Robot controller

Details Robot controller Robot controller

1999-04-06

2001-12-18

Cuchlinski, Jr., William A. (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S246000, C700S247000, C700S248000, C700S249000, C318S568110, C318S568190, C701S023000, C414S004000

Reexamination Certificate

active

06332102

ABSTRACT:

BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a robot controller that deals with input/output signals for a hand, an external jig, or the like, of a robot.
2. Description of Prior Art
An apparatus for programming an operation program for a robot has a plurality of keys for operation, and each of the keys is used to control only one output. When a series of input/output controls (input/output control sequence) is executed while an operation program for the robot is being programmed into the apparatus, a list of input/output control commands stored in the apparatus is displayed in a display device, and a control command is selected from among them. Then, a key for instructing input/output control is pressed to execute the input/output control. That is, in the above-mentioned apparatus, a user has to perform a plurality of operations that include: (A) viewing a displayed list of input/output control commands to be stored; and (B) selecting an input/output control command from among the reviewed list.
Alternatively, if a plurality of keys for instructing input/output controls are provided in the apparatus, a user has to press a plurality of keys, to which outputs are allocated, in a predetermined procedure. Then, a user has to remember the contents of the input/output control allocated to each of the keys, or has to make a note thereof.
The content of the input/output control sequence to be executed is displayed in the display device. However, in order to determine whether the entire sequence has been executed, a user has to remember the sequences, or has to make a note thereof. Further, though the content of a robot operating program that is being programmed into the apparatus is usually displayed in the display device, the display does not indicate whether the displayed information is the input/output sequence to be executed, or whether the displayed information is the content of the programming of the apparatus.
In the introduction of a robot into a production line, it is a goal to shorten the programming time. However, as the number of the input/output control commands for a robot becomes larger, and the system becomes larger, time needed for operation of the input/output control becomes much longer. Further, it takes a long time for recovery from an erroneous operation by a user.
Further, in the above-described robot controller, an input/output control is performed by pressing only one key. Therefore, an erroneous operation by a user is liable to start an unintentional operation. For example, for a robot for moving an article, an erroneous operation by a user is liable to cause the robot to drop and damage an article.
SUMMARY OF THE INVENTION
An object of the invention is to provide a robot controller which has a decreased programming time.
Another object of the invention is to provide a robot controller which can prevent execution of input/output control due to an unintentional operation by a user.
A further object of the invention is to provide a robot controller which can confirm functions of keys, and the state of input/output control, while being programmed with an operation program of a robot.
In one aspect of the invention, a robot control apparatus comprises an input/output device which communicates input/output signals with a robot, a teaching device, for teaching an operation program, comprising a plurality of first keys each for instructing an input/output control performed through said input/output device and a second key for performing a series of input/output controls instructed by said plurality of first keys, and a controller which controls the robot through said input/output device according to the operation program for the robot. Thus, a series of input/output controls can be performed with one key operation.
Preferably, the robot controller further comprises an allocator which allocates the series of input/output controls to the second key.
Preferably, in the robot controller, the teaching device further comprises a third key which permits operation of the input/output device, and the controller performs the series of input/output controls only when the second key is pressed at the same time as the third key while the operation program is programmed. Then, because a series of input/output controls is performed by pressing the two keys at the same time, execution of the input/output controls due to an unintentional or erroneous operation can be prevented.
Preferably, in the robot controller, the teaching device further comprises a display device and a storage device that stores a character array allocated to the second key. The display device displays the character array when only the second key is pressed while the operation program is taught. Then, the content of the comment on the input/output control sequence to be executed can be confirmed with the display device by only pressing a key.
Preferably, in the robot controller, the teaching device further comprises a lighting device for the second key. The teaching device turns on the lighting device when the series of input/output controls allocated to the second key is completed after the second key is pressed by a user while the operation program is programmed. Then, execution of the input/output control sequence can be decided uniquely by lighting a lighting device, and user burden can be decreased.
The robot controller further comprises a storage device which stores data corresponding to the input/output controls allocated to the second key or data of the character array, and a cell provided for backup of the data in the storage device while a control power supply of the robot controller is turned off.
In a second aspect of the invention, the teaching device of the robot controller comprises a plurality of second keys.
Preferably, the robot control apparatus comprises an allocator operable to allocate one of the series of input/output controls to one of the second keys.
Preferably, in the robot controller, the teaching device further comprises a third key which permits operation of the input/output device, and the controller performs the series of input/output controls only when one of the second keys is pressed at the same time as the third key while the operation program is programmed.
Preferably, in the robot controller, the teaching device further comprises a display device and a storage device operable to store a character array for each of the second keys, wherein the teaching device displays the character array for one of the second keys in the display device when only one of the second keys is pressed while the operation program is programmed.
Preferably, in the robot controller, the teaching device further comprises a lighting device for each of the second keys. The teaching device turns on the lighting device for one of the second keys when one of the series of input/output controls for the corresponding one of the second keys is completed after the corresponding one of the second keys is pressed by a user while the operation program is programmed.
In a third aspect of the invention, in the robot controller, the teaching device further comprises a fourth key for allocating two series of input/output controls for the second key, and a lighting device for the second key. The controller executes a first series of the two series of input/output controls when the second key is pressed while the operation program for the robot is programmed, and turns on the lighting device when the execution of the first series is completed. Further, it executes a second series of the two series when the second key is operated while the lighting device is lighted, and turns off the lighting device when the execution of the second series is completed. Then, it is possible to allocate two input/output control sequences for one key, and many input/output sequence can be achieved.
Preferably, the robot controller further comprises a storage device which stores data on the two series of input/output controls, and a cell provided for backup of the data in the storage device while

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