WO1989011382A1 - Dispositif de commande de robot - Google Patents

Dispositif de commande de robot Download PDF

Info

Publication number
WO1989011382A1
WO1989011382A1 PCT/JP1989/000472 JP8900472W WO8911382A1 WO 1989011382 A1 WO1989011382 A1 WO 1989011382A1 JP 8900472 W JP8900472 W JP 8900472W WO 8911382 A1 WO8911382 A1 WO 8911382A1
Authority
WO
WIPO (PCT)
Prior art keywords
robot control
robot
operation panel
teaching
control device
Prior art date
Application number
PCT/JP1989/000472
Other languages
English (en)
Japanese (ja)
Inventor
Toru Mizuno
Ryuichi Hara
Hiroji Nishi
Original Assignee
Fanuc Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fanuc Ltd filed Critical Fanuc Ltd
Publication of WO1989011382A1 publication Critical patent/WO1989011382A1/fr

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36153—Two, several consoles, displays, panels, two different input, joystick
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36159—Detachable or portable programming unit, display, pc, pda

Definitions

  • the present invention relates to a robot control device having a portable operation unit, and in particular, to a robot control device g of this kind which is excellent in operability by an operator.
  • the operator When teaching the robot to the break-back robot, the operator guides the robot body to a predetermined work point, sequentially inputs the positions of these work points as a part of the teaching program, and furthermore, if necessary, opens the mouth port. Input the operating conditions of the program and edit the program.
  • point teaching operation the teaching of the working point and the operations related to it
  • non-point teaching operations There are roughly two types of operations, namely, operations related to the collection of points (hereinafter referred to as non-point teaching operations).
  • non-point teaching operations operations related to the collection of points
  • various operations for robot control are performed by the operator as necessary.
  • the robot control operation device of the initial type As shown in Fig. 2, various operation buttons related to large display g1 such as CRT and non-point teaching operation, etc. 2 on the front panel, and small display devices 4 such as LEDs and various devices related to the point teaching operation.
  • a portable teaching operation panel 6 having operation buttons 5 was provided. The reason for this configuration is that it is necessary to arrange a large robot control device outside the operating range of the robot body in order to avoid interference between the mouth pot control device and the mouth robot main body. This is because it is more convenient for the operator to perform point teaching near the robot body, so that the bracket operation can be performed accurately.
  • a display 2 comprising a button 2 for non-point teaching operation and the like and a liquid crystal display smaller than the large display device 1
  • a robot control device equipped with a portable teaching operation panel 6 ′ having the device 1 ′ has been used.
  • the external dimensions and weight of the teaching operation panel 6 ′ increase, and the burden on the operator who operates the operation panel while holding the operation panel increases, that is, the teaching operation panel 6,
  • the inconvenience of reduced portability has occurred.
  • a robot control device includes a robot control device main body and a first teaching operation panel having portability for performing a robot control operation related to point teaching.
  • a second operation panel separate from the first operation panel, the second operation panel having a portability for performing a robot control operation other than the operation associated with the point teaching; and Means for connecting the operation panel of (2) to the robot control apparatus main body while moving the operation panel with respect to the robot control apparatus main body.
  • the first and second operation panels for performing the mouth robot control operation related to the point teaching and the other robot control operation are provided separately from each other.
  • Robot control device ⁇ Since the robot is connected to the body so that it can move freely, the operator can perform various robot control operations near the robot body as needed, and operate the respective operation panels. The burden on the operator can be reduced without impairing the operability of the button by the operator and the display performance of the display device.
  • FIG. 1 is a schematic perspective view showing a robot control device according to an embodiment of the present invention
  • FIG. 2 is a schematic perspective view showing a conventional robot control device
  • FIG. 3 is another conventional robot control device. It is a schematic perspective view which shows a control apparatus.
  • a D-bot control device is used for a robot control device main body 3 arranged outside an operation area of a high-performance robot main body (not shown) and for an operator to perform various robot control operations.
  • An operation unit 8 is provided.
  • the operation unit 8 includes a portable teaching operation panel 6 and a separate and portable operation panel 7.
  • the operation panels 6 and 7 are connected to the robot via communication cables 10 and 9.
  • the gun is connected to the control device main body 3 so as to be movable with respect to the main body.
  • the teaching operation panel 6 has a display device 4 composed of, for example, LEDs, and various operation buttons 5 for performing teaching of a work point position and performing a robot control operation (point teaching operation) that reaches the operation point position. .
  • the teaching operation panel 6 is provided with a minimum number of buttons 5 required for performing the point 'instruction operation', and the display device 4 is used for the point teaching operation such as the work point position g data. It is sized to the minimum required to display a series of data. Thus, the teaching operation panel 6 is provided as small and light as possible as a whole.
  • the operation panel 7 has a display device 1 composed of, for example, a liquid crystal display, and various operation buttons 2 for performing mouth port control operations other than the point teaching operation.
  • Teaching mode The operation panel 7 is used less frequently during robot operation at the same time (generally, the ratio of use between the teaching operation panel 6 and the operation panel 7 is 4: 1 or 5: 1).
  • the operation panel 7 is equipped with the number of operation buttons 2 corresponding to the higher functionality of the robot, and the display device 1 is sufficient for editing programs. It is also large so that convenient information can be displayed for high-function robots. That is, the operation panel 7 is provided so as not to impair operability by the operator and display performance of the operation panel.
  • the robot controller 3 has a computer, a memory, and the like, and responds to various signals indicating the operation states of the operation buttons 2 and 5 supplied from the operation panels 6 and 7 via the cables 10 and 9. In addition to driving various actuators (not shown) of the robot body, the operating status of the robot body and the like are displayed on the display devices 1 and 4.
  • the operator moves the teaching operation panel 6 and the operation panel 7 which are movable with respect to the mouth pot control device g main body 3 and the operation panel 7 to the robot main body. Bring it to a nearby work site and operate both control panels 6 and 7 as described above.
  • the work point teaching can be performed accurately near the robot body, and unlike the case of using a robot control device of the type shown in Fig. 2, all necessary port control operations are performed by the robot body. It can be done quickly without leaving the vicinity.
  • most of the mouth pot control operations are performed via the small and lightweight teaching operation panel 6, so the operator's burden is much greater than when using the operation panel of the type shown in Fig. 3. To be reduced.
  • the operation panel 7 has a large-sized display device 1 and a number of operations-buttons in accordance with the enhancement of the functions of the bots. The operator can perform operations other than the point teaching operation on the advanced robots. It can be performed quickly and accurately via the operation panel 7.
  • the operator performs a required robot control operation via the operation panel 7 as needed during the robot rotation in a mode other than the teaching mode.
  • the operation panels 6 and .7 are connected to the control unit 3 via separate cables 10 and 9, but the operation panel 6 is connected via the cable 10 and the operation panel 7 and the cable 9. May be connected.
  • a plurality of operation panels and display devices g may be used in place of the single operation panel 7 of the above embodiment, and the functions of the corresponding portions of the single operation panel 7 may be assigned to each of them.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

Dispositif de commande de robot comportant une unité de commande présentant d'excellentes caractéristiques de portabilité et d'utilisation et dotée d'excellentes fonctions d'affichage. Des pupitres de commande (6, 7) destinés à effectuer des opérations de commande relatives à l'apprentissage de la position d'un point à usiner et d'autres opérations sont reliés au boîtier d'un appareil de commande de robot (3) via des câbles de communication (10, 9) de sorte que l'on puisse déplacer ces pupitres de commande par rapport au boîtier de l'apareil de commande de robot. L'opérateur instruit le robot par l'intermédiaire des deux pupitres de commande que l'on approche du boîtier du robot. En outre, la plus grande partie des opérations de commande du robot s'effectuent par l'intermédiaire du pupitre de commande d'apprentissage léger miniaturisé (6), ce qui allège la charge de l'opérateur. La modification d'un programme et l'introduction des paramètres de différentes actions du robot s'effectuent selon les besoins par l'intermédiaire du pupitre de commande (7) qui est pourvu d'un affichage de grandes dimensions (1) et d'un ensemble de boutons de commande (2). Cet agencement rend plus précise et plus rapide la programmation d'un robot capable de fonctions évoluées.
PCT/JP1989/000472 1988-05-26 1989-05-08 Dispositif de commande de robot WO1989011382A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP63127179A JP2548026B2 (ja) 1988-05-26 1988-05-26 ロボット制御装置
JP63/127179 1988-05-26

Publications (1)

Publication Number Publication Date
WO1989011382A1 true WO1989011382A1 (fr) 1989-11-30

Family

ID=14953628

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1989/000472 WO1989011382A1 (fr) 1988-05-26 1989-05-08 Dispositif de commande de robot

Country Status (2)

Country Link
JP (1) JP2548026B2 (fr)
WO (1) WO1989011382A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0674978A1 (fr) * 1993-10-21 1995-10-04 Fanuc Ltd. Dispositif pour robot
WO1997004370A1 (fr) * 1995-07-22 1997-02-06 Kuka Roboter Gmbh Dispositif de commande et de programmation
US5760560A (en) * 1993-10-21 1998-06-02 Fanuc, Ltd. Robot apparatus
EP3660609A1 (fr) * 2018-11-09 2020-06-03 Liebherr-Verzahntechnik GmbH Pupitre de commande

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003228405A (ja) * 2002-02-01 2003-08-15 Denso Corp 生産設備用操作盤

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50160967A (fr) * 1974-06-19 1975-12-26
JPS57121878A (en) * 1981-01-19 1982-07-29 Mitsubishi Electric Corp Controller for arc welding robot
JPS59166481A (ja) * 1983-03-07 1984-09-19 三菱電機株式会社 産業用ロボツトの操作箱
JPS6044282A (ja) * 1983-08-17 1985-03-09 三菱電機株式会社 産業用ロボツトの制御装置
JPS622304A (ja) * 1985-06-28 1987-01-08 Fanuc Ltd ロボツト言語入力可能な教示操作盤

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50160967A (fr) * 1974-06-19 1975-12-26
JPS57121878A (en) * 1981-01-19 1982-07-29 Mitsubishi Electric Corp Controller for arc welding robot
JPS59166481A (ja) * 1983-03-07 1984-09-19 三菱電機株式会社 産業用ロボツトの操作箱
JPS6044282A (ja) * 1983-08-17 1985-03-09 三菱電機株式会社 産業用ロボツトの制御装置
JPS622304A (ja) * 1985-06-28 1987-01-08 Fanuc Ltd ロボツト言語入力可能な教示操作盤

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0674978A1 (fr) * 1993-10-21 1995-10-04 Fanuc Ltd. Dispositif pour robot
EP0674978A4 (fr) * 1993-10-21 1995-11-15
US5760560A (en) * 1993-10-21 1998-06-02 Fanuc, Ltd. Robot apparatus
WO1997004370A1 (fr) * 1995-07-22 1997-02-06 Kuka Roboter Gmbh Dispositif de commande et de programmation
EP3660609A1 (fr) * 2018-11-09 2020-06-03 Liebherr-Verzahntechnik GmbH Pupitre de commande

Also Published As

Publication number Publication date
JP2548026B2 (ja) 1996-10-30
JPH01301083A (ja) 1989-12-05

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