US 6,462,499 B2Granted

Teaching device for robots, robot using same, and robot operating method

AssigneeMatsushita Electric Industrial Co., Ltd.

InventorYasushi Mukai

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Abstract

The number of operation keys is decreased, realizing cost reduction and miniaturization of a teaching device. Further, the working efficiency and operational safety are considerably improved. Also, the operations of the robot ranging from delicate positioning and high-speed continuous operation can be readily controlled by serial manipulations. The present invention includes (a) a plurality of operation keys to designate one out of a plurality of operation coordinates of the robot arm, and (b) a controller which controls the operation of the robot arm. The controller has a function to control the robot arm so that the robot arm is positioned on the designated operation coordinates and also a function to control the operation speed of the robot arm. The controller includes a jog dial disposed in a manner such that the jog dial can be rotated and pushed. When the jog dial is rotated in a state that the jog dial is not pushed, the position of the robot arm is controlled by the rotation of the jog dial, and when the jog dial is rotated in a state that the jog dial is pushed, the operation speed of the robot arm is controlled by the rotation of the jog dial.

Claims26

Dependent claims

A teaching device for a robot, which serves to set the operating position and speed of a robot arm having a plurality of operation coordinates, comprising:

(a) a plurality of operation keys which designate one out of the plurality of operation coordinates of said robot arm;
and
(b) a controller which controls the operation of said robot arm,
said controller having a function to control said robot arm so that said robot arm is positioned on the designated operation coordinate, and a function to control the operation speed of said robot arm;
said controller comprising a jog dial disposed in a manner such that said jog dial can be either pushed or pulled and rotated;
wherein said robot arm performs at least one operation of:
(i) when said jog dial is rotated in a state that said jog dial is neither pushed nor pulled, the position of said robot arm is controlled by the rotation of said jog dial, and
when said jog dial is rotated in a state that said jog dial is either pushed or pulled, the operation speed of said robot arm is controlled by the rotation of said jog dial, and
(ii) when said jog dial is rotated in a state that said jog dial is neither pushed nor pulled, the operation speed of said robot arm is controlled by the rotation of said jog dial, and
when said jog dial is rotated in a state that said jog dial is either pushed or pulled, the position of said robot arm is controlled by the rotation of said jog dial.

7 more elements

A robot, comprising:

a robot arm, and
a teaching device for the robot, which serves to set the operating position and speed of the robot arm having a plurality of operation coordinates, the teaching device including,
(a) a plurality of operation keys which designate one out of the plurality of operation coordinates of said robot arm;
and
(b) a controller which controls the operation of said robot arm,
said controller having a function to control said robot arm so that said robot arm is positioned on the designated operation coordinate, and a function to control the operation speed of said robot arm;
said controller comprising a jog dial disposed in a manner such that said jog dial can be either pushed or pulled and rotated;
wherein said robot arm performs at least one operation of:
(i) when said jog dial is rotated in a state that said jog dial is neither pushed nor pulled, the position of said robot arm is controlled by the rotation of said jog dial, and
when said jog dial is rotated in a state that said jog dial is either pushed or pulled at least, the operation speed of said robot arm is controlled by the rotation of said jog dial, and
(ii) when said jog dial is rotated in a state that said jog dial is neither pushed nor pulled, the operation speed of said robot arm is controlled by the rotation of said jog dial, and
when said jog dial is rotated in a state that said jog dial is either pushed or pulled at least, the position of said robot arm is controlled by the rotation of said jog dial.

9 more elements

A robot operating method, which is a method of operating a robot equipped with a teaching device and a robot arm, said teaching device comprising a controller having a jog dial and a plurality of operation keys, said robot arm moving on a plurality of operation coordinates,

said operating method comprises the steps of:
(a) selecting and manipulating one operation key out of a plurality of operation keys, and selecting the operation coordinates of said robot arm, and
(b) moving said robot arm to the predetermined position through one step of
(i) controlling the position of said robot arm by rotating said jog dial in a state that said jog dial is neither pushed nor pulled, and controlling the operation speed of said robot arm by rotating said jog dial in a state that said jog dial is either pushed or pulled at least,
(ii) controlling the operation speed of said robot arm by rotating said jog dial in a state that said jog dial is neither pushed nor pulled, and controlling the position of said robot arm by rotating said jog dial in a state that said jog dial is either pushed or pulled at least,
wherein said robot arm may be continuously operated and positioned by manipulating said jog dial.

3 more elements

Dependencies are inferred from the claim text.