JPS61112210A - Teaching device of industrial robot - Google Patents

Abstract

PURPOSE:To facilitate an easy teaching job with a teaching box by replacing the speed No., welding No. and timer No. on a teaching point into the condition No. en block and substituting a constant for said condition No. CONSTITUTION:The step No., welding No., speed No., timer No., etc. are re ferred to as P(x), Q(x), R(x) and S(x) respectively between Points A and D.Then constants Pi, Qi, Ri and Si are set to those said Nos. respectively. Here (x) shows a certain point between points A and D. The only No. referred to as T(x) is set in addition to the step No., and the constants Pi, Qi, Ri and Si are set into the number T(x). In this case, various data set to a teaching box are sent to a RAM by a transmission buffer and a reception buffer. The areas where the number T(x) and constants P, Q, R and S should be set are previously allocated in the RAM. These constants are stored in the order of the number of T(x).

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to the simplification of a teaching method when HC teaching an industrial robot.

[Background of the invention]

Conventionally, when teaching welding, constants were entered in the welding magic, speed shop, and timer categories. but,
With these methods, when it comes to simplifying welding,
There was no consideration.

[Purpose of the invention]

An object of the present invention is to facilitate the teaching work of an industrial robot program using a teaching box.

[Summary of the invention]

In conventional industrial robot teaching, the speed and welding timer height were set at each teach point, and a constant was substituted for the black value. In this invention, we replaced all the timer planes with conditioners and substituted constants for this bird.

[Embodiments of the invention]

Explain the drawing by layering it with sand.

This robot includes a robot body 1, a control device 2 for executing the robot body, and a teaching box 3 for teaching the control device necessary data for playing back the robot body. The teaching box 3 is one element of the control device 2.

FIG. 2 shows the operation surface of the second teaching box. FIG. 3 shows the operation surface of a conventional teaching pendant having a similar configuration. Moreover, FIG. 4 shows the contents of actual teaching.

In FIG. 4, the position teaching button and condition height are set at point A, and the position teaching point and condition height are similarly set at points B, 0, and D. In this example, 4 conditions A are required, but there is no need to set other melons. If you want to insert a timer arc at point B, you only need to set the timer time, welding current, voltage, and speed. This makes teaching work more efficient and teaching data easier to change than conventional methods. For example, even when setting or changing a constant number, the desired constant can be set by pressing the + or - button in the column to be changed.

In this example, welding was performed, but a similar method can be used when teaching assembly work.

Next, as a supplementary explanation, the usage and means will be explained. First, the conventional method and the method of this example will be compared. 4th □□□
, from point A, step shop welding shop, speed shop, timer i, etc. at al" (x)s Q (Xl-R(
xl.

8 (x), and the constant set to black is Pi,
Q.i.

Let R1 and EIi. Here, X is any point from point A to point D.

In the conventional method, in addition to the step height from point A to point D, P (X
i, Q, (xl, R(X), B (:c
Set 1 rot, boil it with Pi, Qi, R1,81
Set constants for . The present invention provides T(X
Only a plane called l is set, and constants Pi, Q, i,
This is a method of setting R1,81.

The state is shown in FIG. In the conventional method, at point A, put P into the black of P(A), and put Ql into the boiling point of Q, (At).
, put R1 in the side of R (AI), and put S (in the far side of AI). In this way, we are dealing with multiple constants for multiple blacks. In this example, ,P.

Input the constant of Qll R1,s. Like this 1
This method differs from the conventional method in that multiple constants are set for one bird.

In this case, various data set in the teaching box are sent to the RAM by a transmission buffer and a reception buffer. This situation is shown in FIG. The data set in the teaching pendant is first sent to a buffer and then sent to KRAM. In the RAM, the constants of A P, Q, , R, and S of T (xl) are allocated in advance, and the constants are stored in the order of the houses of T (x).

On the other hand, when sending data from the RAM to the teaching pendant, the constants are sequentially sent from the first row of T (xl) using the opposite method. ing.

I will provide further explanation.

The teaching box 5 shown in FIG. 2 has four display screens. When the "display switching" button is pressed, the indicator lights (light emitting diodes) of displays 1 to 3 are selectively switched, and any one indicator light, for example, the indicator light of display 2, is turned on. If the line of display 2 shows the condition ``speed per second (cm/ge c)
J rmin speed (cm/m1n) J [timer (
sec)J is displayed. Each of these constants is displayed on the display screen.

Furthermore, when the "display switching" button is pressed, the lighting of the lighting lamp is switched to display 3, and various constants of that line are displayed.

To change a specific constant displayed on the display screen -
Press the "+" and "-" buttons attached to that display screen. If you keep pressing the button, the constant value will change continuously in the "+" or "-" direction, so if you release your hand from the button at the desired point, you can see if the constant is fixed or not. : To be done.

The "input store" and "output store" in Figure 2 are information from external devices (
For example, it is an input of information (for example, work setting completion) and an output of information (for example, welding completion) to an external device, and indicates the code of the target external device or its terminal.

"P current" in FIG. 2 is used to display the pulse current during pulse welding.

It is for convenience to display "speed per second" and "speed per minute"separately; they are actually the same constant number, and 60 or 1
Multiply by /60 and display on the display screen 0 "Second"("Minute"),"Timer""Current J rP
Zero current is included in "Condition Black". "Condition boiled""Inputblack"
“Output shop” is attached to “step shop”.

"Step Boiled" is assigned a number from 0 to 999 in order starting from 0. For example, in a 300 step program, 0~
A 2990 number is assigned to n@ and never duplicates. One "step height" indicates one teach point, but this teach point may be used in a later "step genus."

In order to add new teaching data of 300 step shops next to 299, after setting the necessary constants etc., press "Add" and "Teach".

The positional information of the teaching point at this time is data on the current posture of the robot body 1.

For example, to delete the data of steps A2 and 5, press the "Delete" and "Teach" buttons after displaying 245 in "Step Shop".

For example, in order to change the data in step Ja7d5, the same operation as the additional teaching described above is performed. At this time, K does not need to press the "Add" button. but,"
Unless the button ``Change position'' or ``Change condition'' is pressed, the change in position or condition attribute will not be executed. this is"
This is to distinguish handling by determining whether the "position change" or "condition change" buttons are pressed when the "teach" button is pressed.

One ``step shop'' is accompanied by one ``condition shop.'' This "conditional rot" is a number from 0 to 99. However, one "conditioner" does not necessarily correspond to one "stepper". For example, ``Condition shop'' of ``Step ni'' 45 is 16, and ``Condition black'' of ``Step ni'' 64 is also 16.
Sometimes it becomes.

When setting the number of legs for the latter ``Step Shop'' 64, just set the single busy ``Condition B'' to 16.
,the law of nature,.

Enough. Also, if you change the constants such as "speed per second" and "current" attached to the "conditioner" 16, this change will be effective for any of the "steps AJ'15.6A".

The RAM in Figure 6 is for the robot control panel 10, and its C
This is memory that can be accessed by the PU. The display of this memory table is for convenience; it is actually a table of "condition & J (T(x))" corresponding to "step height" and "
Data is stored divided into buttons, such as a table of conditions corresponding to "condition name".

The "timer" constant indicates the length of time that the robot body 1 remains stationary at the position of the relevant step, and the robot body 1 reaches the step position after a time equivalent to the timer constant has elapsed. , starts moving toward the next step position. This is used in weaving welding, which is performed while swinging from side to side, and when the welding torch is stopped at the left and right ends for a certain period of time, such as in an end-point stopping method.

[Effects of the invention J (a) New functions According to the present invention, a new item called condition height is provided, with each constant of working speed, bath contact condition, and timer as one condition.〇(b) Improvement in performance and efficiency According to the present invention, an improvement has been made in the conventional teaching work, which did not take into account the ease of teaching work.

e→ Economy and Simplification According to the present invention, in terms of simplifying the teaching work, it is improved by several steps compared to the conventional method. Having this conditioner makes it possible to change the working speed, welding conditions, and even timer time 1, which greatly helps in simplifying the process.

[Brief explanation of drawings]

FIG. 1 is a configuration diagram of an industrial robot according to the present invention, FIG. 2 is a plan view showing the operating surface of the teaching box, and FIG. 3 is a plan view showing the operating surface of the conventional teaching box. 8g5 is an explanatory diagram showing the teaching steps, FIG. 8g5 is an explanatory diagram showing the push button operation of the teaching box, and FIG. 6 is an explanatory diagram showing the movement of data. 1 in □□□ represents the robot body, 2 represents the control device, and 3 represents the teaching box. Engraving of 100 figures (no changes within 22) Easy 1 figure $4 z 5th figure 6 figure 11

Claims (1)

[Claims] 1. When teaching a program to an industrial robot,
A teaching device for industrial robots that enables teaching by replacing each of the multiple constants on the teach point as one condition. 2. In the above item 1, when teaching a program to an industrial robot, each of the plurality of constants on the teach point is set to condition No. A teaching device for industrial robots that can now be used for teaching.