Patent
1997-03-28
1998-02-03
Beausoliel, Jr., Robert W.
39518901, 3951851, 395 80, G06F 1100
Patent
active
057153884
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a computer system and more particularly to a computer system capable of displaying and storing a module under execution or immediately after execution.
BACKGROUND ART
In general, an industrial robot comprises a control board for storing and reproducing position information and conditions for machining, a teaching box (T-BOX) for instructing the control board the direction of movement, the position of movement and the condition for machining, and a working robot operating according to instructions from the T-BOX or according to instructions from the control board by reproducing the contents instructed by T-BOX.
The T-BOX includes a step number display section, instruction items selection switches, a manual switch section, instruction push button switches, a memory command switch, a plurality of display lamps, etc.
The step number display section displays the step number attached to each of teaching steps.
The instruction item selection switch is operated to designate the teaching content. The instruction item selection switches are provided with selection items associated to functions of the working robot, e.g. designation of position, designation of movement condition for designating the kind of a locus of movement, e.g. linear movement or circular movement, designation of machining conditions, etc.
The manual switch section is operated to drive each axis of the working robot independently at the time of teaching. In the case of a robot having a rectangular coordinate system, the manual switch section is provided with movement command switches for inputting movement commands for driving X-, Y- and z-axes and .theta.- and .psi.-axes of a wrist. In the case of a joint-type robot, the manual switch section is provided with movement command switchs for inputting movement commands for driving a rotational axis, a lower arm, an upper arm and .theta.- and .psi.-axes of a wrist.
The instruction push button switch and memory command switch are operated to send information set by a teaching operation to the control board and to store the information therein.
The display lamp is provided for each of the selection items in the teaching mode.
The operation of the working robot is determined by a command from the T-BOX or a drive command read out by the control board and processed in a predetermined manner at the time of playback. A workpiece is aligned to the working robot by fixing means.
In the computer system having the above structure, the T-BOX is operated prior to machining, and a tip portion of a machining tool of the working robot is moved along a machining line of a workpiece while being visually monitored. Thus, the working robot is manually operated. With the manual operation of the working robot, a teaching operation is performed in which machining conditions for machining the workpiece and operational procedures and positions of the tip portion of the machining tool of the working robot are stored in internal memory means of the control board.
If the teaching operation of the working robot is completed, an automatic operation, i.e. a playback operation is capable of initiating on the basis of the machining conditions and operational procedures and positions of the tip portion of the machining tool which are stored in the internal memory means of the control board. Then, the control board reads out the already taught position information of the machining line and machining conditions and subjects them to predetermined processing. Thereafter, the resultant is supplied to the working robot as a driving signal, and the tip portion of the working tool of the working robot is operated in the playback manner along the previously taught locus.
In a conventional computer system for actuating the above working robot, each component is treated at an equal level. After the system is activated, a main component is executed in an interrupt manner. If an error occurs, a code number is displayed with an error code so that the cause of trouble corresponding to the code n
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Beausoliel, Jr. Robert W.
Kohki Co., Ltd.
Palys Joseph E.
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