodynamically. However, inputting programs for teaching requires the operator to be near the robot, which is dangerous.
Nowadays, second language input of programs is proposed, and such systems require program debugging capabilities.

However, the conventional system did not have the functionality necessary for debugging, so the only option was to try operating the actual robot, as described below.

FIG. 1 shows an example of a program input format using conventional teaching.
Operate the teaching pendant 6 at a position close to the
It was necessary to input the program while moving the robot body 2. In this way, it is often necessary to try moving the actual robot, which is very dangerous in the case of large robots.

[Summary of the invention]

The present invention has been made in view of the above-mentioned conventional problems.
The purpose is to provide a robot controller that can interactively display the robot's status in two or three dimensions and debug its operating program.

To achieve the above object, the present invention provides a robot controller including a display that dynamically displays the state of the robot, which includes: - displaying the state of the robot two-dimensionally or three-dimensionally on the display; The displayed robot is operated according to a motion program, its viewpoint can be arbitrarily changed, and the robot arm has a function of displaying or erasing the trajectory of the tip of the robot arm at any time.

[Embodiments of the invention]

Hereinafter, preferred embodiments of the present invention will be described based on the drawings. FIG. 2 shows an input form of a program using the system according to the present invention. , a display 5 attached to the robot controller 4 placed at a distance from the robot body 2
The program is input from the keyboard 6 or the teaching box 6 using the . And robot body 2
First, the robot displayed on the display 5 is operated without moving, and after checking its movement, the robot body 2 is operated. In this way, the robot body 2 is operated without getting close to the robot body 2, and after checking the correctness of the robot's operation, safety is improved, and the program can be checked quickly, so production Sexuality also improves.

FIGS. 6, 4, and 5 show on-display displays according to embodiments of the present invention, in which:
The robot's status is displayed three-dimensionally. For example, the robot movement program rMOVE A TOBJ
That is, when a command to move from point A to point B is executed, the display first shows something like FIG. 6, without indicating that the tip of the robot arm is at point AK6. Next, when you start the program, the robot 10 on the display
starts operating, reaches point BK while moving smoothly, and is finally displayed as shown in FIG. At this time, the locus 11 of the tip of the robot arm can also be displayed, as shown in FIG. 4, by designation. As mentioned above, by checking the movement of the robot or the trajectory of the tip of the robot arm on the display, you can
It can be seen that 10 grams of robot movement is the desired total movement. In addition, when checking, it is easy to change the viewing angle by operating peripheral devices such as a track ball, as shown in Figure 5, so it is easy to grasp the three-dimensional position. have By operating the robot after confirming the above, the program can be created safely and efficiently.

Note that in the present invention, it is also possible to use a color display as the display. If a color display is used, the color can be changed for each piece of information. For example, in the embodiment, if the robot is displayed in green and the trajectory is displayed in yellow, there is an advantage that the display on the screen is easy to see.

In addition, although the example shows the case where the robot trajectory is displayed, in addition to this, the programmed point sequence,
It is also possible to display coordinate value information, workpieces or parts to be assembled, work environment information, etc. in an overlapping manner.

〔Effect of the invention〕

As described above, according to the robot controller according to the present invention, information such as the state of the robot can be displayed two-dimensionally or three-dimensionally, and the viewing angle can be changed interactively. Therefore, the operator can easily understand the overall or partial relationship, and the operator can easily check and monitor the operating program.

Furthermore, since the present invention can be implemented at low cost, it is particularly effective for robot controllers having a language input function.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram of a conventional input form, and Fig. 2 is an explanatory diagram of an input form of a system according to the present invention.
2 is a robot body, 6 is a teaching box, 4 is a robot controller, 5 is a graphic display, and 6 is a keyboard. Furthermore, FIGS. 3, 4, and 5 are explanatory diagrams showing displays on a display according to an embodiment of the present invention. In the figures, 10 is a display of the robot body, and 11 is a display of the robot body.
is the tip trajectory of the robot arm. Note that the same reference numerals indicate the same or equivalent parts. Agent Masuo Oiwa Figure 1 Figure 2 Figure 3 Figure 4:j Figure 5

Claims (1)

[Claims] (1) A robot with a graph ink display.
A robot controller characterized by having a video display function. (2. The robot controller according to claim (1) is characterized by having a function of displaying the robot two-dimensionally or three-dimensionally on the display, moving it in real time, and checking the program. Robot controller. (3) In the robot controller according to claim (2), it is possible to arbitrarily rotate or change the viewpoint of the robot displayed on the display by operating a peripheral device such as a track ball. Robot controller characterized by: (4) The robot controller according to claim (1), (2) or (3), characterized by having a function of displaying the tip trajectory of the robot arm on the display. robot controller.