JPH042483A - Industrial robot control device - Google Patents

Abstract

PURPOSE:To make a separate wiring only for teaching unnecessary, by providing a key input means on a transferrable type teaching device. CONSTITUTION:A current control means 2 which is desired to be acted by the output fed from the key input means 1 provided on a transferrable type teaching device and the output fed from the 2nd memory means 4 which stores the correspondence of the output fed from this key input means 1 and the output of the current control means 2 is selected, in the case of an industrial robot being under teaching by the output fed from the 1st memory means 3 which stores as to whether or not it is under teaching. Then, the selected current control means 2 selects the execution of which of current being flowed or not by the output fed from a 3rd memory means 5, performing the control of current.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a control device for a teaching play pack type industrial robot.

Conventional technology Conventionally, when teaching an industrial robot, when it is necessary to operate relays, solenoids, etc. of peripheral jigs using an input/output device having a built-in current control means built into the control device of the industrial robot, the input/output device is By connecting a manually operated contact in parallel with the output terminal and opening and closing that contact as necessary during teaching, the relay, solenoid, etc. is energized.
Peripheral jigs were being operated.

Problems to be Solved by the Invention However, in the conventional configuration described above, wiring must be separately performed just for teaching, which increases the time required for the teaching work.

Furthermore, during teaching, if the part that controls the opening and closing of the contacts is stationary, it is necessary to go to the location each time, which increases the time required for the teaching work. Further, even in the case of a portable teaching device, cables other than those of the portable teaching device must be dragged, which deteriorates work efficiency. Furthermore, there is a risk that the jig may malfunction due to wiring errors such as a short circuit during wiring work, which is dangerous for the teaching worker. In addition, if the industrial robot starts playback with the wiring still in place, the jig may malfunction due to short circuits in the wiring, incorrect operation, etc., in addition to being controlled by the industrial robot's control device.
The problem was that it hindered production and caused damage to industrial robots.

The present invention solves the above-mentioned problems, and reduces the teaching time.
The purpose is to improve workability, prevent jig malfunctions, and ensure the safety of teaching workers.

Means for Solving the Problems In order to achieve the above object, the present invention provides a portable teaching device with a key input means, and a plurality of keys for operating the portable teaching device and relays, solenoids, etc. of one peripheral jig. a current control means for controlling the output from the key input means and a first storage means for storing whether or not the industrial robot is in the teaching mode so that the industrial robot processes the output from the key input means only during the teaching period; and second storage means for storing correspondence with the output.

A control device for an industrial robot is constituted by a third storage means for storing for each current control means whether the current control means executes whether to divide or not flow current according to the output from the key input means. be.

According to the above configuration, if the industrial robot is being taught, the key input means provided in the portable teaching device is outputted from the first storage means for storing whether or not the industrial robot is being taught. The current control means to be operated is selected based on the output from the second storage means that stores the correspondence between the output from the key input means and the output from the current control means.

The selected current control means controls the current by selecting whether to cause the current to flow or not, based on the output from the third storage means.

Embodiment FIG. 1 is an electrical block diagram of an embodiment of a control device according to the present invention. In FIG. 1, 1 is a key input means, and 2 is composed of transistors and relays arranged in the input/output device of the control device. current control means.

3 is a first storage means for storing whether or not the industrial robot is teaching so as to process the output from the key input means 1 only during teaching; 4 is an output from the key input means 1 and a current control means a second storage means for storing the correspondence with the output of 6;
1 is a third storage means for storing whether the current control means 2 should cause or not to flow a current according to the output from the key input means 1, and e is a microcomputer.

The first storage means 3, the second storage means 4, and the third
The storage means 5 is arranged in the memory of the microcomputer 6. Further, the key input means 1 determines which key has been pressed and outputs the information to the microcomputer 6.

FIG. 2 is a more specific circuit diagram of a main part of an embodiment of the control device according to the present invention. In the figure, 7 is a key switch, 8 is a microcomputer that checks which key is pressed and outputs the output to microcomputer 9 that performs actual processing, 1oiRAM 11 is a state holding circuit, 12 is a photocoupler, 13 is a transistor, and 14 is a terminal. It is a stand.

In this circuit, the key switch 7 is checked by the microcomputer 8 to see which key is being pressed.

The microcomputer 8 communicates the result to the microcomputer 9, and the microcomputer 9 receives the first communication.
searches the contents stored in the RAM 10 and operates the bit corresponding to the key switch 7 of the state holding circuit 11. The state holding circuit 11 then operates the photocoupler 12.

The photocoupler 12 operates the transistor 13, which in turn operates the relay, solenoid, etc. connected to the terminal block 14.

FIG. 3 is a flowchart of the processing of the microcomputer 6 according to the present invention. First, it is checked whether there is a key input, and if there is a key input, the microcomputer 6
The content of the first storage means 3 arranged in the AM 10 is checked, it is determined whether or not teaching is currently in progress, and if teaching is not in progress, the output from the key input means 1 is ignored, and other Execute processing.

The output of the key input means 1 and the second
Based on the contents of the storage means 4, it is determined which current control means 2 is to be operated, that is, which transistor from the top of the transistor 13 in FIG. 2 is to be operated.

At this time, it is determined from the contents of the third storage means 5 whether the transistor 13 corresponding to the key is normally on or normally off, and the transistor 13 is operated accordingly, and the relay of the peripheral jig connected to the terminal block 14 is activated. It operates a solenoid or the like to follow the industrial robot and operate peripheral jigs.

Effects of the Invention As is clear from the above embodiments, the industrial robot control device according to the present invention has the following effects.

(1) Since the portable teaching device is provided with a key input means, there is no need to perform separate wiring just for teaching.

(2) According to (1) above, there is no need to perform separate wiring.

Furthermore, since the jig can be operated by a key input means provided on the portable teaching device, there is no need for 5, and workability does not deteriorate.

(4) Since there is no extra wiring, there is no risk of the jig malfunctioning due to a wiring short circuit during wiring error 1, and the teaching worker is safe.

(6) The industrial robot will not start work with the wiring still in place, and the output from the key input means will only be processed during teaching, so even if a key is pressed by mistake, it will not be possible to correct the problem during playback. There is no equipment malfunction.

[Brief explanation of the drawing]

FIG. 1 is an electrical block diagram of an embodiment of an industrial robot control device according to the present invention, FIG. 2 is a more specific circuit diagram of the main parts of the same embodiment, and FIG. 3 is a control system according to the present invention. 3 is a flowchart of processing by a microcomputer within the device. 1... Key input means, 2... Current control means, 3... First storage means, 4...
Second storage means, 6...Third storage means, 6.
...Microcomputer. 1 Figure 2 L J

Claims (1)

[Scope of Claims] A portable teaching device provided with a key input means, a plurality of current control means for operating peripheral jigs, and an industrial robot that processes output from the key input means only during teaching. a first storage means for storing whether or not teaching is in progress; a second storage means for storing a correspondence between the output from the key input means and the output of the current control means; and a third storage means for storing for each current control means whether the current control means should cause the current to flow or not based on the output of the third storage means for an industrial robot.