CN201281819Y - Teaching unit suitable for operation of robot unit - Google Patents
Teaching unit suitable for operation of robot unit Download PDFInfo
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- CN201281819Y CN201281819Y CNU2008201300662U CN200820130066U CN201281819Y CN 201281819 Y CN201281819 Y CN 201281819Y CN U2008201300662 U CNU2008201300662 U CN U2008201300662U CN 200820130066 U CN200820130066 U CN 200820130066U CN 201281819 Y CN201281819 Y CN 201281819Y
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- 230000033001 locomotion Effects 0.000 claims description 7
- 239000003086 colorant Substances 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 4
- 230000009087 cell motility Effects 0.000 description 3
- 239000010409 thin film Substances 0.000 description 3
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008672 reprogramming Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
一种适于操作机器人单元的示教单元(1)，该示教单元(1)包括显示单元(3)和显示装置，其中显示装置被配置用以接收表示机器人单元的速度的信息以及在显示单元(3)上显示速度信息，其特征在于：所述显示装置被配置用于以细长单元(7，8)和沿着所述细长单元(7，8)的长度方向可移动的指针(10a，10b)的形式，在显示单元上显示速度指示器(5，6)，使得指针(10a，10b)沿着细长单元(7，8)的位置表示机器人单元的速度。
A teaching pendant unit (1) suitable for operating a robotic unit, the teaching unit (1) comprising a display unit (3) and display means, wherein the display means is configured to receive information representing the speed of the robotic unit and to display Speed information is displayed on the unit (3), characterized in that the display means are configured for an elongated unit (7, 8) and a pointer movable along the length of the elongated unit (7, 8) In the form of (10a, 10b), a speed indicator (5, 6) is displayed on the display unit such that the position of the pointer (10a, 10b) along the elongated unit (7, 8) indicates the speed of the robotic unit.
Description
Technical field
The utility model relates to the teaching unit (teach pendantunit) that is suitable for the manipulation robot unit, this teaching unit comprises display unit and display device, and wherein display device is configured in order to the information of the speed that receives the expression robot cell and shows this velocity information on display unit.
Background technology
The industrial robot unit is programmed in order to carry out work along courses of action.In order to programme or this work of teaching to the robot cell, this robot cell is handled to the position along the action required path.These positions are as in the storer of instruction storage in robot controller.Execution of program instructions in robot cell's operating process makes the robot cell work as expecting thus.
The individual of control robot unit is called the operator.Can be operative employee's industry robot cell under the different operation modes.For example, when the robot cell places manual operation mode,, come the control robot unit by being commonly referred to as teaching unit, portable operator's opertaing device of TPU hereinafter referred to as.
TPU is used for manual control machine device people unit, for example teaching or programming robot cell to follow courses of action.TPU also can be used for monitoring robot program, reprogramming some variable, begin, stop and edit routine.When the robot cell switches to automatic mode, robot controller control robot unit.TPU comprises such as the control device of operating key, operating rod etc. with such as the display unit of LCD (LCD), thin film transistor (TFT) (TFT) display, light emitting diode (LED) display etc.
Operator for convenience, TPU should be of portable form, just TPU should be not only gently but also little.Yet TPU must show bulk information to the operator for the manipulation robot unit.The information quantity requirement TPU that need show goes up the display unit of specific dimensions.Can be by some information of using icon to show such as the indication power connection, promptly stop to enable etc. with compress mode.Yet, be not adapted to pass through and use icon to come display speed information, such as the information relevant with robot cell's speed.
The utility model content
The purpose of this utility model is to provide a kind of improved TPU.
This purpose realizes by teaching as claimed in claim 1 unit.
Such TPU is characterized in that display device is arranged to elongated units with along the length direction of the elongated units form of pointer movably, display speed indicator on display unit is so that pointer is represented robot cell's speed along the position of elongated units.
Speed indicator is formed on the display unit by display device.Speed indicator comprises elongated units and pointer.Pointer is configured in order to removable along elongated units, feasible velocity information of indicating the robot cell along the position of elongated units by pointer.
" expression robot cell speed " this expression is meant that speed indicator can represent velocity information and need not to show the numerical value of this information.Therefore, speed indicator is display speed information as follows, makes that promptly the operator can be not only easily but also understand the information of demonstration of expression robot cell's speed intuitively.Speed indicator can be indicated the information of speed with compact way, so that it is very little to be used for the desired zone of speed indicator on the display unit.
" expression robot cell's the information of speed " this expression is meant the velocity information such as the information of the information of movement velocity in operating process automatically of crawl (jog) speed of robot cell in the manual operation process, robot cell, tool focus spot speed, robot cell's electromotor velocity etc.
According to an embodiment of the present utility model, display unit has by the fixed viewing area of at least one lateral confinement of display unit, and wherein speed indicator is positioned as the side near display unit.
The viewing area is configured in order to operator's display message.Speed indicator is positioned as the side near display unit.Out of Memory thus, uses the viewing area of display unit efficiently, so that can be shown on the viewing area of display unit.
According to an embodiment of the present utility model, elongated units has first end of first speed of representing the robot cell and represents second end of robot cell's second speed, and is illustrated in robot cell's first speed and the speed between the second speed according to scale in the length between first end and second end.
Elongated units is arranged by in the speed of the expression that is assigned to first end and be assigned to the velocity information scale that the distance between the speed of expression of second end limits.According to speed indicator velocity information type to display, this scale can be dissimilar such as linearity, logarithm, index etc.
According to an embodiment of the present utility model, display device is configured in order to show display window on display unit, and this display window shows the numerical information of expression robot cell's speed, and this numerical information is indicated along the position of elongated units by pointer.
Display window is to be adjacent to the speed indicator window displayed on display unit.Display window can display speed numerical information, and the value of the indication of the pointer on elongated units velocity information.
According to an embodiment of the present utility model, TPU comprises two of the expression speed of robot cell on different coordinate directions or multiple speed indicator more, and wherein the pointer of speed indicator has different colours.
Two or more the multiple speed indicator be used to represent the different coordinate directions of velocity information.For example, first speed indicator is illustrated in the speed on the x coordinate direction, and the second speed indicator is illustrated in the speed on the y coordinate direction.By being pointer configuration different colours, operator's perception easily and the shown information of understanding of two speed indicators.
According to an embodiment of the present utility model, display unit is configured with the orientation (orientation) that comprises upside, downside, left side and right side, wherein display device is configured in order to show two speed indicators, wherein first speed indicator flatly is positioned on the downside or upside of display unit, and the second speed indicator is positioned on the left side or right side of display unit vertically.
According to an embodiment of the present utility model, elongated units (7,8) has width, wherein the length of elongated units is between 2 times and 500 times of the width of elongated units, preferably between 10 times and 300 times of the width of elongated units, more preferably between 50 times and 100 times of the width of elongated units.
According to an embodiment of the present utility model, the width of elongated units is 0.2mm to 5mm, be preferably 0.5mm to 3mm.
According to an embodiment of the present utility model, pointer has length and width, and wherein the length of pointer is 0.2mm to 7mm, is preferably 0.5mm-3mm.
According to an embodiment of the present utility model, display unit is a display screen.
Display screen is suitable for the presentation information to the operator.For example, display screen can be LCD (LCD), light emitting diode (LED) display, thin film transistor (TFT) (TFT) display etc.
According to an embodiment of the present utility model, TPU comprises control device, so that robot cell's crawl speed can increase or reduce, wherein speed indicator is configured the crawl speed in order to display device people unit on display unit.
Control device on TPU makes it possible to the speed of control robot unit, thereby makes robot cell's crawl speed increase or reduce." crawl speed " this expression is meant by the velocity information of TPU in the manual mode machine operated people unit.
According to an embodiment of the present utility model, robot controller is configured in order to sending to the robot cell about the control information of movement velocity, thereby obtain robot cell's movement velocity, wherein speed indicator is configured the movement velocity in order to display device people unit on display unit.
Robot controller is connected to TPU and robot cell.In automatic mode machine operated people unit, robot controller sends to the robot cell with control information, and this has obtained robot cell's movement velocity.TPU is configured in order to show the information relevant with robot cell's movement velocity.
Description of drawings
Now will be by specifically describing the utility model to the description of the different embodiment of the utility model and with reference to accompanying drawing.
Fig. 1 shows the TPU that comprises an embodiment of the present utility model.
Fig. 2 shows an embodiment of the present utility model who comprises speed indicator shown in Fig. 1.
Embodiment
Fig. 1 shows the TPU 1 that comprises an embodiment of the present utility model.TPU 1 is used for robot cell's various control operations, such as mobile robot's axle, to robot cell's teaching coordinate etc.TPU 1 is by operator operation, this operator for example the teaching robot unit to carry out various operations, such as applying spot welding to a plurality of coordinates.For operator's convenience, TPU1 is of portable form.TPU 1 comprise can be on display unit 3 display device of display message.Shown in display unit 3 comprise that for example form is the display screen of liquid crystal display (LCD) screen, light emitting diode (LED) screen, thin film transistor (TFT) (TFT) screen etc.TPU 1 also comprises control device 4, the operator can be on this control device input information and control robot unit, for example be controlled at the crawl speed in the manual mode process.Control device 4 for example can be operating key, operating rod etc.
In the example shown, display unit 3 shows two speed indicators 5,6 that respectively comprise elongated units 7,8 and pointer 10a, 10b.First speed indicator 5 flatly has been positioned on the downside 31 of display unit 3.Second speed indicator 6 has been positioned on the left side 33 of display unit 3 vertically. Speed indicator 5,6 is indicated the value of velocity information by pointer 10a, 10b along the position of the length direction of elongated units 7,8, such as the information about crawl speed, movement velocity etc.For example, first speed indicator 5 is illustrated in the crawl speed on the x coordinate direction, and second speed indicator 6 is illustrated in the crawl speed on the y coordinate direction.
In addition, the display unit 3 of TPU 1 can come the numerical value of display speed information by two display windows 11,12.First display window 11 shows the velocity information of first speed indicator 5, and second display window 12 shows the velocity information of second speed indicator 6.In the example shown, first display window, 11 displayed values 70% and second display window, 12 displayed values 40%.When the operator need be about the specifying information of velocity information, when changing robot cell's crawl speed as the operator, enable display window 11,12.For example, when the left arrow of operator presses operating key 4 or right arrow, show first display window 11, and when the upward arrow of operator presses operating key 4 or show second display window 12 down during arrow.
Fig. 2 shows an embodiment of the present utility model who comprises first speed indicator 5.Speed indicator 5 comprises the elongated units 7 with length L D and width W D.The length L D of elongated units 7 is greater than the width W D of elongated units 7.Elongated units 7 has first end 13 of first value of expression velocity information.Elongated units 7 has second end 15 of second value of expression velocity information.The length L D of elongated units 7 is illustrated in velocity information value between first value and second value according to scale.For example, be that first end, 13 designated values 0% are second end, 15 designated values 100%, and linear scale be applied to the length L D of elongated units 7.Speed indicator 5 also comprises the pointer 10b of configuration in order to indication robot cell's velocity information.Pointer 10b has length L 1.Provide indicated velocity information by pointer 10b along the position of the length L D direction of elongated units 7.Pointer 10b is configured to move in order to the length L D direction along elongated units 7, so that can indicate velocity information.
The utility model is not limited to disclosed embodiment, but can be changed within the scope of the appended claims and revise.
Claims (12)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201300662U CN201281819Y (en) | 2008-09-12 | 2008-09-12 | Teaching unit suitable for operation of robot unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201300662U CN201281819Y (en) | 2008-09-12 | 2008-09-12 | Teaching unit suitable for operation of robot unit |
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| Publication Number | Publication Date |
|---|---|
| CN201281819Y true CN201281819Y (en) | 2009-07-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU2008201300662U Expired - Fee Related CN201281819Y (en) | 2008-09-12 | 2008-09-12 | Teaching unit suitable for operation of robot unit |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922523A (en) * | 2011-08-11 | 2013-02-13 | 株式会社安川电机 | Portable remote controller and robotic system |
| CN104470687A (en) * | 2012-07-20 | 2015-03-25 | 株式会社安川电机 | Robot simulator, robot teaching device and robot teaching method |
| CN104972468B (en) * | 2014-04-10 | 2017-05-24 | 株式会社安川电机 | Teaching system, robot system, and teaching method |
| CN110448382A (en) * | 2014-03-17 | 2019-11-15 | 直观外科手术操作公司 | The indicator means of surgical operating instrument for actuator control |
| US11998197B2 (en) | 2020-04-02 | 2024-06-04 | Intuitive Surgical Operations, Inc. | Devices for instrument use recording, devices for recording instrument reprocessing events, and related systems and methods |
-
2008
- 2008-09-12 CN CNU2008201300662U patent/CN201281819Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922523A (en) * | 2011-08-11 | 2013-02-13 | 株式会社安川电机 | Portable remote controller and robotic system |
| CN102922523B (en) * | 2011-08-11 | 2016-05-18 | 株式会社安川电机 | Portable remote operating means and robot system |
| CN104470687A (en) * | 2012-07-20 | 2015-03-25 | 株式会社安川电机 | Robot simulator, robot teaching device and robot teaching method |
| CN110448382A (en) * | 2014-03-17 | 2019-11-15 | 直观外科手术操作公司 | The indicator means of surgical operating instrument for actuator control |
| US11344378B2 (en) | 2014-03-17 | 2022-05-31 | Intuitive Surgical Operations, Inc. | Indicator mechanism for an actuator controlled surgical instrument |
| US12213753B2 (en) | 2014-03-17 | 2025-02-04 | Intuitive Surgical Operations, Inc. | Indicator mechanism for an actuator controlled surgical instrument |
| CN104972468B (en) * | 2014-04-10 | 2017-05-24 | 株式会社安川电机 | Teaching system, robot system, and teaching method |
| US11998197B2 (en) | 2020-04-02 | 2024-06-04 | Intuitive Surgical Operations, Inc. | Devices for instrument use recording, devices for recording instrument reprocessing events, and related systems and methods |
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| C14 | Grant of patent or utility model | ||
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Owner name: ABB T + D TECHNOLOGY LTD. Free format text: FORMER OWNER: ABB TECHNOLOGIES CORP. Effective date: 20120525 |
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| C41 | Transfer of patent application or patent right or utility model | ||
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Effective date of registration: 20120525 Address after: Zurich Patentee after: ABB T & D Technology Ltd. Address before: Sweden Westrm J Patentee before: ABB Technology AB |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090729 Termination date: 20160912 |
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| CF01 | Termination of patent right due to non-payment of annual fee |