JPH09212220A - Display device for working robot equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to visually judge the working state and management data of a working robot driven based upon NC data prepared by a CAM and to attain quick measure. SOLUTION: An operation state display part 21 for displaying the sort and operation state of NC data being executed, a working machine display part 22 for displaying the sort, application pressure and remaining quantity of a coating material and a management data display part 23 for displaying the progress state of coating being executed, the elapsed time of coating and time required for the coating work of a remaining part are displayed on a display device 1a connected to a robot controller for operating a coating robot based upon NC data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has a display function for instructing an external work at the time of executing a CAM and a GUI function for visually displaying work status and work management data. , Display devices for work robot equipment for inspection, etc.

[0002]

2. Description of the Related Art For example, a controller of a work robot for painting, which is operated based on NC data created by a conventional CAM system, does not have a visible display device, and an external work of a worker follows a manual. What kind of NC data is used for the painting work,
The work position of the present work had to be judged visually by the work of the robot and the work.

[0003]

Therefore, when the amount of paint consumed during work is unpredictable, and when an operation or problem that is far from the coating conditions occurs, it is difficult to determine whether the operation is proper or abnormal. If there is a problem such as the above, and the operation is abnormal, there is a risk that the damage will be expanded.

The invention according to claim 1 of the present invention provides a controller display device for a work robot capable of solving the above problems and visually determining the work status and management data of the work robot and enabling quick treatment. The purpose is to provide.

[0005]

In order to achieve the above object, the invention according to claim 1 of the present invention is a display device for a work robot connected to a controller for operating the work robot based on work data. , This display device displays an operation status display section that displays the type and operation status of work data being executed, a work machine display section that displays the type and usage status and remaining amount of work material, and a A management data display unit is provided for displaying the progress status, the elapsed work time, and the remaining required work time.

Further, the display device having the above construction is provided with an enforcement condition display section for displaying the enforcement condition data based on the work data, and the work performed by the worker is carried out in the enforcement condition data displayed on the enforcement condition display section. It includes work instruction data to be displayed.

According to the above configuration, it is possible to accurately grasp the working situation in real time, predict the material shortage, and quickly respond to the abnormal operation of the robot.

Further, by displaying the work instruction data on the enforcement condition display portion, the work performed by the worker can be accurately transmitted, and the work mistake can be eliminated.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION Here, an embodiment of a controller display device for a coating robot according to the present invention will be described with reference to FIGS.

First, as shown in FIG. 3, the coating robot facility is operated by a robot controller 1 through a placer controller 2 so that the placer 3 can move freely.
Further, a multi-joint arm 4 which is arranged on the movable table 3a of the placer 3 and is operated by the robot controller 1 and is rotatable about six axes, and a painting gun 5 which is a working device at the tip of the multi-joint arm 4 are provided. A coating robot 6 and a paint supply device 8 for supplying the paint in the paint tank 7 to the coating gun 5.
And a data creation device (CAM system) 9 for creating NC data (work data) of the robot controller 1 is separately installed. Further, the robot controller 1 has a data display device (CR
T) 1a is connected to an operation input keyboard 1b having a robot operation button, a correction input key, and the like, and the data creating device 9 is also provided with a condition data display section 9a and a key input section 9b.

First, the data creating device 9 will be described with reference to FIG. The data creating device 9 includes a work structure data creating unit 11, a painting construction procedure creating unit 12, and a painting operation creating unit 13.
The work structure data generation unit 11 receives the work structure data from the outside and stores the lacking structure data such as I-digits and hull blocks in the structure data storage unit. With reference to the data of the part 15, a structural data string of the work suitable for painting is created. In addition, the painting construction procedure generation unit 12 creates painting construction data including a procedure of painting a work based on the data of the painting movement storage unit 16 in which the movement required for painting is recorded, based on this structure data string. .

In the coating condition generation unit 14, the paint name data for painting the work and the necessary coating data are input, and based on the data in the coating condition storage unit 17, the basic coating speed, the coating film thickness, which is the coating condition data, Chip NO, pump pressure, required viscosity, spray distance, pattern width, overlapping width, number of times of coating, etc. are created. The coating condition data generated by the coating condition generation unit 14 is displayed on the condition data display unit 9a as shown in FIG. 2, and correction data is input from the key input unit 9b as necessary.

Further, when this coating condition data is input to the coating condition generating unit 14, the coating robot 6 including the placer 2 receives the coating process data from the coating process procedure generating unit 12.
NC data is created by the system setting unit 18 having the operation data of No. 1 and the idle movement minimizing unit 19 that minimizes the movement operation between the working units of the painting robot 6 and the time.

This NC data is input to the robot controller 1 directly or via a transmission means such as FD,
Similar to FIG. 2, the data display device 1a displays coating condition data such as basic coating speed, coating film thickness, chip NO, pump pressure, required viscosity, spray distance, pattern width, overlapping width, and number of coatings. . Of the displayed painting condition data, the tip NO, pump pressure, and required viscosity are called "instruction data". Before the NC data is executed, the operator can set the tip of the tip to the painting gun 5 based on the instruction data. Mounting is performed and the pump pressure of the paint supply device 8 is set. Furthermore, from the required viscosity, the thinner amount and heating temperature are calculated based on the required viscosity setting table (not shown) in which a thinner amount and heating temperature for the required clay are displayed separately for each paint and are prepared for coating. I do. Also, the data to be corrected according to the work environment,
It is input to the robot controller 1 from the operation input keyboard 1b.

After the start of work, as shown in FIG. 1, the data display device 1a of the robot controller 1 has a driving status display section 21, a working machine display section 22, and a management data display section 23.
Is displayed in real time. That is, the operation status display section 21 displays the type of NC data being executed, the operation status, and the presence / absence of an abnormality. Further, the working machine display unit 22 displays the names of the main component of the coating material, which is the working material, and the curing agent, the temperature and the mixing ratio, the discharge pressure of the pump in use, and the remaining amounts of the main component and the curing agent. Further, the management data display unit 23 displays a graph of the coating area and the amount of paint discharged for each coating section along with the progress of the work being executed, and further, the amount of paint used, the coating area, the coating time and work required until the end. The working time from the start is displayed digitally.

According to the above embodiment, the data display device 1a is provided in the robot controller 1 of the coating robot 5 which is operated based on the NC data created by the CAM system, that is, the data creation device 9, and the data display device 1a is provided. The coating condition data is displayed on the display, and the tip number, pump pressure, and
By displaying the required viscosity, accurate information can be quickly transmitted and an accurate instruction can be issued to the worker.

Further, in the data display device 1a of the robot controller 1, the operating status display section 21 can accurately know the type of NC data being executed, the operating status, and the presence / absence of an abnormality, and the working machine display section 22. With this, it is possible to determine at a glance the name, the amount used, the remaining amount, etc. of the main component and the curing agent of the paint, and to deal with them.
Allows you to see the progress of the painting work at a glance. Therefore, the NC data created by the data creating device 9 can be effectively used, and the data display device 1a serves as a monitoring monitor, which is useful for prompt detection of an abnormality. In addition, work progress and paint consumption can be understood at a glance, which is useful as management data.

Although the painting robot 5 has been described in the above embodiment, other work robots for blasting, welding, inspection, etc. may be used.

[0019]

As described above, according to the present invention,
You can accurately grasp the work situation in real time,
It is possible to predict a material shortage and quickly respond to abnormal robot operation.

Further, by displaying the work instruction data on the enforcement condition display portion, the work performed by the worker can be accurately transmitted, and the work mistake can be eliminated.

[Brief description of drawings]

FIG. 1 is an explanatory view showing an embodiment of a coating robot facility provided with a display device according to the present invention and showing a screen of a data display device.

FIG. 2 is an explanatory diagram showing a coating condition data screen displayed on a data display device and a condition data display unit of the coating robot facility.

FIG. 3 is a configuration diagram of the coating robot facility.

FIG. 4 is a configuration diagram showing a data creation device of the painting robot facility.

[Explanation of symbols]

 1 Robot Controller 1a Data Display Device 3 Placer 4 Articulated Arm 5 Painting Gun 6 Painting Robot 9 Data Creation Device 9a Condition Data Display Section 9b Key Input Section 11 Work Structure Data Generation Section 12 Painting Execution Procedure Generation Section 13 Painting Motion Generation Section 14 Painting condition generation unit 21 Operation status display unit 22 Working machine display unit 23 Management data display unit

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Akira Ibata 5-3-8, Nishikujo 5-chome, Konohana-ku, Osaka City, Osaka Prefecture Hitachi Shipbuilding Co., Ltd.

Claims (2)

[Claims] 1. A display device for a work robot connected to a controller for operating a work robot based on work data, wherein the display device displays the type of work data being executed and the operating state. A display unit, a working machine display unit that displays the type and usage status and remaining amount of the work material, and a management data display unit that displays the progress status of the work being performed, the work elapsed time, and the remaining required work time are provided. A display device for a work robot facility, which is characterized in that 2. The display device is provided with an enforcement condition display section for displaying enforcement condition data based on the work data, and the work performed by the worker is displayed in the enforcement condition data displayed on the enforcement condition display section. The work robot equipment display device according to claim 1, further comprising work instruction data.