JP4714086B2 - controller - Google Patents

Description

  The present invention relates to a controller that can manually operate a take-out robot that takes out a molded product from a molding machine.

  Conventionally, a take-out robot 3 for taking out a molded product from the molding machine 2 has a transverse arm shaft 32 fixed on a fixed platen 24 of the molding machine 2 and a transverse direction (X-axis direction) along the transverse arm shaft 32. A pull-out arm shaft 33 that moves and a lift arm shaft 34 that moves in the pull-out direction (Y-axis direction) along the pull-out arm shaft 33 and moves in the vertical direction (Z-axis direction) are provided. There is one in which a take-out head 35 for holding a molded product is attached to the lower end (see FIG. 1).

  The take-out robot 3 is connected to a controller for manually operating the arm shafts 33 and 34 for teaching work and the like. As shown in FIG. 10, the controller 100 includes, for example, an axis movement button 105 formed of a cross key for manually operating the arm axes 33 and 34 of the take-out robot 3, and arm axes 33 and 34 for manual operation. An axis selection button 106 to be selected and a display screen 110 such as a liquid crystal panel are provided. On the display screen 110, a robot pseudo image 107 simulating the take-out robot 3 installed is displayed and the robot pseudo image 107 is displayed. Four arrow images 181 to 184 showing the moving directions of the arm shafts 33 and 34 are displayed on the screen.

  In order to manually operate the take-out robot 3 with the controller 100, for example, when “transverse” is selected with the axis selection button 106, the pulling arm shaft 33 is operated by turning on the right button 152 and the left button 154 of the axis movement button 105. And the raising / lowering arm 34 can be moved to a transverse direction (X-axis direction). When this “transverse” axis is selected, the extraction arm shaft 33 can only be moved in the horizontal direction (X-axis direction), so that the extraction arm can be operated even if the upper button 151 and the lower button 153 of the axis movement button 105 are turned on. The shaft 33 does not move, and the lifting arm shaft 34 does not move even if the right button 152 and the left button 154 of the shaft moving button 105 are turned on.

When “pull out / up / down” is selected with the axis selection button 106, the lifting arm shaft 34 can be moved in the pulling direction (Y-axis direction) with the right button 152 and the left button 154 of the axis moving button 105. The lift arm shaft 34 can be moved in the vertical direction (Z-axis direction) with the upper button 151 and the lower button 153 of the axis movement button 105. When this “pull out / up / down” axis is selected, the lift arm shaft 34 can only be moved in the pull out direction (Y-axis direction) and up / down direction (Z-axis direction). Even if the button 154 is turned on, the extraction arm shaft 33 does not move.
At the time of this manual operation, the moving direction of each arm axis 33 and 34 of the take-out robot 3 can be recognized by referring to the robot pseudo image 107 and the arrow images 181 to 184 on the display screen 110.
Japanese Patent No. 3060305 Japanese Patent No. 3584352 Japanese Patent Laying-Open No. 2005-4523 (FIG. 1)

  However, in the controller 100, it is impossible to know which arm shafts 33 and 34 can be manually operated at present by looking at the robot pseudo image 107. As described above, the up / down / left / right buttons 151 to 154 of the axis movement button 105 formed of a cross key function in accordance with the axis selection of “transverse” or “draw / up / down”. For this reason, when the operator operates the predetermined buttons 151 to 154 of the axis movement button 105, the arm shafts 33 and 34, which are unexpected for the operator, are moved or the desired arm axis is operated regardless of the button operation. There may be a situation where 33 and 34 do not move.

  For example, when the right button 152 or the left button 154 of the axis moving button 105 is operated to move the pulling arm shaft 33 in the transverse direction (X-axis direction), the lifting arm shaft 34 can actually be manually operated. Since the vertical axis is selected, the lifting arm shaft 34 is moved in the pulling direction (Y-axis direction) against the operator's expectation, or the lifting arm shaft 34 is moved in the vertical direction (Z-axis direction). When the upper button 151 or the lower button 153 of the axis movement button 105 is operated in order to move the axis to the position, the axis of the lifting / lowering arm axis is actually selected because the pulling arm axis 33 can be manually operated. It is a situation where 34 does not move at all.

  In addition, when the operator manually operates the take-out robot 3, the operator may appropriately move to various places around the take-out robot 3 with the controller 100 in order to confirm the position of the take-out head 35. In this case, the controller The direction indicated by the cross key of the axis movement button 105 in 100 may be inconsistent with the state of the actual take-out robot 3 viewed from the standing position of the operator, and in this case, the operation error is more likely to occur.

  For example, when the worker moves to a place opposite to the state of the robot pseudo image 107 displayed on the display screen 110 (for example, the worker's viewpoint with respect to the take-out robot 3 is changed from the state of the operation side in FIG. 4). The movement direction of the axis movement button 105 by the right button 152 and the left button 154 of the axis movement button 105 is determined by the arm axis of the actual take-out robot 3 viewed from the standing position of the operator (for example, , The relationship with the left and right movement directions (for example, the transverse direction: X-axis direction) of the extraction arm shaft 33) is reversed. In this case, for example, if the right button 152 of the axis movement button 105 is turned on while looking at the actual robot 3 and moving the desired arm axis to the right, the arm axis of the actual robot 3 (for example, The pulling arm shaft 33) moves in the opposite left direction against the operator's expectation.

  From the above, during manual operation by the controller 100 while looking at the actual take-out robot 3, the arm shaft moves unexpectedly and collides with the peripheral portion of the mold 20 or the like, or the take-out head 35 It may be troublesome to move the to the predetermined position.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a user-friendly controller by devising a display image so as not to cause an operation error in manual operation of the take-out robot.

(1) A controller according to the present invention includes:
A controller that enables manual operation of a take-out robot for taking out a molded product from a molding machine,
An axis movement button composed of a cross key for manually operating each arm axis of the take-out robot;
An axis selection button for selecting the arm axis of the take-out robot to be manually operated;
A robot pseudo image having an arm axis image simulating an installed take-out robot can be displayed, and an arrow image having a button image indicating the movement direction of the arm axis can be displayed on the robot pseudo image by imitating a cross key Display screen,
An image that actively displays both the arm axis image portion of the robot pseudo image corresponding to the arm axis selected by the axis selection button and the button image portion of the arrow image corresponding to the movable direction of the selected arm axis. A processing unit;
When the axis movement button corresponding to the button image of the arrow image that is actively displayed is turned on, the direction indicated by the button image of the arrow image that is actively displayed with respect to the arm axis image portion of the robot pseudo image that is actively displayed matches. A manual operation control unit that commands the take-out robot to move the arm axis of the take-out robot of the actual machine,
Furthermore, a determination means for automatically determining the positional relationship with the actual take-out robot,
Display switching means for automatically switching the robot pseudo image to be displayed on the display screen to a robot pseudo image that matches the viewpoint from the controller position according to the result of the determination means;
Direction setting means for resetting a movement instruction direction function of a cross key constituting the axis movement button corresponding to the robot pseudo image switched by the display switching means. 1).

By the image processing unit, the arm axis portion of the robot pseudo image corresponding to the arm axis of the take-out robot selected by the axis selection button, and the arrow image corresponding to the movable direction of the arm axis of the selected take-out robot Since both parts are actively displayed, the operator can use the arm axis that can be manually operated by the active display in the robot pseudo image and the axis movement button that is formed by the cross key by the active display of the arrow image. The button can be recognized at a glance.
In addition, when the axis movement button corresponding to the button image of the arrow image that is actively displayed is turned on by the manual operation control unit, the arrow image that is actively displayed with respect to the arm axis image portion of the robot pseudo image that is actively displayed Since the arm axis of the take-out robot of the actual machine is moved in accordance with the direction indicated by the button image, it is difficult to cause misrecognition of the movement direction of the arm axis of the take-out robot by the axis movement button.
Therefore, by referring to this display screen during manual operation by the controller while looking at the actual take-out robot, it is possible to prevent an operation error such as the arm axis moving unexpectedly by the operator.
Furthermore, even when the operator moves to various places around the take-out robot with the controller, the state of the take-out robot of the actual machine viewed from the worker's standing position and the robot simulation displayed on the display screen are automatically displayed. It is possible to match the images and match the movement direction of the arm shaft of the take-out robot of the real machine by the axis movement button viewed from the standing position of the operator and the movement direction with respect to the robot pseudo image by the arrow image displayed on the display screen. it can. Therefore, when manual operation is performed by the controller while looking at the actual take-out robot, even if the operator moves appropriately to various places around the take-out robot by referring to this display screen, the operator's expectation This can be prevented more reliably so as not to cause an operation error such as the arm shaft moving to the outside.

(2) In the above controller,
A viewpoint button capable of switching the robot pseudo image displayed on the display screen to a robot pseudo image corresponding to the viewpoint of viewing the robot taken out from the controller by an on operation;
Direction adjustment means for re-adjusting the movement instruction direction function of the cross key that constitutes the axis movement button corresponding to the robot pseudo image switched by the viewpoint button may be provided.

  As a result, the state of the actual robot taken out from the worker's standing position matches the robot pseudo image displayed on the display screen, and the arm of the actual robot with the axis movement button seen from the worker's standing position. It is possible to make the movement direction of the axis coincide with the movement direction of the robot pseudo image by the arrow image displayed on the display screen. Therefore, when manual operation is performed by the controller while looking at the actual take-out robot, even if the operator moves appropriately to various places around the take-out robot by referring to this display screen, the operator's expectation It is possible to prevent an operation error such as the arm shaft from moving outside.

As described above, according to the present invention, when a manual operation is performed by the controller while looking at the actual robot to be taken out, the robot pseudo image and the arrow image that are actively displayed on the display screen are referred to. It is possible to prevent an operation error such as movement of the arm shaft from occurring. Therefore, it is possible to avoid the trouble of colliding the take-out head or arm shaft with the peripheral part of the mold or the like at the time of manual operation or troublesome to move the take-out head to a predetermined position. As a result, the teaching work can be performed efficiently and in a short time.
Furthermore, even when the operator moves to various places around the take-out robot with the controller, the state of the take-out robot of the actual machine viewed from the worker's standing position and the robot simulation displayed on the display screen are automatically displayed. It is possible to match the images and match the movement direction of the arm shaft of the take-out robot of the real machine by the axis movement button viewed from the standing position of the operator and the movement direction with respect to the robot pseudo image by the arrow image displayed on the display screen. it can. Therefore, when manual operation is performed by the controller while looking at the actual take-out robot, even if the operator moves appropriately to various places around the take-out robot by referring to this display screen, the operator's expectation This can be prevented more reliably so as not to cause an operation error such as the arm shaft moving to the outside.

Embodiments of the present invention will be described below with reference to the drawings.
(Embodiment 1)
As shown in FIG. 1, the controller 1 according to the present embodiment is communicatively connected by a communication cable K to a take-out robot 3 that takes out a molded product from the molding machine 2. The controller 1 may be communicably connected to the take-out robot 3 by wireless communication.
The take-out robot 3 shown in FIG. 1 is called a traverse type, and includes an arm mechanism 30 that extends in the respective XYZ axial directions and a take-out head 35 that takes out a molded product from the mold 20 of the molding machine 2. . The arm mechanism 30 includes a transverse arm shaft 32 extending in the width direction (X-axis direction) of the molding machine 2, a drawing arm shaft 33 extending in the longitudinal direction (Y-axis direction) of the molding machine 2, And a lifting arm shaft 34 extending in the vertical direction (Z-axis direction) of the molding machine 2.

The transverse arm shaft 32 is mounted and fixed on the fixed platen 24 of the molding machine 2 via a base 31. The extraction arm shaft 33 is mounted on the transverse arm shaft 32 and is moved forward and backward in the width direction (transverse direction: X-axis direction) of the molding machine 2 by a first drive source M1 (see FIG. 2) such as a servo motor. The lifting arm shaft 34 is suspended from the pulling arm shaft 33, and is moved forward and backward in the longitudinal direction of the molding machine 2 (drawing direction: Y-axis direction) by a second drive source M2 (see FIG. 2) such as a servo motor. At the same time, it is moved up and down in the vertical direction (Z-axis direction) of the molding machine 2 by a third drive source M3 (see FIG. 2) such as a servo motor.
The take-out head 35 is attached to the lower end of the elevating arm shaft 34, holds and takes out a molded product as a product from the mold 20, and releases the hold at a predetermined collection position outside the molding machine 2 to form it. Collect the goods.

The take-out robot 3 is provided with a control unit 40 (see FIG. 2) for controlling the operation of the arm shafts 33 and 34, and the controller 1 is connected to the control unit 40 by communication.
As shown in FIG. 2, the control unit 40 receives a position detection signal from a position detection member (not shown) such as an encoder connected to the first drive source M1 and provided in the first drive source M1, for example. An X-axis drive control circuit 41 that numerically controls the first drive source M1 and a position detection member (not shown) such as an encoder that is connected to the second drive source M2 and provided in the second drive source M2. A position detection signal such as an encoder provided to the third drive source M3 connected to the third drive source M3 and a Y-axis drive control circuit 42 for numerically driving and controlling the second drive source M2 ON / OFF of the negative pressure of the Z-axis drive control circuit 43 that receives the position detection signal (not shown) and numerically controls the third drive source M3 and the suction member (not shown) of the take-out head 35. Valve drive control circuit 44 to control, take-out robot A first memory 45 such as a ROM that stores an extraction operation program that defines the basic operation of the extraction operation of the robot 3, a second memory 46 such as a RAM that stores teaching data that teaches the extraction operation of the extraction robot 3, and the like. An interface 47 for communication connection with the controller 1 and the above-described units 41 to 47 are connected, and an X-axis drive control circuit 41, a Y-axis drive control circuit 42, and a Z-axis drive control circuit 43 based on the extraction operation program and teaching data. And a CPU 48 for controlling the operation of the take-out robot 3 by appropriately outputting a control signal to the valve drive control circuit 44 and the like.

The take-out robot 3 operates the arm mechanism 30 as follows at the time of take-out operation by automatic operation.
FIG. 3 shows the movement trajectory of the take-out head 35 during this take-out operation. Referring also to FIG. 3 together with FIG. 1, first, the lifting arm shaft 34 is lowered (−Z direction), and the mold 20 is moved. The take-out head 35 at the upper standby position (P1) is entered into the entry position (P2) in the mold 20 that has been opened, and then the lifting arm shaft 34 is moved in the pull-out direction (+ Y direction). 35 is moved to the take-out position (P3) close to the mold 20 surface. The molded product in the mold 20 is held by the take-out head 35 at this take-out position (P3).

Then, the lift arm shaft 34 is moved in the pull-out return direction (−Y direction) to move the take-out head 35 to the retracted position (P4), and then the lift arm shaft 34 is raised (+ Z direction) to the take-out head 35. Is moved to the raised position (P5) above the mold 20, and then the extraction arm shaft 33 is moved in the transverse direction (+ X direction) to move the take-out head 35 to the release position (P6), and then lifted and lowered The arm shaft 34 is lowered (−Z direction), and the takeout head 35 is moved to the collection position (P7). At this collection position (P7), the molded product is released from the take-out head 35, and the molded product is collected.
Thereafter, the elevating arm shaft 34 is raised (+ Z direction) to move the takeout head 35 to the release raised position (P8), and then the extraction arm shaft 33 is moved in the transverse return direction (−X direction) to take out the head. 35 is moved to the original standby position (P1).
In the above process, one take-out operation is completed, and this take-out operation is repeated during automatic operation.

  By the way, the controller 1 connected for communication with the take-out robot 3 is set so that the take-out head 35 of the take-out robot 3 is correctly moved to each position by the operator's operation when the mold 20 of the molding machine 2 is changed. It is also used when teaching work is performed.

  As shown in FIG. 4, the controller 1 selects the axis movement button 5 including a cross key for manually operating the arm axes 33 and 34 of the take-out robot 3 and the axis selection for selecting the arm axes 33 and 34 to be manually operated. A robot pseudo image 7 having a button 6 and a traverse arm axis image 72, a pulling arm axis image 73 and a lifting arm axis image 74 imitating the take-out robot 3 is displayed and the axis moving button 5 is displayed on the robot pseudo image 7. And a display screen 10 capable of displaying an arrow image 8 having four button images 81 to 84 simulating a cross key. In addition, an emergency stop button 11 for urgently stopping the operation of the take-out robot 3 is provided above the display screen 10.

  The axis movement button 5 is composed of four buttons 51 to 54 that indicate four directions of up, down, left, and right constituting the cross key, and the operation becomes effective by turning on a deadman switch (not shown). Is turned on separately to move the arm shafts 33 and 34 in the direction of the on operation.

  The axis selection button 6 is composed of a round button with an enter mark arranged at the center of the cross key constituting the axis movement button 5 and each time the axis selection button 6 is turned on, the pulling arm axis 33 is moved up and down. 34 is selected so that it can be moved in the transverse direction (X-axis direction in FIG. 1) together with 34, and the lifting arm shaft 34 is pulled out (Y-axis direction in FIG. 1) and up-down direction (in FIG. 1). “Drawing / up / down” axis selection that enables movement in the Z-axis direction) is performed.

  The display screen 10 is composed of, for example, a liquid crystal panel and has a GUI function so that an image that can be touched on the display screen 10 can be displayed. In addition to the robot pseudo image 7 and the arrow image 8, the display screen 10 includes axis display units 12a and 12b for displaying the moving directions of the arm shafts 33 and 34 that can be selected by the axis selection button 6, and the axis display. A coordinate display unit 13 that displays the coordinate position of the take-out head 35 in a numerical value alongside the units 12a and 12b is displayed. On the display screen 10, a button mark 14 simulating a circular button of the axis selection button 6 together with the cross key of the axis movement button 5 is displayed beside the axis display portions 12 a and 12 b, and the button mark 14 is displayed on the button mark 14. On the other hand, the function explanation text of each part is written together. Thereby, the usage of the axis movement button 5 and the axis selection button 6 can be easily known.

  Further, the display screen 10 is provided with a viewpoint button 15 capable of switching the robot pseudo image 7 from the controller 1 to the robot pseudo image 7 according to the viewpoint of viewing the robot 3. The viewpoint button 15 is provided as an image that can be touch-operated on the display screen 10 by the GUI function of the display screen 10, but may be provided at an appropriate location outside the display screen 10.

Further, as shown in the functional block diagram of FIG. 5, the controller 1 includes an interface 17 for communication connection with the control unit 40 of the take-out robot 3 and a control unit 16 for controlling each function of the controller 1. Has been.
The control unit 16 controls the operation of the image processing unit 16C including a program for generating an image to be output to the display screen 10 and the operation of the arm shafts 33 and 34 by operations from the axis movement button 5 and the axis selection button 6. A manual operation control unit 16B made up of a program for commanding and the like, and a CPU 16A for controlling the operations of the units 5, 6, 10, 15-17 are provided.

The image processing unit 16C displays, on the display screen 10, a robot pseudo image 7 having arm axis images 72 to 74 imitating the installed take-out robot 3 as a manual operation screen at the time of manual operation. 7, an arrow image 8 having four button images 81 to 84 indicating the movement directions of the arm shafts 33 and 34, which is similar to the cross key of the axis movement button 5, can be displayed. Also, the image processing unit 16C can display the axis display units 12a and 12c, the coordinate display unit 13, the button mark 14, the viewpoint button 15 and the like on the display screen 10.
Then, the image processing unit 16 </ b> C corresponds to the robot pseudo image corresponding to the arm axes 33 and 34 of the take-out robot 3 selected by the axis selection button 6 with respect to the robot pseudo image 7 and the arrow image 8 on the display screen 10. 7 and the button images 81 to 84 of the arrow image 8 corresponding to the movable direction of the selected arm shafts 33 and 34 are displayed together.

  Here, the active display is to highlight an image portion to be actively displayed so that it can be distinguished from other image portions. For example, the image portion to be active displayed is brightly displayed (changed to a bright color or bright). (E.g., increasing the brightness, saturation, contrast, etc.), or darkening (changing the brightness, saturation, contrast, etc.) or hiding other image parts that are not actively displayed It is.

  When the manual operation control unit 16B turns on the axis movement button 5 corresponding to the button images 81 to 84 of the arrow image 8 that is actively displayed, the manual operation control unit 16B applies to the arm axis images 73 and 74 of the robot pseudo image 7 that is actively displayed. The control unit 40 of the take-out robot 3 is commanded to move the arm shafts 33 and 34 of the take-out robot 3 of the actual machine in accordance with the direction indicated by the button images 81 to 84 of the arrow image 8 that is actively displayed. In addition, the manual operation control unit 16B includes a direction adjustment unit 18 that re-adjusts the movement instruction direction function of the cross key constituting the axis movement button 5 corresponding to the robot pseudo image 7 switched by the viewpoint button 15. Is provided.

Next, the screen configuration of the display screen 10 (manual operation screen) during manual operation will be described.
The robot pseudo image 7 shown in FIGS. 4, 6, and 7 is displayed in an operation-side pattern, that is, the actual take-out robot 3 is installed on the rear side of the fixed platen 24 in the molding machine 2. The transverse arm shaft 32 is installed in an operation side pattern that extends to the front side where the operation panel 23 of the molding machine 2 is located from the position of viewing the injection machine 21 on the right side (the pulling arm shaft 33 is a part of the molding machine 2). The controller 1 is disposed at an operation side position on the front side of the molding machine 2 where the operation panel 23 is provided (see FIG. 1). ).

  In this case, as shown in FIG. 4, in this case, as shown in FIG. 4, a robot pseudo image 7 of the operation-side extraction robot 3 in which the transverse arm shaft 32 extends to the near side (operation side) is displayed. An arrow image 8 composed of four button images 81 to 84 simulating the cross key of the axis movement button 5 can be displayed on the robot pseudo image 7. On this screen, the arrow image 8 may be darkly displayed.

Then, when the axis selection button 6 is turned on to select the “pull out / up / down” axis, as shown in FIG. 6, the portion of the lift arm axis image 74 in the robot pseudo image 7 is, for example, an active display that turns yellow. In addition, all four button images 81 to 84 of the arrow image 8 are, for example, active displays in which their display is maintained.
When the manual operation control unit 16B selects “extraction / up / down” with the axis selection button 6, the right button 52 and the left button 54 of the axis movement button 5 move the lifting arm shaft 34 in the extraction direction (Y in FIG. 1). The control unit of the take-out robot 3 is moved in the vertical direction (Z-axis direction in FIG. 1) with the upper button 51 and the lower button 53 of the axis movement button 5 at the same time. Therefore, even if the right button 52 and the left button 54 of the axis movement button 5 are turned on, the extraction arm shaft 33 does not move in the transverse direction (X-axis direction in FIG. 1).

  As a result, the operator selects the “pulling / up / down” axis by the active display of the lifting / lowering arm axis image 74 in the robot pseudo image 7, and all four of the up / down / left / right directions in the arrow image 8. With the active display that displays the button images 81 to 84, the lifting arm shaft 34 can be moved in the pulling direction (Y-axis direction in FIG. 1) with the right button 52 and the left button 54 of the axis movement button 5. At the same time, it can be clearly recognized that the lifting / lowering arm shaft 34 can be moved in the vertical direction (Z-axis direction in FIG. 1) with the upper button 51 and the lower button 53 of the axis movement button 5. Accordingly, when the operator manually operates the controller 1 while looking at the take-out robot 3 of the actual machine, the operator moves the axis movement button 5 formed of the cross key in accordance with the operator's recognition by referring to the display screen 10. It is possible to move the lifting arm shaft 34 in the pulling-out direction or the up-down direction by turning on.

Further, when the axis selection button 6 is turned on to perform “transverse” axis selection, as shown in FIG. 7, the extracted arm axis image 73 and the lifting arm axis image 74 in the robot pseudo image 7 are yellow, for example. The active display changes to, and for example, only the left and right button images 82 and 84 of the arrow image 8 are displayed. That is, the upper and lower button images 81 and 83 are not displayed.
When the manual selection control unit 16B selects “transverse” with the axis selection button 6, the pull-out arm shaft 33 and the lift arm axis 34 are moved in the horizontal direction (by the on operation of the right button 52 and the left button 54 of the axis movement button 5). Since the control unit 40 of the take-out robot 3 is instructed to move in the X-axis direction in FIG. 1, the lifting arm shaft 34 is pulled out even if the right button 52 and the left button 54 of the axis movement button 5 are turned on. (The Y-axis direction in FIG. 1) does not move, and even if the upper button 51 and the lower button 53 of the axis movement button 5 are turned on, the pull-out arm shaft 33 moves in the vertical direction (the Z-axis direction in FIG. 1). ) Does not move.

  As a result, the operator selects the “transverse” axis by the active display of the drawing arm axis image 73 and the lifting arm axis image 74 in the robot pseudo image 7, and at the same time, With the active display that displays only the button images 82 and 84, the pulling arm shaft 33 can be moved in the transverse direction (X-axis direction in FIG. 1) by turning on the right button 52 and the left button 54 of the axis movement button 5. You can recognize at a glance what you can do. Accordingly, when the operator manually operates the controller 1 while looking at the take-out robot 3 of the actual machine, the operator moves the axis movement button 5 formed of the cross key in accordance with the operator's recognition by referring to the display screen 10. The pull-out arm shaft 33 can be moved in the transverse direction by turning on.

In addition, in the axis display units 12a and 12b and the coordinate display unit 13 displayed on the display screen 10, the corresponding portion of the selected axis is actively displayed as the axis selection button 6 is turned on, which also enables manual operation. The arm shafts 33 and 34 can be recognized.
The axis display units 12a and 12b have a function of selecting arm axes 33 and 34 that are manually operated in the same manner as the axis selection button 6 by touching the display screen 10 with a GUI function. May be.

  From the above, according to the controller 1, the arm axis images 73 and 74 of the robot pseudo image 7 corresponding to the arm axes 33 and 34 of the take-out robot 3 selected by the axis selection button 6 and the selected robot axis image are selected. Since both the button images 81 to 84 of the arrow image 8 corresponding to the direction in which the arm shafts 33 and 34 can move are displayed in an active manner, the operator can manually operate by the active display in the robot pseudo image 7. The arm shafts 33 and 34 and the usable buttons 51 to 54 among the axis movement buttons 5 formed by the cross key can be recognized at a glance by the active display of the arrow image 8.

  Further, when the axis operation button 5 corresponding to the arrow image 8 that is actively displayed is turned on by the manual operation control unit 16B, active display is performed on the arm axis images 73 and 74 of the robot pseudo image 7 that is actively displayed. Since the arm shafts 33 and 34 of the take-out robot 3 of the actual machine are moved in accordance with the directions indicated by the button images 81 to 84 of the arrow image 8 thus made, the arm shafts 33 and 34 of the take-out robot 3 by the axis moving button 5 are moved. It is difficult to misunderstand the direction of movement.

  Therefore, when performing manual operation by the controller 1 while viewing the actual take-out robot 3, the display screen 10 is referred to prevent an operation error such as the arm shafts 33 and 34 moving unexpectedly by the operator. Can be prevented. Therefore, it is possible to avoid the trouble of colliding the take-out head 35 or the arm shafts 33 and 34 with the peripheral portion of the mold 20 or the like at the time of manual operation, or the trouble of moving the take-out head 35 to a predetermined position. The operation can be performed smoothly and efficiently. As a result, the teaching work can be performed efficiently and in a short time.

  In addition, when the viewpoint button 15 is turned on, the image processing unit 16C causes the robot pseudo image 7 on the display screen 10 to be viewed from the operation side position as shown in FIG. 4 and the reaction side pattern as shown in FIG. The display can be switched to the operation side pattern viewed from the operation side position (the position on the far side with respect to the operation panel 23 of the molding machine 2). In this case, the direction adjustment means 18 re-adjusts the movement instruction direction function of the cross key constituting the axis movement button 5 corresponding to the robot pseudo image 7 switched by the viewpoint button 15 as follows.

  That is, in the case of the robot pseudo image 7 of the operation side pattern viewed from the operation side position (FIG. 4), when the lifting arm shaft 34 is moved in the pulling direction (Y-axis direction in FIG. 1) (display screen in FIG. 6). When the right button 52 is turned on, the lift arm shaft 34 moves in a direction approaching the transverse arm shaft 32 (in the -Y direction in FIG. 1), and when the left button 54 is turned on, the lift arm shaft 34 is moved to the transverse arm shaft. It moves in a direction away from 32 (+ Y direction in FIG. 1).

Therefore, when the robot pseudo image 7 is changed to the operation side pattern viewed from the counter-operation side position (FIG. 8), the above movement instruction direction is reversed and the lifting arm shaft 34 is pulled out (Y-axis direction in FIG. 1). When the right button 52 is turned on, the lifting arm shaft 34 moves in a direction away from the traversing arm shaft 32 (in the + Y direction in FIG. 1). When the left button 54 is turned on, the lifting arm shaft 34 is traversed. The movement instruction direction function of the cross key constituting the axis movement button 5 is changed so as to move in the direction approaching the arm shaft 32 (-Y direction in FIG. 1).
In this case, the movement instruction directions of the upper button 51 and the lower button 53 of the axis movement button 5 when moving the elevating arm shaft 34 in the vertical direction (Z-axis direction in FIG. 1) are not changed, and the pull-out arm shaft 34 is pulled out. The movement instruction directions of the right button 52 and the left button 54 of the axis movement button 5 when the arm shaft 33 is moved in the transverse direction (X-axis direction in FIG. 1) together with the lift arm shaft 34 are not changed.

  As a result, the state of the actual take-out robot 3 viewed from the worker's standing position matches the robot pseudo image 7 displayed on the display screen 10, and the actual machine is moved by the axis movement button 5 viewed from the worker's standing position. The moving direction of the arm shafts 33 and 34 of the take-out robot 3 and the moving direction with respect to the robot pseudo image 7 by the arrow image 8 displayed on the display screen 10 can be matched. Therefore, when manual operation is performed by the controller 1 while looking at the actual take-out robot 3, even when the operator appropriately moves to various places around the take-out robot 3 with the controller 1, the display screen 10 is referred to. , It is possible to prevent an operation error such as the arm shafts 33 and 34 being moved unexpectedly by the operator, and to perform a manual operation smoothly and efficiently. As a result, teaching work can be performed efficiently and in a short time. Is also possible.

  When the viewpoint button 15 is turned on, the image processing unit 16C converts the robot pseudo image on the display screen 10 into the robot pseudo image 7 having the operation side pattern shown in FIG. 4 and the robot having the counter operation side pattern shown in FIG. You may comprise so that it can switch and display to the pseudo image 7A. Also in this case, corresponding to the robot pseudo image 7A switched by the on operation of the viewpoint button 15, the direction adjusting means 18 follows the above-described content, and the movement instruction direction function of the cross key constituting the axis movement button 5 is achieved. Readjust.

  Here, the anti-operation side pattern of the robot pseudo image 7A is the traversing arm shaft 32 from the position where the take-out robot 3 of the actual machine sees the injection machine 21 installed on the rear side of the fixed platen 24 in the molding machine 2 on the left side. Is installed in a non-operating side pattern that extends to the side where the operation panel 23 of the molding machine 2 is not present (the extraction arm shaft 33 extends to the mold clamping machine 22 side opposite to the injection machine 21 of the molding machine 2). The controller 1 is disposed at the counter-operation side position on the other side where the operation panel 23 of the molding machine 2 is not provided, and the counter-operation side pattern take-out robot 3 is viewed from the controller 1 position at the counter-operation side position. is there.

Further, when the viewpoint button 15 is turned on, the image processing unit 16C shows the robot 3 on the display screen 10 showing the removal robot 3 of the counter-operation side pattern as viewed from the counter-operation side position (FIG. 9). And a state (not shown) showing the take-out robot 3 of the counter-operation side pattern viewed from the operation side position may be displayed.
That is, the viewpoint button 15 can appropriately switch the take-out robot 3 of the actual machine installed in the operation side pattern or the non-operation side pattern to a robot pseudo image as seen from the operation side position or the non-operation side position. The robot pseudo image 7 displayed on the display screen 10 by the ON operation can be switched to the robot pseudo image 7 corresponding to the viewpoint of viewing the take-out robot 3 of the actual machine from the controller 1.

(Embodiment 2)
Although not shown, the controller 1 according to the second embodiment further includes a determination unit that automatically determines the positional relationship with the take-out robot 3 in the controller 1 according to the first embodiment, and a controller according to the result of the determination unit. Display switching means for automatically switching to the robot pseudo image 7 that coincides with the viewpoint from the position, and a movement instruction direction function of the cross key constituting the axis movement button 5 corresponding to the robot pseudo image 7 switched by the display switching means Direction setting means for resetting.

  As the determination means, for example, a direction sensor can be used. Specifically, a transmitter is attached to the take-out robot 3, and a receiver that receives a transmission signal from the transmitter is attached to the controller 1. The positional relationship with the take-out robot 3 is automatically determined according to the reception status at the receiver. In this case, the transmitter of the take-out robot 3 transmits a transmission signal in a range of about 180 degrees with respect to one side of the operation side position or the non-operation side position, and the transmission signal from the transmitter is received by the receiver of the controller 1. It is only necessary that the controller 1 can recognize whether the controller 1 is disposed at the operation side position or the counter-operation side position of the take-out robot 3 based on whether or not it is received.

Then, according to the result of the determination means, the display switching means is a robot pseudo image 7 (FIG. 4) of the take-out robot 3 seen from the operation side position and a robot pseudo image of the take-out robot 3 seen from the non-operation side position. 7 (FIG. 8) is commanded to the image processing unit 16C to switch to display.
Further, the direction setting means instructs the manual operation control unit 16B to reset the movement instruction direction function of the cross key constituting the axis movement button 5 corresponding to the robot pseudo image 7 switched by the display switching means. To do. The direction setting means operates in the same manner as the direction adjusting means 18 described above.

  According to the controller 1 according to the second embodiment described above, even when the operator appropriately moves to various places around the take-out robot 3 with the controller 1, the actual machine viewed from the standing position of the operator automatically. The state of the take-out robot 3 and the robot pseudo image 7 displayed on the display screen 10 coincide with each other, and the movement directions of the arm axes 33 and 34 of the real take-out robot 3 by the axis move button 5 viewed from the operator's standing position. The moving direction with respect to the robot pseudo image 7 by the arrow image 8 displayed on the display screen 10 can be matched.

  Therefore, when manual operation is performed by the controller 1 while looking at the actual take-out robot 3, even when the operator appropriately moves to various places around the take-out robot 3 with the controller 1, the display screen 10 is referred to. In addition, the operation can be prevented more reliably so as not to cause an operation error such as the arm shafts 33 and 34 moving unexpectedly by the operator, and the manual operation can be performed smoothly and efficiently. As a result, the teaching operation can be performed efficiently and in a short time. It is also possible to do this.

In addition, this invention is not limited to the thing of the said embodiment, It can change suitably. For example, the following changes can be made.
(1) Each of the button images 81 to 84 of the arrow image 8 on the display screen 10 has a GUI function. By touching these button images 81 to 84, the arm shaft 33, 34 may be moved.
(2) The take-out robot 3 may be one in which a runner arm shaft for holding a sprue of a molded product is provided in parallel with the lifting arm shaft 34 in the pulling arm shaft 33. Instead, the present invention may be applied to a side entry type in which a molded product is taken out from the side of the mold 20, a swiveling type in which an arm is pivoted to take out the molded product of the mold 20. In this case, the controller 1 is configured to be manually operable corresponding to each model of the take-out robot.
(3) The molding machine 22 provided with the take-out robot 3 may be either a vertical type or a horizontal type as long as the clamping and opening operations are performed, and the molded product is only made of resin. Alternatively, it may be made of metal such as aluminum.

It is a perspective view which shows the whole structure of an extraction robot. It is a block block diagram which shows the structure of the control part of an extraction robot. It is a schematic diagram which shows the movement locus | trajectory of the extraction head in the case of basic operation | movement of an extraction robot. It is a top view which shows the state in which the controller is a display screen at the time of manual operation. It is a block block diagram which shows the function of a controller. It is a top view which shows a state when the display screen of a controller is actively displayed. It is a top view which shows another state when the display screen of a controller is active-displayed. It is a top view which shows the screen structure when the viewpoint of a robot pseudo image is changed. It is a top view which shows another screen structure when the viewpoint of a robot pseudo image is changed. It is a top view which shows the state of the display screen at the time of manual operation in the conventional controller.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Controller 2 Molding machine 3 Take-out robot 5 Axis movement button 6 Axis selection button 7 Robot simulated image 8 Arrow image 10 Display screen 15 Viewpoint button 16B Manual operation control part 16C Image processing part 18 Direction adjustment means 30 Arm mechanism 32 Traverse arm axis 33 Pull arm axis 34 Lift arm axis 51 Up button 52 Right button 53 Down button 54 Left button 72 Traverse arm axis image 73 Pull arm axis image 74 Lift arm axis image 81 Upper button image 82 Right button image 83 Lower button image 84 Left button image

Claims (2)

A controller that enables manual operation of a take-out robot for taking out a molded product from a molding machine,
An axis movement button composed of a cross key for manually operating each arm axis of the take-out robot;
An axis selection button for selecting the arm axis of the take-out robot to be manually operated;
A robot pseudo image having an arm axis image simulating an installed take-out robot can be displayed, and an arrow image having a button image indicating the movement direction of the arm axis can be displayed on the robot pseudo image by imitating a cross key Display screen,
An image that actively displays both the arm axis image portion of the robot pseudo image corresponding to the arm axis selected by the axis selection button and the button image portion of the arrow image corresponding to the movable direction of the selected arm axis. A processing unit;
When the axis movement button corresponding to the button image of the arrow image that is actively displayed is turned on, the direction indicated by the button image of the arrow image that is actively displayed with respect to the arm axis image portion of the robot pseudo image that is actively displayed matches. A manual operation control unit that commands the take-out robot to move the arm axis of the take-out robot of the actual machine,
Furthermore, a determination means for automatically determining the positional relationship with the actual take-out robot,
Display switching means for automatically switching the robot pseudo image to be displayed on the display screen to a robot pseudo image that matches the viewpoint from the controller position according to the result of the determination means;
A controller comprising: direction setting means for resetting a movement instruction direction function of a cross key constituting the axis movement button corresponding to the robot pseudo image switched by the display switching means . The controller of claim 1, wherein
A viewpoint button capable of switching the robot pseudo image displayed on the display screen to a robot pseudo image corresponding to the viewpoint of viewing the robot taken out from the controller by an on operation;
A controller comprising: direction adjustment means for re-adjusting the movement instruction direction function of the cross key constituting the axis movement button corresponding to the robot pseudo image switched by the viewpoint button;

Images