WO1989011382A1 - Robot control apparatus - Google Patents
Robot control apparatus Download PDFInfo
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- 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
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- WO
- WIPO (PCT)
- Prior art keywords
- robot control
- robot
- operation panel
- teaching
- control device
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- 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.)
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- 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
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- 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.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
明 .細 害 Akira.
ロ ボ ッ ト 制 御 装 置 Robot control device
技 術 分 野 Technical field
本発明は、 可搬性の操作部を有するロボッ ト制御装置 に関し、 特に、 オペレータによる操作性に優れたこの種 のロボッ ト制御装 gに関する。 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.
背 景 技 術 Background technology
ブレイバック式ロボッ トへの教示において、 オペレー タは、 ロボッ ト本体を所定の作業点に誘導してこれら作 業点の位置を教示プログラムの一部として順次入力し、 さらに必要に応じて口ポッ トの動作条件の入力およびプ ログラムの編集を行う。 このように、 ロボッ トへの教示 時、 作業点教示及びこれに閬連する操作 （以下、 ポイン ト教示操作という） と、 ロボッ ト の動作条件に関する各 種設定値および指令データの入力ならびにブログラムの ^集とに関連する操作 （以下、 非ポイン ト教示操作とい う） との、 大別して 2種類の操作が行われる。 そして、 上述のロボッ ト制御用の操作が行われる教示モー ド以外 の夫々の運転モー ドにおいてもオペレータによ りロボッ ト制御のための各種操作が必要に応じて行われる。 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. In this way, when teaching the robot, the teaching of the working point and the operations related to it (hereinafter referred to as “point teaching operation”), the input of various set values and command data related to the operating conditions of the robot, and the program There are roughly two types of operations, namely, operations related to the collection of points (hereinafter referred to as non-point teaching operations). Also, in each operation mode other than the teaching mode in which the above-described operation for robot control is performed, various operations for robot control are performed by the operator as necessary.
ロボッ. ト制御操作用の装置は、 初期のタィプのものに あっては、 第 2図に示すように、 C R T等の大型表示装 g 1 および非ポイン ト教示操作等に関係する各種操作ボ タン 2を正面パネルに備えた装置本体 3と、 L E D等の 小型表示装箧 4およびボイン ト教示操作に関係する各種 操作ボタン 5を備えた可搬性-の教示操作盤 6とを備えて いた。 斯かる構成にした理由は、 口ポッ ト制御装置と口 ボッ ト本体との干渉を避けるために大型のロボッ ト制御 装置本体をロボッ ト本体の動作範囲外に配設する必要が ある一方で、 オペレータがロボッ ト本体の近くでボイン ト教示を行える方が便宜でかっこの操作を正確に行える からである。 しかしながら、 この種のロボッ ト制御装置 によれば、 オペレータは教示操作盤 6を用いてロボッ ト 本体の近くでポイン ト教示操作を行いつつ、 必要に応じ てロボッ ト制御装置本体 3側に戻って該制御装置本体 3 の操作ボタン 2を操作しなければならず、 作業効率が低 下するという不都合があつた。 As for 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. However, according to this type of robot control device, the operator returns to the robot control device main body 3 side as necessary while performing a point teaching operation near the robot main body using the teaching operation panel 6. The operation button 2 of the control device main body 3 must be operated, and there is a disadvantage that work efficiency is reduced.
このような不都合を解消するため、 ポイン ト教示操作 用ボタン 5に加えて、—非ポイン ト教示操作等用のボタン 2と大型表示装箧 1 より小型の、 液晶ディ スプレイ等よ りなる袠示装置 1 ' とを有する可搬性の教示操作盤 6 ' を備えるロボッ ト制御装置が用いられるようになつた。 しかしながら、 ロボッ ト の高機能化に伴い、 教示操作盤 6 ' の外形寸法および重量が増大し当該操作盤を持ち逞 びつつ操作を行うオペレータの負担が増大するという、 すなわち、 教示操作盤 6 ， の可搬性が損なわれるという 不都合が生じている。 しかし、 斯かる不都合を解消する ため、 操作ボタン 2， 5および表示装置 1 ， の小型軽量 化を図ることは困難である。 そして、 これを実現し得た としても、 これら操作ボタンを小型にするとオペレータ による操作性が低下し、 また、 表示装 g l ' を小型にす るとその表示性能が低下し、 装置全体としての実用性が 損なわれるに至る。 In order to eliminate such inconvenience, in addition to the button 5 for the point teaching operation, 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. However, as the functions of the robot become more sophisticated, 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. However, in order to eliminate such inconvenience, it is difficult to reduce the size and weight of the operation buttons 2 and 5 and the display device 1. And even if this could be achieved, if these operation buttons were made smaller, Therefore, if the display device gl 'is reduced in size, the display performance will be reduced, and the practicality of the whole device will be impaired.
発 明 の 開 示 Disclosure of the invention
本発明の目的は、 可搬性， 操作性および表示性能に優 れた操作部を有するロボッ ト制御装瑟を提供することに め SUMMARY OF THE INVENTION It is an object of the present invention to provide a robot control device having an operation unit excellent in portability, operability, and display performance.
上述の目的を達成するため、 本発明のロボッ ト制御装 置は、 ロボッ ト制御装置本体と、 ポイン ト教示に関連す るロボッ ト制御操作を行うための可搬性を有する第 1 の 教示操作盤と、 該第 1の操作盤とは別体の、 前記ポイン ト教示に閬連する操作以外のロボッ ト制御操作を行うた めの可搬性を有する第 2の操作盤と、 前記第 1 および第 2の操作盤を前記ロボッ ト制御装置本体に対して移動自 在に該ロボッ ト制御装置本体に接続する手段とを備える。 In order to achieve the above object, a robot control device according to the present invention 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.
上述のように、 本発明は、 ポイン ト教示に関連する口 ボッ ト制御操作およびそれ以外のロボッ ト制御操作を夫 々行うための第 1 および第 2の操作盤を互いに別体に設 けると共にロボッ ト制御装置^:体に該本体に対して移動 自在に夫々接続したので、 オペレータは各種ロボッ ト制 御操作を必要に応じてロボッ ト本体の近く で行え、 また、 夫々の操作盤の操作ボタンのオペレータによる操作性お よび表示装置の表示性能を損なう ことなく オペレータの 負担を軽減可能である。 As described above, according to the present invention, 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.
図 面 の 簡 単 な 説 明 第 1 図は本発明の一実施例によるロボッ ト制御装置を 示す概略斜視図、 第 2図は従来のロボッ ト制御装置を示 す概略斜視図、 および、 第 3図は従来の別のロボッ ト制 御装置を示す概略斜視図である。 Brief explanation of drawings 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, and FIG. 3 is another conventional robot control device. It is a schematic perspective view which shows a control apparatus.
発明を実施するための最良の形態 BEST MODE FOR CARRYING OUT THE INVENTION
第 1 図において、 Dボッ ト制御装置は、 図示しない高 機能ロボッ トの本体の動作領域の外側に配されたロボッ ト制御装置本体 3と、 オペレータが各種ロボッ ト制御操 作を行うために用いる操作部 8とを備えている。 操作部 8は、 可搬性の教示操作盤 6と、 これと別体でかつ可搬 性の操作盤 7とを備え、 両該操作盤 6， 7は通信ケープ ル 1 0， 9を介してロボッ ト制御装置本体 3に対して移 動自在なように該本体に夫々接銃されている。 In FIG. 1, 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.
教示操作盤 6は、 例えば L E Dよりなる表示装置 4と、 作業点位置の教示およびこれに閬達するロボッ ト制御操 作 （ポイン ト教示操作） を行うための各種操作ポタン 5 とを有している。 そして、 教示操作盤 6にはポイント '教 示操作を行うのに最小限必要な数のボタン 5が設けられ、 表示装匱 4は、 作業点位 gデータ等の、 ポイン ト教示操 作に鬨連ずるデータを表示するのに最小限必要な大きさ にされている。 このように、 教示操作盤 6は、 全体とし て可能な限り小型軽量に設けられている。 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.
操作盤 7は、 例えば液晶デイスブレイよ りなる表示装 置 1 と、 ポイン ト教示操作以外の口ボッ ト制御操作を行 うための各種操作ボタン 2とを有している。 教示モー ド でのロボッ ト運転時の操作盤 7の使用頻度が少なく （一 般に、 教示操作盤 6と操作盤 7との使用比率は 4： 1 な いし 5 : 1 ) 、 従って、 小型軽量化の要請の度合が比較 的小さいという点を考慮して、 操作盤 7は、 ロボッ トの 高機能化に即した数の操作ボタン 2を備えると共に、 表 示装置 1 はプログラム編集等を行うのに充分でかつ便宜 な情報を高機能ロボッ ト について表示可能なように大型 にされている。 すなわち、 操作盤 7は、 オペレータによ る操作性と該操作盤の表示性能とを損なわないように設 けられている。 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). In consideration of the fact that the degree of operation is relatively small, 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.
そして、 ロボッ ト制御装置本体 3はコンピュータ， メ モリ等を備え、 ケーブル 1 0， 9を介して両操作盤 6， 7から供給される、 操作ボタン 2， 5の作動状態を表す 各種信号に応じてロボッ ト本体の各種ァクチユエータ （ 図示省略） を駆動すると共に、 ロボッ ト本体の作動状態 等を表示装置 1， 4に表示させるようになつている。 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.
以下、 第 1 図のロボッ ト制御装匿の作動を説明する。 ロボッ トへの教示時、 オペレータが教示操作盤 6の各 種操作ボタン 5を操作すると、 これら操作ボタン 5の作 動状態を表す各種信号が操作盤 6からケーブル 1 0を介 してロボッ ト制御装置本体 3に供給され、 該制御装置本 体はロボッ ト本体を駆動してロボッ ト本体を所定の作業 点に誘導する。 オペレータは表示装置 4上に数値表示さ れる作業点位 gを確認しつつ操作ボタン 5を操作して所 要の命令語と共に教示すべき作業点位匿を制御装置本体 3に入力する。 斯かる口ボ ト制御操作が繰り返されて 制御装箧本体 3により教示ブログラムが作成される。 こ の間、 オペレータは、 必要に応じて教示操作盤 6に代え て操作盤 7を持ち、 操作盤 7の表示装置 1上の表示情報 を参照しつつ該操作盤 7の各種操作ボタン 2を操作して ロボッ トの動作条件を入力しまたプログラムを鎘集する。 Hereinafter, the operation of the robot control concealment of FIG. 1 will be described. When the operator operates the various operation buttons 5 of the teaching operation panel 6 during teaching to the robot, various signals indicating the operation state of these operation buttons 5 are controlled by the robot from the operation panel 6 via the cable 10. Supplied to the device main body 3, the control device main body drives the robot main body and guides the robot main body to a predetermined work point. The operator operates the operation button 5 while confirming the work point position g displayed numerically on the display device 4 to determine the work point position to be taught together with the required command word. Enter 3 The mouthboard control operation is repeated, and the control device body 3 creates a teaching program. During this time, the operator has an operation panel 7 instead of the teaching operation panel 6 as necessary, and operates various operation buttons 2 of the operation panel 7 while referring to display information on the display device 1 of the operation panel 7. Then input the operating conditions of the robot and edit the program.
上述の教示モー ドでのロボッ ト制御操作の実行時、 ォ ペレータは、 口ポッ ト制御装 g本体 3に対して移動自在 の可緞性を有する教示操作盤 6および操作盤 7をロボッ ト本体近くの作業現場に持ち込んで、 上述のように両操 作盤 6， 7を操作する。 この結果、 作業点教示をロボッ ト本体近くで正確に行え、 また、 第 2図に示すタイプの ロボッ ト制御装置を使用する場合とは異なり、. 所要の口 ポッ ト制御操作の全てをロボット本体近くから離れずに 迅速に行える。 また、 この間、 大部分の口ポッ ト制御操 作は小型軽量の教示操作盤 6を介して行われるので、 第 3図に示すタイプの操作盤を使用する場合に比べてオペ レータの負担は大幅に軽減される。 また、 操作盤 7は大 型の表示装置 1 と ボッ トの高機能化に即した数の操作 - ボタン. 2とを備えるので、 オペレータは高機能ロボッ ト についてのポイン ト教示操作以外の操作を操作盤 7を介 して迅速かつ正確に行える。 When executing the robot control operation in the teaching mode described above, 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. As a result, 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. During this time, 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.
教示モー ド以外でのロボッ ト逞転中、 オペレータは操 作盤 7を介して所要のロボッ ト制御操作を必要に応じて 行う。 上記実施例では操作盤 6 , .7を別個のケーブル 1 0， 9を介して制御装 g本体 3に接統したが、 操作盤 6をケ 一ブル 1 0， 操作盤 7およびケーブル 9を介して接続し ても良い。 また、 上記実施例の単一の操作盤 7に代えて 複数の操作盤および表示装 gを用い、 これらの夫々に単 一の操作盤 7の対応部分の機能を割り当てるようにして も良い。 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. In the above embodiment, 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. Further, 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.
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63/127179 | 1988-05-26 | ||
| JP63127179A JP2548026B2 (en) | 1988-05-26 | 1988-05-26 | Robot controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO1989011382A1 true WO1989011382A1 (en) | 1989-11-30 |
Family
ID=14953628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/JP1989/000472 Ceased WO1989011382A1 (en) | 1988-05-26 | 1989-05-08 | Robot control apparatus |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2548026B2 (en) |
| WO (1) | WO1989011382A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0674978A4 (en) * | 1993-10-21 | 1995-11-15 | ||
| WO1997004370A1 (en) * | 1995-07-22 | 1997-02-06 | Kuka Roboter Gmbh | Control and programming unit |
| US5760560A (en) * | 1993-10-21 | 1998-06-02 | Fanuc, Ltd. | Robot apparatus |
| EP3660609A1 (en) * | 2018-11-09 | 2020-06-03 | Liebherr-Verzahntechnik GmbH | Control panel |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003228405A (en) * | 2002-02-01 | 2003-08-15 | Denso Corp | Control panel for production facility |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS50160967A (en) * | 1974-06-19 | 1975-12-26 | ||
| JPS57121878A (en) * | 1981-01-19 | 1982-07-29 | Mitsubishi Electric Corp | Controller for arc welding robot |
| JPS59166481A (en) * | 1983-03-07 | 1984-09-19 | 三菱電機株式会社 | Operating box for industrial robot |
| JPS6044282A (en) * | 1983-08-17 | 1985-03-09 | 三菱電機株式会社 | Controller for industrial robot |
| JPS622304A (en) * | 1985-06-28 | 1987-01-08 | Fanuc Ltd | Teaching operating panel capable of inputting robot language |
-
1988
- 1988-05-26 JP JP63127179A patent/JP2548026B2/en not_active Expired - Lifetime
-
1989
- 1989-05-08 WO PCT/JP1989/000472 patent/WO1989011382A1/en not_active Ceased
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS50160967A (en) * | 1974-06-19 | 1975-12-26 | ||
| JPS57121878A (en) * | 1981-01-19 | 1982-07-29 | Mitsubishi Electric Corp | Controller for arc welding robot |
| JPS59166481A (en) * | 1983-03-07 | 1984-09-19 | 三菱電機株式会社 | Operating box for industrial robot |
| JPS6044282A (en) * | 1983-08-17 | 1985-03-09 | 三菱電機株式会社 | Controller for industrial robot |
| JPS622304A (en) * | 1985-06-28 | 1987-01-08 | Fanuc Ltd | Teaching operating panel capable of inputting robot language |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0674978A4 (en) * | 1993-10-21 | 1995-11-15 | ||
| US5760560A (en) * | 1993-10-21 | 1998-06-02 | Fanuc, Ltd. | Robot apparatus |
| WO1997004370A1 (en) * | 1995-07-22 | 1997-02-06 | Kuka Roboter Gmbh | Control and programming unit |
| EP3660609A1 (en) * | 2018-11-09 | 2020-06-03 | Liebherr-Verzahntechnik GmbH | Control panel |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2548026B2 (en) | 1996-10-30 |
| JPH01301083A (en) | 1989-12-05 |
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