JP2008217730A - Robot control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot control device capable of restoring into a past position attitude which causes no welding failure with simple operation when a welding failure occurs due to the correction of a position attitude. <P>SOLUTION: The robot control device 1 moving a working tool mounted to a robot M to a working part according to a working program taught beforehand, to carry out predetermined work, acquiring measured data measured by a machining power source WP and storing the measured data in a history information storage part 13, comprises a storage processing part 23 storing position data of teaching points in the working part and attitude data of the working tool as history information together with the measured data; a display processing part 22 displaying the history information on a teaching pendant TP; and a position attitude data setting part 25 setting the past position data and/or the attitude data included in the history information selected by the teaching pendant, to the corresponding teaching points of a present working program. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a robot control apparatus that stores operation results of a robot, measurement data for monitoring a state during a machining operation, and the like as history information, and supports operation verification and quality management.

  Conventionally, teaching playback system for industrial use that is useful for operation verification and quality control by saving measurement data such as operation results when replaying the taught work program and actual current value during welding as history information A robot is known (see, for example, Patent Documents 1 and 2).

  For example, in Patent Document 1, every time a robot welds a workpiece, measurement data such as a work program name, a welding location, a welding current and a welding voltage is saved as history information, and the saved history information is saved after the machining operation is completed. An arc welding robot that can be analyzed and managed is disclosed.

  Further, in Patent Document 2, when an alarm is generated during the operation of the robot, the position and orientation data of the robot necessary for reproducing the phenomenon, an operation command, image information captured by a peripheral visual sensor, and the like are acquired. A robot system that can reproduce the situation when an alarm occurs is disclosed.

  By the way, since the work used at the production site that performs processing work such as arc welding and spot welding has a complicated shape and the accuracy may vary depending on the lot, before letting the robot perform the processing work, The position and orientation may be corrected with respect to the taught points that have been taught. However, especially when the welding posture (target angle of arc welding torch, inclination of spot welding gun, etc.) is corrected, the actual welding conditions such as welding current and welding voltage vary depending on the welding posture. In spite of the fact that welding was possible without any problems, poor welding may occur in the corrected welding posture. If the welding posture is intentionally corrected, it is sufficient to review the welding conditions that have been set.However, as a result of verifying the welding posture at the time of welding failure, for example, if only the position was corrected, there was no problem. Causes of poor welding such as correcting the welding posture or intentionally tilting the welding posture by 5 degrees but tilting it by 10 degrees are detected. In such a case, there is a case where it is desired to specify a past welding posture in which no welding failure has occurred and to return to the original welding posture.

  In the prior art described in Patent Document 1, since history information is stored by setting a teaching point that is a welding location and measurement data at the teaching point as a set, a welding location where a welding failure has occurred, that is, teaching, is based on the history information. Can identify points. Then, by analyzing the position / orientation data of the teaching point, the position / orientation at the time of occurrence of welding failure can be specified.

  In the prior art described in Patent Document 2, only when an alarm is generated, various data for reproducing the situation when the alarm is generated is stored as history information. Since this history information includes position and orientation data at the time of alarm occurrence, the position and orientation at the time of alarm occurrence can be easily specified.

JP 2006-26655 A JP 2005-103681 A

  However, in the prior art described in Patent Document 1, although the position and orientation can be specified by determining the teaching point when a welding failure occurs, the position and orientation data is not included in the history information. There is a problem that past positions and postures that do not occur cannot be easily specified. In order to specify, a procedure for reading and verifying a past work program from backup data or the like is necessary, and therefore, a great amount of man-hours are required.

  In addition, in the prior art described in Patent Document 2, since history information is acquired only when an alarm occurs, what can be clearly defined as an alarm, such as arc start failure, arc break, spot welding gun abnormality, etc. Only has become reproducible. That is, when a welding failure such as an insufficient bead width or a penetration failure that cannot be clearly defined as an alarm occurs, history information is not acquired, and as in Patent Document 1, a past welding posture in which no welding failure occurs is specified. There was a problem that I could not.

  Therefore, the present invention provides a robot control device that can restore a past position and orientation in which a welding failure does not occur with a simple operation, for example, when a welding failure occurs due to correction of the position and orientation. Objective.

In order to achieve the above object, the first invention provides:
Robot control that moves the work tool attached to the robot to the work location according to the work program taught in advance by the teach pendant, executes the predetermined work, and acquires and stores the measurement data for monitoring the working state In the device
A storage processing unit for storing the position data of the teaching point at the work location together with the measurement data and the posture data of the work tool as history information;
A display processing unit for displaying the history information on the teach pendant;
A robot control apparatus comprising: a position / orientation data setting unit that sets the position data and / or the attitude data included in the history information selected by the teach pendant in the work program. .

  2nd invention is provided with the setting part which sets the additional information of whether to preserve | save the said log | history information for every said work location, and the said storage process part displays the said log | history information when the said additional information is set. The robot control apparatus according to the first aspect of the invention is characterized in that the history information is not stored when the additional information is not stored.

  A third invention is the robot control device according to the first or second invention, wherein the history information includes a number of the work program or a work date and time when the predetermined work is executed. .

  A fourth aspect of the present invention is the robot control apparatus according to any one of the first to third aspects, wherein the work location is one or a plurality of teaching points.

  According to a fifth aspect of the present invention, when the work location is a plurality of teaching points, the position / orientation data setting unit sets the position / orientation data of all the teaching points of the work location based on the selected history information. A robot control apparatus according to a fourth aspect of the present invention.

  6th invention has the position and orientation reproduction | regeneration part which moves the said work tool to the teaching point contained in the said selected history information, The robot control apparatus in any one of the 1st-5th characterized by the above-mentioned It is.

Follow the wording of the claimant and do not add the wording of the embodiment.

  According to the first invention, the storage processing unit that stores the position / orientation data of the teaching point at the work location together with the measurement data as history information, the display processing unit that displays the history information on the teach pendant, and the teach pendant selected. By providing a position / orientation data setting unit that sets position / orientation data included in the history information in the work program, for example, when welding failure occurs after the position / orientation correction, only desired history information is selected. Thus, it is possible to restore the past position and posture where no welding failure occurs.

  According to the second invention, there is provided a setting unit for setting, for each work location, additional information as to whether or not history information is to be stored. When additional information is set, the history information is stored and the additional information is set. When it is not done, history information is not saved. In other words, if the history information of all the work locations is acquired, the amount of data becomes enormous, and it takes time to select the desired history information. However, the history information is saved only for specific work locations. Since it can be made compact, it is possible to select history information in a short time in addition to the effects of the first invention.

  According to the third invention, the history information includes the work program number or the work date and time when the predetermined work has been executed, so that the history information is operated in addition to the effect produced by the first or second invention. Since it can be easily identified based on the program number or the work date and time, history information can be selected in a short time.

  According to the fourth invention, history information is acquired for one or a plurality of teaching points. For example, in arc welding, since a welding location is taught as a work section composed of a plurality of teaching points, it is more intuitive and easier to manage history information for each work section than for each teaching point. . That is, in addition to the effects exhibited by the first to third inventions, the number of man-hours during quality control can be reduced.

  According to the fifth aspect, when the work location is a plurality of teaching points, the position / orientation data setting unit sets the position / orientation data of all the teaching points of the work location based on the selected history information. I have to. That is, instead of selecting each of the plurality of teaching points in the work section one by one and returning to the past position and orientation data, the position and orientation data at all the teaching points in the work section are collected in the past only by selecting the work section. Therefore, in addition to the effects produced by the first to fourth aspects of the invention, the number of man-hours at the time of position / posture repair can be reduced.

  According to the sixth aspect of the present invention, the robot is actually moved to the position and orientation stored in the history information by including the position and orientation reproduction unit that moves the work tool to the teaching point included in the selected history information. Can do. That is, since the position and orientation can be confirmed by visual observation, the position and orientation can be more reliably restored in addition to the effects produced by the first to fifth aspects of the invention.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of the invention will be described based on examples with reference to the drawings.

[Embodiment 1]
FIG. 1 is a block diagram of an industrial robot showing a first embodiment of the present invention. As shown in the figure, the industrial robot is roughly constituted by a manipulator M, a robot control device 1, and a processing power source WP. The processing power supply WP is configured according to the application of the industrial robot. Specifically, a spot welder (contactor) may be used in the case of spot welding, and an arc welding power source may be used in the case of arc welding. Hereinafter, these are collectively referred to as a processing power supply WP.

  The manipulator M automatically performs arc welding, spot welding, and the like on the workpiece W, and includes a plurality of arms and a plurality of servo motors (not shown) for rotationally driving these arms. .

  The processing power source WP is, for example, an arc welding power source in the case of arc welding, and supplies a welding voltage between an arc welding torch (not shown) as a work tool attached to the manipulator M and the workpiece W. It is. The processing power supply WP is connected to the WP interface 11 of the robot controller 1 and performs welding by various welding control signals output from the robot controller 1 during welding.

  The robot controller 1 controls the operation of the manipulator M and gives a control signal to the machining power supply WP. The CPU 2, the ROM 3, the RAM 4, the hard disk 5, the TP interface 10, the WP interface 11, and the system timer 6 are provided. , A drive command unit 30 and a servo driver (not shown) are connected to each other via a bus (not shown).

  The ROM 3 includes a program editing processing unit 7 that edits a work program based on an input from the teach pendant TP and saves it in the work program storage unit 12, a program execution unit 8 that interprets and executes the created work program, and a manipulator Control software for performing various controls, such as an operation control unit 9 for performing M operation control, is provided.

  The ROM 3 further includes an additional information setting unit 21, a storage processing unit 23, a display processing unit 22, a position / orientation data setting unit 25, and a position / orientation reproduction unit 24. The additional information setting unit 21 sets additional information for determining whether or not history information is to be saved based on an input from the teach pendant TP, and stores the additional information in the work program storage unit 5. The storage processing unit 23 acquires history information such as measurement data measured by the processing power supply WP and stores it in the history information storage unit 13. The display processing unit 22 displays the stored history information on the teach pendant TP. The position and orientation data setting unit 25 sets past position and orientation data included in the selected history information in the current work program. The position / orientation reproduction unit 24 performs a process of moving the robot to the position / orientation indicated by the position / orientation data included in the selected history information. Details of the additional information setting unit 21, the storage processing unit 23, the display processing unit 22, the position / orientation data setting unit 25, and the position / orientation reproduction unit 24 will be described later.

  The RAM 4 is used as a working area for the CPU 2 and temporarily stores data being calculated. The hard disk 5 stores a work program storage unit 12 that stores a work program in which the work of the manipulator M is taught, a history information storage unit 13 that stores history information, and various control variables. The system timer 6 measures the current system time, and is referred to when a time stamp such as a work program creation date is given. The WP interface 11 is an interface for connecting and communicating with the machining power supply WP.

  The teach pendant TP is a portable teaching operation panel connected to the TP interface 10, an axis operation key for moving the manipulator M by manual operation, and a memory for storing a position moved by manual operation as a teaching point. A display unit for displaying keys, teaching contents stored in the work program, history information, various dialog messages to the operator, and the like (not shown) are provided. Hereinafter, a position taught by the teach pendant TP is referred to as a teaching point, and a position where welding processing or the like is performed among teaching points is particularly referred to as a work location.

  The activation box SB is for inputting an activation signal for performing a reproduction operation of the taught work program to the robot control apparatus 1.

  When an activation signal is input from the activation box SB, the program execution unit 8 interprets the contents of the work program stored in the work program storage unit 12, and the operation control unit 9 performs operations such as trajectory planning. Based on the above, the drive command unit 30 outputs an operation control signal to each servo motor of the manipulator M. As a result, the plurality of axes of the manipulator M rotate and reach each taught point sequentially.

  Next, an operation of acquiring history information will be described using an industrial robot for spot welding as an example.

  FIG. 2 is a diagram showing a work location of a work to be spot-welded and its work program. In FIG. 9A, work locations Pt1, Pt2, and Pt3 indicate points where spot welding is performed on the workpiece W, and FIG. 10B shows a teaching example of this work program.

  In FIG. 5B, “program number” is identification data for identifying a work program, and a number consisting of, for example, 4 digits is preset. The “step number” is a number automatically assigned to the teaching point, and is incremented by 1 every time the teaching point is stored starting from 001. In the teaching example, the work location Pt1 shown in FIG. 4A corresponds to step 002, the work location Pt2 corresponds to step 003, and the work location Pt3 corresponds to step 004.

  The “move command” is a command for moving the manipulator M to the work location. For example, if it is a MOVE command, a PTP operation is performed to the work location, and if it is a LINE command, a linear interpolation operation is performed to the work location. The “work command” is a command for causing the manipulator M to perform spot welding, signal input / output with an external device, and the like. For example, in the case of a SPOT command, spot welding is performed at the work location.

  The “management number” is additional information for determining whether or not history information is stored at the work location, and can be arbitrarily set by the worker when creating the work program. In the illustrated teaching example, management numbers are set for the work locations Pt1, Pt2, and Pt3 that are spot welding points. The above step numbers are renumbered when a new teaching point is added between multiple teaching points that have already been taught or a teaching point is deleted. Therefore, the correspondence between the step number and the work location May shift. On the other hand, the management number is a unique number set in advance for the work location where the operator wishes to store history information and perform quality control, etc. Will not be renumbered. That is, the correspondence between the management number and the welding location does not change.

  “Position and orientation data” is a value for expressing the position and orientation of the teaching point. This value is expressed by XYZαβγ values in the coordinate system such as base coordinates and tool coordinates, axis values of 1 to 6 axes or encoder values.

  Then, when the above-described operation program is regenerated, the storage processing unit 23 determines whether or not a management number is set in the work location, and when it is determined that the management number is set, The power source WP measures measurement data such as welding current and welding time, and the history information storage unit uses the measurement data, the position and orientation data of each work location, the management number, and the work date and time acquired from the system timer 6 as history information. Save to 13. Here, since management numbers are set for the work locations Pt1, Pt2, and Pt3, history information is stored at all the work locations Pt1 to Pt3. When it is determined that the management number is not set, history information is not saved for the work location.

  FIG. 3 is a diagram illustrating a data structure when history information is stored in the history information storage unit 13. As shown in the figure, the work date and time, program number, management number, step number, movement command, position and orientation data, and measurement data (welding current, welding time) are stored in a table format.

  The stored history information is displayed on the teach pendant TP by the display processing unit 22. FIG. 4 is a diagram illustrating a state in which history information is displayed on the teach pendant TP. In the figure, a history information display screen Hd is a display screen on which each history information described above is displayed. The cursor bar Cr is for the operator to select history information. The repair button Rb is a button for executing the position / orientation data setting process (position / orientation data setting unit 25), and the reproduction button Mb is a reproduction process (moving the robot to the position / orientation stored in the history information). This is a button for executing the position / orientation reproduction unit 24).

  Next, an operation in which the position and orientation data included in the selected history information is set in the work program by the position and orientation data setting unit 25 will be described.

  FIG. 5 is a flowchart showing a process flow of the position / orientation data setting unit 25. In the following, the following processing will be described on the assumption that the worker selects history information based on the work program number and work date and performs the position / orientation setting operation by pressing the repair button Rb shown in FIG. . When the position / orientation setting operation is performed, in step S1, the position / orientation data, the program number, and the management number included in the selected history information are read out and temporarily stored in the RAM 4.

  In step S2, a work program matching the read work program number is searched. Next, in step S3, the work program is opened, and a management number that matches the read management number is searched. Next, in step S4, the position / orientation data read in step S1 is set to the position / orientation data of the teaching point for which the management number is set, and the work program is saved.

  In the above description, the position data and the posture data are set. However, when only the position is set or only the posture is set, after the repair button Rb shown in FIG. 4 is operated, for example, in FIG. A position repair button R1 for setting only the position as shown, a posture repair button R2 for setting only the posture, and a position / posture repair button R3 for setting the position and posture are further displayed and designated. You may make it input. Then, position and orientation data may be set according to the instruction input result. Note that the buttons R1, R2, and R3 may be in the form of inquiring the operator with a dialog message or the like instead of the button format.

  Through the above steps, the position / orientation data included in the history information selected by the teach pendant is set as the teaching point of the work program.

  Next, the operation of moving the work tool to the teaching point included in the selected history information by the position / orientation reproduction unit 24 will be described.

  FIG. 7 is a flowchart showing a processing flow of the position / orientation reproduction unit 24. In the following, the following processing will be described on the assumption that the worker selects history information based on the work program number and work date and performs the position / orientation reproduction operation by pressing the reproduction button Mb shown in FIG. . When the position / orientation reproduction operation is performed, in step S1, a teaching point (position / orientation data) included in the selected history information is read out. Next, in step S2, the work tool is moved to the teaching point read in step S1.

  Through the above steps, the work tool is moved to the position and orientation included in the history information selected by the teach pendant.

  As described above, according to the first embodiment of the present invention, the storage processing unit that stores the position data of the teaching point at the work location and the posture data of the work tool together with the measurement data as history information, and the history information is displayed on the teach pendant. And a position / orientation data setting unit for setting the position / orientation data included in the history information selected by the teach pendant in the work program, for example, a welding failure has occurred after the position / orientation is corrected. In this case, it is possible to restore a past position and orientation in which no welding failure occurs only by selecting desired history information.

  In addition, it has a setting unit that sets additional information on whether to save history information for each work location. When additional information is set for the work location, the history information is saved and the additional information is set in the work location. When it is not done, history information is not saved. In other words, if the history information of all the work locations is acquired, the amount of data becomes enormous, and it takes time to select the desired history information. However, the history information is saved only for specific work locations. Since it can be made compact, history information can be selected in a short time.

  Further, since the history information includes the work program number or the work date and time when the predetermined work is executed, the history information can be easily identified based on the work program number or the work date and time. It can be done in a short time.

  In addition, since the position / orientation reproduction unit that moves the work tool to the teaching point included in the selected history information is provided, the robot can actually be moved to the position / orientation stored in the history information. That is, since the position and orientation can be visually confirmed, the position and orientation can be more reliably restored.

[Embodiment 2]
Embodiment 2 of the present invention is a form for storing history information and setting a position and orientation in an industrial robot for arc welding. The difference from the first embodiment is that the work location is one teaching point at the time of spot welding, whereas the work location is composed of a plurality of teaching points at the time of arc welding. Hereinafter, a different part from Embodiment 1 is demonstrated.

  FIG. 8 is a diagram showing a work location of a work to be arc-welded and its work program. In FIG. 4A, work locations Ws1, Ws2, and Ws3 indicate work sections in which arc welding is performed on the work W, and FIG. 5B shows a teaching example of this work program. In FIG. 6B, the items “program number”, “movement command”, and “position / posture data” are the same as those in FIG. Hereinafter, items different from FIG. 2B in the arc welding application will be described.

  The “step number” is a number that is automatically assigned to the teaching point as described above. The work location Ws1 is step 002-003, the work location Ws2 is step 004-006, and the work location Ws3 is step. 008 to 009 respectively. The “work command” is a command for causing the manipulator M to start or end arc welding. For example, if the ArcStart command is used, the arc welding is started from that position, and if the ArcEnd command is used, the arc welding is ended.

  The “management number” is used to determine whether or not history information is to be stored at the work location, and can be arbitrarily set by the worker when creating the work program. In this teaching example, management numbers are set for the work locations Ws1, Ws2, and Ws3 for which history information is to be stored. That is, in the spot welding shown in the first embodiment, one management number is set for one teaching point, but in this embodiment, one management number is set for an arc welding section, that is, a plurality of teaching points. Yes.

  Then, when the above-described operation program is regenerated, the storage processing unit 23 determines whether or not a management number is set in the work location, and when it is determined that the management number is set, Power supply WP measures measurement data such as welding current, welding voltage, etc., and history information storage unit using this measurement data, position and orientation data of each work location, management number, and work date and time acquired from system timer 6 as history information Save to 13. In addition, measurement data, such as a welding current and a welding voltage, are made into the average value of an arc welding area.

  FIG. 9 is a diagram illustrating a data structure when history information is stored in the history information storage unit 13. As shown in FIG. 4A, for each arc welding section to which a management number is assigned, the work date, program number, management number, step number, movement command, position and orientation data, measurement data (average welding current, average welding) Voltage) is stored in a table format. As the position and orientation data, the first teaching point (welding start point) of the arc welding section is stored. The history information of teaching points other than the first teaching point in the arc welding section (welding end point and relay point until reaching the welding end point) is stored in the table format shown in FIG. . The figure (a) and the figure (b) are linked | related by the management number.

  The stored history information is displayed on the teach pendant TP by the display processing unit 22. FIG. 10 is a diagram illustrating a state in which history information is displayed on the teach pendant TP. In the figure, the history information display screen Hd, the cursor bar Cr, the repair button Rb, and the reproduction button Mb are the same as those shown in FIG. The teaching point list button Lb is a button for displaying a teaching point (welding start point, relay point, and welding end point) in the section and its position and orientation data if the selected history information is an arc welding section. .

  When the operator selects history information based on the work program number and work date and presses the repair button Rb, the processing of the position / orientation data setting unit 25 shown in FIG. 5 is performed. That is, the position and orientation data, program number, and management number of the welding start point included in the history information being selected in step S1 are read from the history table of FIG. Further, the position and orientation data of the relay point and the welding end point are read from the history table of FIG. Next, a work program that matches the work program number read in step S2 is searched. Next, in step S3, the work program is opened, and a management number that matches the read management number is searched. Next, in step S4, the position and orientation data of the arc welding start point, relay point, and arc welding end point read in step S1 are used as the teaching point of the arc welding section in which the control number is set, that is, the welding start point, relay. Set the position and orientation data of the point and the welding end point and save the work program.

  Through the above steps, in the industrial robot for arc welding applications, the position / orientation data included in the selected history information is set to all teaching points in the arc welding section.

  Next, the operation of moving the work tool to the teaching point included in the selected history information by the position / orientation reproduction unit 24 will be described. FIG. 11 is a diagram illustrating a state in which teaching points (welding start point, relay point, and welding end point) in the arc welding section are displayed when the teaching point list button Lb in FIG. 10 is pressed. When the history information is selected and the reproduction button Mb is pressed, the processing of the position / orientation reproduction unit 24 shown in FIG. 7 is performed. That is, in step S1, the work program number and step number included in the selected history information are read out. Next, in step S2, the work tool is moved to the teaching point read in step S1.

  Through the above steps, the work tool is moved to the position and orientation included in the history information selected by the teach pendant.

  As described above, according to the second embodiment of the present invention, history information in which a plurality of teaching points are collected is stored. For example, in arc welding, since a welding location is taught as a work section composed of a plurality of teaching points, it is more intuitive and easier to manage history information for each work section than for each teaching point. Therefore, the man-hour at the time of quality control can be reduced.

  Further, when the work location is a plurality of teaching points, the position / orientation data setting unit sets the position / orientation data of all the teaching points of the work location based on the selected history information. In other words, instead of selecting each of the plurality of teaching points in the work section and returning to the past position and orientation data, the position and orientation data at all the teaching points in the work section are collected in the past only by selecting the work section. Since the position / orientation data can be restored, the man-hours required for the position / orientation restoration can be reduced.

  The embodiment of the present invention has been described above by taking the industrial robot for spot welding or arc welding as an example, but the scope of the present invention is not limited to the above-described embodiment. The present invention can also be applied to industrial robots for other uses such as sealing applications, painting applications, and handling applications. More specifically, when problems such as interference with the jig, defects in the sealing / painting process, and conveyance problems in the handling process occur after the position and orientation are corrected, simply select the desired history information. It is possible to return to the past position and orientation where no problem occurs.

It is a block diagram of the industrial robot which shows 1st Embodiment of this invention. It is a figure which shows the work location of the workpiece | work which carries out the spot welding process in 1st Embodiment of this invention, and its work program. It is a figure which shows the data structure at the time of log | history information being memorize | stored in the log | history information storage part in 1st Embodiment of this invention. It is a figure which shows a mode that log | history information was displayed on the teach pendant in 1st Embodiment of this invention. It is a flowchart which shows the flow of a process of the position and orientation data setting part in 1st Embodiment of this invention. It is a figure which shows the choice at the time of correcting position and orientation in 1st Embodiment of this invention. It is a flowchart which shows the flow of a process of the position and orientation reproduction part in 1st Embodiment of this invention. It is a figure which shows the work location and work program of the workpiece | work which carries out arc welding processing in 2nd Embodiment of this invention. It is a figure which shows the data structure at the time of historical information being memorize | stored in the historical information storage part in 2nd Embodiment of this invention. It is a figure which shows a mode that log | history information was displayed on the teach pendant in 2nd Embodiment of this invention. It is a figure which shows a mode that the teaching point (a welding start point, a relay point, and a welding end point) in an arc welding area is displayed in 2nd Embodiment of this invention.

Explanation of symbols

1 Robot controller 2 CPU
3 ROM
4 RAM
5 Hard disk 6 System timer 7 Program editing processing unit 8 Program execution unit 9 Operation control unit 10 TP interface 11 WP interface 12 Work program storage unit 13 History information storage unit 21 Additional information setting unit 22 Display processing unit 23 Storage processing unit 24 Position and orientation Reproduction unit 25 Position / attitude data setting unit 30 Drive command unit Cr Cursor bar Hd History information display screen Lb Teaching point list button M Manipulator Mb Reproduction button Pt1 Work location Pt2 Work location Pt3 Work location R1 Position repair button R2 Posture repair button R3 Position and orientation Repair button Rb Repair button SB Start box TP Teach pendant W Work WP Power supply Ws1 Work location Ws2 Work location Ws3 Work location

Claims (6)

Robot control that moves the work tool attached to the robot to the work location according to the work program taught in advance by the teach pendant, executes the predetermined work, and acquires and stores the measurement data for monitoring the working state In the device
A storage processing unit that stores the position data of the teaching point at the work location together with the measurement data and the posture data of the work tool as history information,
A display processing unit for displaying the history information on the teach pendant;
A robot control apparatus comprising: a position / orientation data setting unit that sets the position data and / or the attitude data included in the history information selected by the teach pendant in the work program.   A setting unit configured to set, for each work location, additional information as to whether or not to store the history information, and the storage processing unit stores the history information when the additional information is set, and the additional information The robot control apparatus according to claim 1, wherein the history information is not stored when is not set.   3. The robot control apparatus according to claim 1, wherein the history information includes a number of the work program or a work date and time when the predetermined work is executed.   The robot control apparatus according to claim 1, wherein the work location is one or a plurality of teaching points.   When the work location is a plurality of teaching points, the position / orientation data setting unit sets position / orientation data of all teaching points of the work location based on the selected history information. Item 5. The robot control device according to Item 4.   The robot control apparatus according to claim 1, further comprising a position and orientation reproduction unit that moves the work tool to a teaching point included in the selected history information.

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