Teaching pendant for a robot

• US 5,937,143 A
• Filed: 07/10/1997
• Issued: 08/10/1999
• Est. Priority Date: 09/18/1995
• Status: Expired due to Term

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Oumi, Tatsuya, Sakamoto, Shinsuke, Watanabe, Atsushi, Terada, Tomoyuki, Kaihori, Hirotsugu
• Primary Examiner(s): Downs, Robert W.
• Application Number:
  US08/836,752
• Time in Patent Office: 761 Days
• Field of Search: 395/99, 395/92, 395/80, 901/3, 901/42, 318/568.13, 318/568.1, 318/568.25
• US Class Current: 700/264
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 2219/36162 Pendant control box
• CPC Class Codes: G05B 2219/36168 Touchscreen
• CPC Class Codes: G05B 2219/39438 Direct programming at the console
• CPC Class Codes: G05B 2219/39443 Portable, adapted to handpalm, with joystick, function keys, display
• CPC Class Codes: G05B 2219/39444 Display of position, of shape of robot and tool
• CPC Class Codes: G05B 2219/39446 Display of manipulator and workpiece and jog directions
• CPC Class Codes: G05B 2219/40522 Display of workpiece, workspace, locus of robot tip in different planes, xy xz yz
• CPC Class Codes: H01H 2300/026 Application dead man switch: power must be interrupted on release of operating member
• CPC Class Codes: H01H 9/0214 Hand-held casings

Abstract

The invention is a robot teaching pendant containing a display device with graphic display capabilities. Display data is displayed on the graphic display and includes the movement of a robot and taught points. This display data is generated by a display data generation unit based on robot programs stored in data storage unit by buffering the data from a robot controller. This display data may also include representative images of the robot tool along with its coordinates in a tool coordinate system and the taught points in a user or world coordinate system. Thus, the action of the robot can be visually recognized with ease, and the robot can be taught easily and accurately.

Claims

1. A robot teaching pendant for teaching or operating a robot, comprising:

a least one of data storage means for temporarily storing robot programs from a robot controller and means for reading a robot program within the robot controller one by one;

display data generating means for generating display data from said robot programs;

a display device for graphically displaying the display data generated by said display data generating means;

an operator panel for operating said robot; and

an emergency stop button to stop movement of the robot.

2. A robot teaching pendant according to claims 1, which further comprises means 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 said display device.

3. A robot teaching pendant according to claim 2, wherein said display data include teaching data and taught points.

4. A robot teaching pendant according to claim 3, wherein said display data include data on a current position of the robot, besides the taught point data.

5. A robot teaching pendant according to claim 3, wherein said display data further include a tool coordinate system and at least one coordinate system from among a world coordinate system and a user coordinate system, along with coordinate axis data.

6. A robot teaching pendant according to claim 1, which further comprises shape data storage means for storing data representing shapes such as shapes of the robot, peripheral equipment, workpiece member, and the like.

7. A robot teaching pendant according to claim 1, wherein said teaching pendant has jog buttons and, said display data include data capable of graphically displaying the direction of action of robot corresponding to a depressed jog button therefor on the screen of the display device before or instead of operating said robot when the jog button is depressed.

8. A robot teaching pendant according to claim 1, which further comprises a key for starting the program to actuate the robot, and wherein said display data include data capable of graphically displaying the direction in which the robot starts to operate on the screen of the display device before the robot actually beings to move when the key is depressed.

9. A robot teaching pendant according to claim 8, which further comprises operation command generating means for generating an operation command for moving the robot to the position of one specified taught point when the one taught point, among the taught points displayed on the screen of said display device, is specified through a touch-panel.

10. A robot teaching pendant according to claim 1, wherein said display is a liquid crystal display device.

11. A robot teaching pendant for teaching or operating a robot, comprising:

a least one of data storage means for temporarily storing robot programs from a robot controller and means for reading a robot program within the robot controller one by one;

display data generating means for generating display data having teaching data from said robot programs;

a display device for graphically displaying the display data generated by said display data generating means;

an operator panel for operating said robot;

means for converting three-dimensional data of the robot programs into two-dimensional data which can be obtained by protecting the three-dimensional data in a specific viewing direction, in order to display the three-dimensional data in two dimensions on the screen of said display device; and

wherein said teaching data include data on taught points and data on the coordinate axes of a tool coordinate system for the tool center point (TCP) of the robot at each taught point.

12. A robot teaching pendant for teaching or operating a robot, comprising:

a least one of data storage means for temporarily storing robot programs from a robot controller and means for reading a robot program within the robot controller one by one;

display data generating means for generating display data from said robot programs;

a display device having a touch panel on a display screen for graphically displaying the display data generated by said display data generating means; and

an operator panel for operating said robot.

13. A robot teaching pendant for teaching or operating a robot, comprising:

a least one of data storage means for temporarily storing robot programs from a robot controller and means for reading a robot program within the robot controller one by one;

display data generating means for generating display data from said robot programs;

a display device for graphically displaying the display data generated by said display data generating means;

an operator panel for operating said robot; and

movement plane specifying means 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 means of a 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.

14. A robot teaching pendant for teaching or operating a robot, comprising:

a least one of data storage unit for temporarily storing robot programs from a robot controller and means for reading a robot program within the robot controller;

display data generating unit for generating display data from said robot programs;

a display device for graphically displaying the display data generated by said display data generating unit;

an operator panel for operating said robot; and

a plurality of jog buttons on said operator panel, wherein when one of said plurality of jog buttons is pressed an arrow appears on said display device indicating the direction of motion for said one of said plurality of jog buttons, whereby the motion of the robot may be seen on the display device before the robot actually operates.

15. A robot teaching pendant according to claim 14, which further comprises shape data storage unit for storing data representing shapes such as shapes of the robot, peripheral equipment, workpiece member, and the like.

16. A robot teaching pendant according to claims 14, which further comprises means 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 said display device.

17. A robot teaching pendant according to claim 16, wherein said display data include teaching data and taught points.

18. A robot teaching pendant according to claim 17, wherein said display data include data on a current position of the robot, besides the taught point data.

19. A robot teaching pendant according to claim 14, wherein said display data further include at least one coordinate system selected from among a tool coordinate system, world coordinate system, and a user coordinate system, along with coordinate axis data.

20. A robot teaching pendant for teaching or operating a robot, comprising:

a hand-held portable housing having an emergency stop button to stop movement of the robot, comprising;

a least one of data storage unit for temporarily storing robot programs from a robot controller and means for reading a robot program within the robot controller;

display data generating unit for generating display data from said robot programs;

a display device for graphically displaying the display data generated by said display data generating unit; and

an operator panel for operating said robot.