1997-07-10
1999-08-10
Downs, Robert W.
395 92, B25J 916, G05B 1942, G05B 1948
Patent
active
059371439
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a robot teaching pendant for teaching arid controlling a robot.
BACKGROUND ART
Each robot teaching pendant is usually provided with an operator panel for teaching, character-based display device, etc. The robot is taught and operated by using such teaching pendants while watching the motion of a robot arm.
Such a character-based display device is capable of displaying only alphabet letters, figures, Chinese characters, and Japanese characters but not capable of graphically displaying the spatial relations among taught points and the like, su that it is difficult for an operator to have intuitive recognitions. Although the spatial position and motion of the robot arm are expected to be displayed graphically, they can be expressed only in numerical values or the like. Thus, it has been no easy matter for the operator to operate the robot using a robot teaching pendant.
DISCLOSURE OF THE INVENTION
The object of the present invention is to provide a robot teaching pendant capable of displaying the motion of a robot, whereby robot operation can be recognized visually.
In order to achieve the above object, a robot teaching pendant according to the present invention comprises: at least one of data storage unit for temporarily storing robot programs from a robot controller and a unit for reading a robot programs within the robot controller one by one; display data generating unit for generating display data from the robot programs; a display device for graphically displaying the display data generated by the display data generating unit; and an operator panel for operating the robot.
Further, this robot teaching pendant comprises a unit for converting three-dimensional data of the robot programs into two-dimensional data which can be obtained by projecting the three-dimensional data in a specific viewing direction, in order to display the three-dimensional data in two dimensions on the screen of the display device.
These display data include position data on taught points, coordinate data according to a tool coordinate system for the tool center point (TCP) of the robot at each taught point, data on the current position of the robot, and the like.
Preferably, the display device is provided with a touch-panel on the display screen thereof, and an operation command for moving the robot to the position of one specified taught point is generated by operation command generating means when the one taught point, among the taught points displayed on the screen of the display device, is specified through the touch-panel.
Further, the robot teaching pendant comprises movement plane specifying unit for specifying a plane on which the taught points move, and operation command generating means which, specifying one of the taught points which are displayed on the screen of the display device by using the touch-panel and also specifying the moving direction, cause the robot to move on the plane including said specified taught point, specified by said movement plane specifying means, in response to specifying operations of the taught points and moving direction.
According to the robot teaching pendant of the present invention, as described above, a graphic display function is provided and is designed so that three-dimensional display data, such as the three-dimensional movement of the robot and taught points, can be displayed in two dimensions in a manner such that an operator can easily confirm them by watching the display. As a result, the action of a robot can be recognized visually and with ease, so that easy and accurate teaching operation can be performed.
BRIEF DESCRIPTION OF DRAWINGS
FIG. 1 is a block diagram showing elements that constitute a robot teaching pendant according to the present invention;
FIG. 2 is a diagram schematically illustrating a state in which a robot is taught or operated through a robot teaching pendant according one embodiment of the present invention connected to a robot controller;
FIG. 3 is a diagram showing the details of the external a
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Kubota Kazunari, et al.; Method For Teaching Robot Track; Apr. 12, 1994; Abstract of Japanese Publication No. 06099377 A.
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Kaihori Hirotsugu
Oumi Tatsuya
Sakamoto Shinsuke
Terada Tomoyuki
Watanabe Atsushi
Downs Robert W.
Fanuc Ltd.
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