KR850002097Y1 - Controller of robot - Google Patents

Abstract

No content.

Description

Robot control device

1 is a perspective view showing the configuration of a conventional robot control apparatus by N / C method.

2 is a control block diagram of the control device of FIG.

3 is a perspective view showing the configuration of a conventional robot control apparatus using a teaching play back control method.

4 is a control block diagram of the robot controller according to the teaching playback control method shown in FIG.

Figure 5 is a perspective view showing the configuration of the N / C robot control apparatus according to an embodiment of the present invention device.

Figure 6 is a perspective view showing the configuration of the robot control device of the teaching playback control method including another embodiment of the present invention device.

* Explanation of symbols for main parts of the drawings

1: Robot controller 2: CRT (Cathode Ray Tube display unit

3: Key board switch data input unit

4: operation input unit 10: input unit

11: central processing unit 12: storage unit

13: display device 28: machine control buffer (Buffer)

29: robot body 30: robot peripheral device

41: control panel 42: teaching box

51, 52, 61: cable 53, 54, 62: connector

The present invention relates to a control device of the robot (Robot).

Particularly, a robot of a numerical control method (hereinafter referred to as N / C method) that stores the position data of a point and automatically operates the robot from the stored point to the point, or teaches the position data of the point by actually moving the robot, The present invention relates to a robot control apparatus of a teaching play back control method that automatically operates a robot according to the teachings.

In recent years, industrial robots such as assembly robots or arc welding robots have been widely used for energy saving and manpower saving in factories.

These robots are controlled by the N / C method or the teaching playback control method described above.

1 shows a perspective view of the robot control apparatus according to the N / C system, and FIG. 2 shows a control block of the robot control apparatus according to the N / C system shown in FIG.

1 and 2, reference numeral 1 denotes a control unit 2 of the robot; a display unit such as a CRT (Cathode Ray Tube) mounted on an outer periphery of the controller 1; and (3) a key board switch (Key). The data input unit 4 made of a board switch or the like is an operation input unit made of a switch or the like, and constitutes the input unit 10 by the data input unit 3 and the operation input unit 4.

11 is a central processing unit including a CPU (Central Processing Unit) 21 and a control program, (12) a storage unit having a position data storage unit 23 and a work content data storage unit 24, (13) ) Is a display device composed of a display control buffer 27 and a CRT 2.

Furthermore, the 28 is a machine control buffer, and transmits data to the robot body 29 and the peripheral device 30 of the robot.

In the N / C type robot control apparatus configured as described above, the data input unit 3 inputs position data and work content data, and is composed of, for example, a keyboard switch or the like.

The input signal from the data input unit 3 is transmitted to the position data storage unit 23 of the storage unit 12 via the input control buffer 26, and the job content data is stored in the job content data storage unit ( Each is remembered.

The data stored in the storage unit 12 is displayed on the CRT 2 via the display control buffer 27 by the central processing unit 11 including the CPU 21 and the control program 22.

On the basis of the instruction from the operation input unit 4 holding the switch for starting and stopping operation of the robot after inputting desired position data and work content data from the data input unit 3 to the storage unit 12. Therefore, data necessary for the Robert operation are sequentially sent from the machine control buffer 23 to the robot body 29 and the peripheral device 30, and the robot body 29 and the peripheral device 30 are performing the desired operation.

3 is a perspective view of the robot controller according to the teaching playback control method, and FIG. 4 shows a control block of the robot controller according to the teaching playback method in FIG.

In this control method, the robot main body 29 is operated by the input data from the teaching box 42, the robot is positioned at a desired position, and the teaching box 42 teaches the point position.

Furthermore, the point position data input by the teaching operation is stored in the position data storage section 23.

Next, the work content data to be executed in each of the unnamed points is stored in the work content data storage section 24 by the data input section 3 via the input control buffer 26.

Each data stored in the storage unit 12 is controlled by the central processing unit 11 similarly to the robot control apparatus of the N / C system described above and displayed on the CRT 2 via the display control buffer 27.

After inputting the desired position data and work content data, the operation of the operation input unit 4 or the like which causes the robot body 29 to perform a playback operation is the same as in the case of the robot control apparatus of the N / C system described above.

Moreover, in FIG. 3 and FIG. 4, the same code | symbol is attached | subjected to FIG. 1 and FIG. 2, and the description is abbreviate | omitted.

The conventional control apparatus 1 is comprised as mentioned above.

The operator needs to frequently operate the data input unit 3 and the operation input unit 4 of the control device 1, so that the robot main body 29, the peripheral device 30, the control device 1, and the like are located at adjacent positions. Arrangement is inevitable.

However, since the control device 1 itself is a large size having a size equivalent to that of a human being, and since the control device 1 cannot be disposed in the operating area of the robot body 29, the robot body 29 and the peripheral device 30 There is a drawback that it is difficult to make the control and control device 1 the most efficient and correlated arrangement.

The present invention is devised to eliminate the above-mentioned drawbacks, and an object of the present invention is to provide a robot control device which can be arranged in the most efficient and correlated configuration with the robot main body and peripherals.

Another object of the present invention is to provide a control device of the robot that can reduce the amount of movement of the worker to pray for improved work efficiency.

Another object of the present invention is to provide a robot control apparatus that can be compact and lightweight.

In order to achieve the above object, the present invention provides a robot control apparatus including a control panel having a storage unit and a central processing unit, an input unit and a display unit including a data input unit and an operation input unit, and a control panel by cables and connectors. It is connected detachably.

An embodiment of the present invention will be described with reference to the drawings.

5 is a perspective view showing an embodiment of the present invention and a robot control apparatus according to the N / C method.

In the drawings, the same reference numerals are given to the same or corresponding parts as in FIGS. 1 to 4.

In this control apparatus, the storage unit and the central processing unit are incorporated in the control panel 41.

The desired position data or work content data is input to the storage unit built into the control panel 41 by the data input unit 3.

The input unit is provided with an operation input unit 4 having input means for starting, stopping and operating the robot, and a data input unit 3 having input means for inputting position data or work content data to be stored in the storage unit. It is.

In the data stored in the storage unit in the control panel 41, the desired data is displayed on the CRT 2 by the operation of the data input unit 3.

The position control data and the work content data, which are input from the data input unit 3 and stored in the storage unit built in the control panel 41, are transferred to the robot main body 29 and the peripheral device 30 according to the control program of the central processing unit. The output via 28 is only output by the command from the operation input unit 4.

In the present embodiment device, the data input unit 3 and the CRT 2 are integrally formed, and they are detachably installed on the control panel 41 by the cable 51 and the connector 53 installed at the tip thereof, and are portable. It is.

Similarly, the operation input unit 4 is also attached to the control panel 41 by a cable 52 and a connector 54 so as to be removable.

Therefore, the operator places the CRT (2), the data input unit (3) and the operation input unit (4) in a position adjacent to the robot body 29 and the peripheral device 30, and arranges the control panel 41 in a space away from the robot body. There is no frequent return to the control panel 41, and the robot can be instructed to the desired work near the robot.

In addition, when the desired position data and work content data are established and the robot is operated using the data stored in the storage unit, the control panel 41 connects the CRT 2 and the data input unit 3 to the cable ( 51) The robot can be moved away from the connector 53 at the front end and in accordance with a command issued from the operation input unit 4. FIG.

Furthermore, in the above embodiment, the case of the control device of the robot by the N / C method has been described. However, even if the control method is the teaching playback control method, as shown in FIG. 6, the teaching box 42, Only the cable 61 and the connector 62 are added, and the same effects as in the above embodiment are obtained. Moreover, in the above embodiment, although the display portion and the input portion are shown as being integrated, they may be provided separately from each other.

As described above, according to the present invention, since the control device of the industrial robot is connected to the control panel and the control panel by a cable and is configured as an input unit and a display unit that can be detached and connected by a connector, the robot body, the input unit, and the display unit are disposed adjacent to each other. Furthermore, once the data stored in the storage unit is used to operate the robot main body and the peripheral device according to the instruction from the operation input unit, the data input unit and the display unit can be removed by the connector from the control panel.

As a result, it is possible to improve the work efficiency while reducing the amount of movement of the operator, and to reduce the size and weight of the device when working on the robot using the known data.

Claims (7)

A data input section 3 having an input means for inputting the position data and work contents data of the robot, an operation input section 4 having an input means for starting, stopping or operating the robot, and input data of the data input section Storage unit 12, a display unit 13 in which data output from the storage unit and input data from the data input unit are displayed in response to the work contents during the automatic operation of the robot, and the data input unit 3 And a central processing unit 11 for controlling the operation input unit 4, the storage unit 12, and the display unit 13, and the like. ) Is stored in the storage unit 12, and the robot is automatically operated from the point of the position data stored in the storage unit to the point by the input signal from the operation input unit 4 to automatically perform the desired work. In the robot control apparatus which simultaneously displays the data corresponding to the work contents output from the storage unit on the display unit 13, the storage unit 12 and the central processing unit 11 are controlled by the control panel 41. The data input unit 3, the operation input unit 4, and the display unit 2 to the control panel 41, and to the cables 51, 52, 61 and connectors 53, 54, 62; Robot control device, characterized in that the removable connection through. The control apparatus according to claim 1, wherein the storage unit (12) is constituted by a position data storage unit and a work content data storage unit. The robot control apparatus according to claim 2, wherein the display unit (2) is constituted by a CRT. The robot control apparatus according to claim 3, wherein the central processing unit (11) is constituted by a CPU and a control program. Robert's control device according to claim 4, characterized in that the operation of the robot and the desired work are transmitted to the robot via a machine control buffer (28). The method according to claim 1, characterized in that the data input unit 3 and the display unit 2 are integrated, and the integrated configuration and the operation input unit 4 are connected to the control panel 41 by different connectors and cables. Robert's controller. The robot control apparatus according to claim 1, wherein a teaching box (42) is provided for teaching operation of the position data of the robot.