Support device for programming robot operations

Abstract

A support device for programming robot operation, which has a display through which an operator sees a movement trajectory corresponding to the movement of the robot, and through the support device, supports the operator to create a program including movement instructions and non-movement instructions. The support device for programming has: a first operating unit that indicates a target position of each of the movement instructions overlapping the movement trajectory by using a first code; and a second operating unit that indicates the number of non-movement instructions executed at the target position by using a second code.

Description

Technical Field

[0001] The invention relates to a support device for programming, which is suitable for programming the operation of an industrial robot. Background Art

[0002] A support device is described in the patent document (Japanese Laid-Open Patent Publication 2018-51653), which displays a visual recognition map of the robot's movement trajectory, the robot's initial position, and the robot's target position in a manner overlapping with the robot's image so that the operator can recognize the robot's movement.

[0003] The command instructions to the robot generally include a movement instruction for causing the robot to move and a non-movement instruction for causing the robot to stand by. When the device described in the patent document is used as a support device for programming the robot operation, the device has the following problem. Since the program of the robot generally includes a plurality of non-movement instructions after the robot moves according to the movement instruction, it is difficult for the operator to recognize the plurality of non-movement instructions because many diagrams representing the non-movement instructions are gathered and overlapped with each other. Summary of the invention

[0004] An object of the present invention is to make an operator recognize the content of a no-movement instruction when such a no-movement instruction is displayed by using a diagram in a support device for programming.

[0005] The first invention is a support device having a display showing a movement trajectory corresponding to the movement of a robot, and supporting the creation of a program including movement instructions and non-movement instructions. The support device of the first invention has: a first operating unit showing a movement trajectory overlapping an initial position and a target position; and a second operating unit showing the number of non-movement instructions acting at the target position.

[0006] According to the first invention, the movement trajectory of the robot corresponding to the actual movement of the robot is shown on the display. The support device supports providing a program including movement instructions and non-movement instructions by using the display.

[0007] Since the first operating unit indicates the target position of the moving instruction by using the first code, the operator can identify the target position in the moving track by only finding the position of the first code. Since the second operating unit indicates the number of non-moving instructions at the target position by using the second code, the operator can identify how many times the non-moving instruction has been executed by only finding the second code. Therefore, it is effectively avoided that many figures representing the corresponding meanings of the non-moving instructions are gathered and overlapped with each other, so the operator can identify how many times the non-moving instruction has been executed.

[0008] Since the second invention has the second code which indicates a number corresponding to the number of non-movement instructions, the operator can understand how many times the non-movement instructions have been executed.

[0009] In the case where the target positions of a plurality of movement instructions are the same and become a common target position, it is difficult to show a non-movement instruction performed at the common target position at any time after the movement instructions are completed.

[0010] The second operating unit of the third invention uses the second code and shows the number of non-moving instructions performed at the common target position corresponding to the moving instructions. Therefore, by using the second code to show the number of non-moving instructions executed after each moving instruction, the operator can understand how many times the non-moving instructions are executed after the corresponding moving instruction. Since the third scheme also does not use as many diagrams as possible (each diagram corresponds to multiple non-moving instructions), it is possible to avoid the situation where multiple diagrams are displayed at the common target position.

[0011] The second operation portion of the fourth invention displays a plurality of second codes corresponding to a plurality of movement instructions in such a manner that parts of the second codes overlap each other, thereby limiting the area where the plurality of second codes are displayed and allowing the operator to recognize each of the plurality of second codes.

[0012] The second operation section of the fifth invention displays the plurality of second codes in such a manner that the plurality of second codes are arranged in time sequence. Therefore, the operator can recognize how to operate the non-movement instruction after each of the plurality of movement instructions is completed.

[0013] The second operating unit of the sixth invention is capable of selecting a second code at a common target position, and the second operating unit is also capable of editing a moving order and a non-moving order of the selected second code. In the case where the operator wants to edit a moving instruction to move the common target position and a non-moving instruction to be executed thereafter, the operator can select the corresponding second code, so that the operator can easily edit the moving instruction and the non-moving instruction.

[0014] The support device for programming of the seventh invention has a third operating unit, and the third operating unit shows the number of target positions by using a third code, wherein the target position is the same as the common target position. Therefore, the operator can recognize how many times the common target position is completed by moving the non-moving instruction by finding the third code.

[0015] The third operating unit of the eighth invention is capable of selecting a third code, and when the third code is selected, the second operating unit of the eighth invention shows the number of non-movement instructions related to the movement instruction to move to the common target position. Therefore, when the operator wants to know the details of the non-movement instruction executed at the common target position, the operator can select the third code.

[0016] The second operation unit of the ninth invention indicates the total of the non-movement instructions at the common target position by using the second code, so that the operator can recognize the non-movement instructions executed at the common target position.

[0017] The second operating unit of the tenth invention can select the second code, and when the second code is selected, the second operating unit displays the non-movement instruction related to the movement instruction to the common target position. Therefore, the operator can understand the details of the non-movement instruction at the common target position.

[0018] The second operating unit of the eleventh invention describes a number corresponding to the total number of non-moving instructions executed at the target position and a number corresponding to the time sequence of the non-moving instructions being executed. Therefore, the operator can recognize the total number of non-moving instructions at the common target position and the time sequence of the non-moving instructions being executed.

[0019] The display of the twelfth invention can show the movement trajectory from various viewpoints, and even when the viewpoint changes, the second operating unit of the twelfth invention also shows the second code as a front view. Therefore, the operator can perform programming by using various viewpoints of the movement trajectory. The operator can also identify the number of non-movement instructions by using the second code. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is the block diagram of the robot system.

[0021] Figure 2 is a flow chart showing the programming process.

[0022] Figure 3 A portion of the program is shown.

[0023] Figure 4 The robot, movement trajectory, and target position are shown.

[0024] Figure 5 Points indicating the movement trajectory and the target position and icons indicating the number of non-movement instructions are shown.

[0025] Figure 6 An example of the display of the teach pendant is shown.

[0026] Figure 7 Shows the movement of the robot in action.

[0027] Figure 8 The movement track and icon of the second embodiment are shown.

[0028] Fig. 9 The movement traces, icons and tables of the third embodiment are shown.

[0029] Fig.10 A modified third embodiment is shown. DETAILED DESCRIPTION

[0030] (First embodiment)

[0031] Hereinafter, a first embodiment of the present invention applied to an industrial robot used in a factory will be described. Figure 1 As shown, the robot system includes a robot 10 , a controller 20 , and a teaching pendant 30 .

[0032] The robot 10 is a multi-joint robot. The robot 10 has a multi-axis (e.g., 6-axis) arm (multi-joint arm), each axis arm being driven by a motor installed in each arm. The workpiece conveyed by the robot 10 is grasped by a hand located at the end of the last (sixth) axis arm.

[0033] The controller 20 of the robot 10 includes a microcomputer having a CPU, a ROM, a RAM, and an input and output interface. The controller 20 controls the robot 10 by using a program installed in the RAM. Such a program is installed by an operator. The controller 20 also controls the robot 10 by a command instruction from a teaching pendant 30 operated by the operator.

[0034] The controller 20 has information related to the movement of the robot 10, such as a target position and a movement trajectory toward the target position. Since the controller 20 completes the program, the controller 20 has information about the program in execution and information about the next operation program. The controller 20 outputs the information about the movement of the robot 10 to the teaching pendant 30.

[0035] The teaching pendant 30 includes a microcomputer, various key switches and a display 31 ( Figure 6 The operator inputs information by using key switches. The operator also inputs information by using icons shown on the display 31, so the display 31 is a touch panel.

[0036] The operator can create a program by operating the teaching pendant 30, so that the teaching pendant 30 is a support device for programming the robot operation. The teaching pendant 30 generates a simulation image and movement trajectory L1-L3 ( Figure 4 The teaching pendant 30 shows the simulation image and the movement tracks L1-L3 on the display 31. The teaching pendant 30 has a first operating unit, a second operating unit and a third operating unit.

[0037] Figure 2 The flow chart of the process for completing the procedure is shown. The operator completes the Figure 2 These processes are shown.

[0038] like Figure 2 As shown, the operator first creates and edits a program including movement instructions for moving the robot 10 and non-movement instructions for not moving the robot 10. The operator creates the program by writing command instructions in chronological order, and the operator edits the program based on the test results of the program created for the first time.

[0039] The operator then teaches each target position based on the movement of the robot 10. The operator teaches the target position by directly writing the target position in the command instruction or by clicking the target position in the simulation image.

[0040] The operator then operates the program and confirms the program. The operator operates and confirms the program by actually moving the robot 10 or by moving the robot 10 in a simulation image.

[0041] The programming support device of the present invention supports all the above-mentioned processes. That is, the teaching pendant 30 is not limited to confirming the movement of the robot 10, but supports creating a program, editing a program, and teaching a target position.

[0042] Part of this program is Figure 3 The actual program for operating the robot 10 may have thousands of lines of command instructions.

[0043] The command instruction of "Move P1" moves the control point (center point of the sixth arm) of the robot 10 to the target position P1, so the command instruction is a moving instruction. The command instruction of "Wait IO

[10] =ON" makes the robot 10 wait until the input and output port

[10] becomes On (connected), so the command instruction is a non-moving instruction and a non-judgment instruction. The command instruction of "IF I1>5Then" determines whether the number of variables I1 is greater than 5, so the command instruction is a non-moving instruction and a determination instruction. The command instruction of "IO

[11] =OFF" turns off the input and output port

[11] , so the command instruction is a non-moving instruction and a non-judgment instruction. The command instruction of "Move P2" moves the control point of the robot 10 toward the target position P2, so the command instruction is a moving instruction. The command instruction of "Else" represents the operation when the above command instruction of "IF I1>5" is not satisfied, so the command instruction is a non-moving instruction and a non-judgment instruction. The command "Move P3" moves the control point of the robot 10 toward the target position P3, and thus the command is a movement command. The command "END IF" indicates the end of the above series of commands, and thus the command is a non-movement command and a non-judgment command.

[0044] As mentioned above, the program for the robot 10 generally includes non-movement instructions at a higher frequency than movement instructions. The program also includes a plurality of non-movement instructions that are executed at a target location once the robot 10 moves to the target location.

[0045] The target position of the movement instruction is described by using a diagram in the simulation image of the robot 10 .

[0046] Figure 4 The robot 10 , movement trajectories L1 - L3 , and a diagram showing target positions P0 - P3 are shown. Figure 4 The images shown were created or edited Figure 3 The program shown in FIG. 31 is displayed on the display 31 ( Figure 6 An example of an image on ).

[0047] The display 31 of the teaching pendant 30 shows the movement trajectory L1-L3 of the image 10A with the robot 10. The operator can determine the area of ​​the movement trajectory shown on the display 31. The operator can use the black circle P0 to indicate the initial position and can use the black circles P1-P3 to indicate the target position of the movement instruction. Therefore, the teaching pendant 30 (first operating part) shows the target position P1-P3 (black circle) superimposed on the movement trajectory L1-L3.

[0048] In the case where a diagram representing a non-movement instruction is shown on the display 31 in addition to a black circle representing a target position, a plurality of diagrams overlap at the target position, making it difficult for the operator to distinguish the details of the non-movement instruction. In order to avoid such difficulty for the operator, the present invention uses an icon to show the number of non-movement instructions executed at the target position.

[0049] like Figure 5 As shown, icons 41-48 show numbers indicating the number of non-movement instructions executed at the target position, and movement trajectories L1-L3 and white circles P0-P3 indicating the target positions are shown. For example, white circle P0 indicates the starting position of the robot 10 grasping the workpiece. For example, white circle P1 indicates the target position where the product number of the workpiece grasped by the robot 10 is detected. For example, white circle P2 indicates the target position where a certain type of workpiece is held. For example, white circle P3 indicates the target position where different types of workpieces are held. The control point of the robot 10 moves in the order of starting position P0-target position P1-target position P2-target position P1-target position P3-target position P1-target position P0-target position P1.

[0050] The teach pendant 30 shows icons 41 - 48 (second code) showing numbers indicating the number of non-movement instructions executed at each target position P0 - P3 .

[0051] The oval icon 41 located near the target position P2 has the number "2", which means that the number of non-movement instructions executed at the target position P2 is two (2). Similarly, the icon 42 represents the number "0", which means that the robot does not execute the non-movement instruction at the target position P3. The number of icon 42 can be "1", which is the sum of "1" operation of the movement instruction and "0" operation of the non-movement instruction. Therefore, the numbers shown in the icons 41 and 42 represent the number of non-movement instructions executed at the target positions P2 and P3, so that the operator can understand the number of non-movement instructions executed at the target positions P2 and P3.

[0052] Since position P1 is the target position of multiple movement instructions, position P1 is a common target position. The teaching pendant 30 shows icons 43-46, which indicate the number of non-movement instructions executed at the common target position P1. That is, like icons 41 and 42, these icons 43-46 indicate how many non-movement instructions are executed each time the robot 10 moves to the common target position P1. Parts of these icons 43-46 overlap each other. That is, the next icon is located on the upper right side of the front icon, so that the icons 43-46 set the position in chronological order. The front icon 43 represents the first operation, and the last icon 46 represents the fourth operation.

[0053] The teaching pendant 30 shows the movement trajectory on the display by changing the viewpoint, so that the operator can create a program by changing the viewpoint on the display showing the movement trajectory. In the case where the view of the icon changes according to the verification of the viewpoint, the operator may have difficulty grasping the meaning of the icon. In order to avoid such inconvenience to the operator, in the present invention, even if the viewpoint of the movement trajectory changes, the perspective view is not used, and the icons 41-48 ( Figure 5 A front view of the device shown in FIG.

[0054] like Figure 6 As shown, the operator can select circles P0-P3 and icons 41-48 on the display 31 (second operation unit) of the teach pendant. The selected program is displayed on the display 31 of the teach pendant 30 in a form that the operator can edit. When the operator presses the forward button B1 (touch panel on the display 31), the displayed part of the program moves forward, and on the other hand, when the operator presses the reverse button B2, the displayed part of the program moves backward. Figure 6 As shown, the selected portion of the movement trajectory and the selected portion of the program are displayed on the display 31 of the teaching pendant 30 .

[0055] The operator can directly edit the selected portion of the program displayed on the display 31. The operator can also edit the selected portion of the program by changing the target position displayed on the display 31 in such a way that the operator moves the position of a circle representing the target position on the display 31. When the operator moves the circle, the target position in the program changes from the initial position to the new position.

[0056] like Figure 7 As shown, a simulated image and an actual image of the movement of the robot 10 are displayed on the display 31 of the teaching pendant 30 . Figure 7 The icon 49 indicates the total number of non-movement instructions and the currently executed non-movement instructions. The number "5" means the total is five (5), and the number "2" means the currently executed instruction is the second non-movement instruction. Figure 7 The display 31 shown shows only the icon 49 indicating the command being executed and the target position P1 where the non-movement command is executed by bold lines, and does not show other icons located near other target positions P0, P2, and P3.

[0057] The above invention has the following effects. The teaching pendant 30 (first operating unit) displays circles P0-P3 at the corresponding position of each target position of the movement instruction. The teaching pendant 30 also displays each of the target positions P0-P3 superimposed on the movement trajectory L1-L3 of the robot 10. Therefore, the operator can identify each of the target positions P0-P3 in the movement trajectory L1-L3 by finding the circles P0-P3.

[0058] Since the icons 41 - 48 represent numbers corresponding to the number of non-movement instructions executed at each of the target positions P0 - P3 , the operator can understand how many times the non-movement instructions are executed by finding the numbers.

[0059] In the case where the target position P1 is a common target position as a target position of a plurality of movement instructions, each icon 43-46 indicates the number of non-movement instructions executed at the common target position P1 in the time sequence of each icon 43-46. Therefore, the operator can understand how many times the non-movement instructions are executed after each movement instruction. Since each non-movement instruction does not have its own icon indicating the meaning of each non-movement instruction, the number of icons close to the common target position should be limited.

[0060] One group of icons 43-46 and another group of icons 47, 48 are displayed on the display 31 of the teach pendant 30 in such a manner that the icons 43-46, 47, 48 overlap one another, so that the area showing these icons 43-46, 47, 48 can be limited and the operator can recognize each icon 43-46, 47, 48.

[0061] One set of icons 43-46 and another set of icons 47, 48 are displayed on the display 31 of the teaching pendant 30 in such a manner that the icons 43-46, 47, 48 are displayed in time sequence. Therefore, the operator can recognize the meaning of the non-movement instruction executed after each movement instruction.

[0062] The operator can select icons 43-46 near the common target position P1 on the display 31 of the teach pendant 30 so that the operator can select an icon corresponding to a move instruction or a non-move instruction of a program and the operator can edit the program. Therefore, since the selected icon represents the program, the operator can visually find the program that the operator wants to edit.

[0063] For example, Figure 7 As shown in FIG. 1 , a pair of numbers are displayed on the display 31 of the teaching pendant, one of which indicates the total number of non-moving instructions executed at the target positions P0-P3, and the other number indicates the time sequence of the non-moving instructions being executed. Therefore, the operator can easily recognize the position of the target position where the non-moving instructions are being executed, the total number of non-moving instructions at the target position, and the progress of the non-moving instructions.

[0064] The movement trajectories L1-L3 of the robot 10 are displayed in the display 31 of the teaching pendant from various viewpoints, so that the operator can create a program using the movement trajectories L1-L3 from different viewpoints. Even if the movement trajectories L1-L3 are changed, the icons 41-48 are always displayed as front views on the display 31, so that the operator can recognize the number of non-movement instructions displayed on the icons 41-48 regardless of the viewpoint.

[0065] The above invention can be modified as follows. Although Figure 7 The invention shown in shows a pair of numbers, but the latter can be removed, wherein one number in the pair of numbers represents the sum of non-movement instructions executed at the target positions P0-P3 and the other number represents the time sequence of the non-movement instructions being executed.

[0066] Despite Figure 5 The icons 43-46, 47, 48 overlap each other, but these icons 43-46, 47, 48 can be displayed separately on the display 31. The operator can still distinguish each of these icons 43-46, 47, 48.

[0067] (Second embodiment)

[0068] The second embodiment is described below, mainly describing the differences from the first embodiment. The same components as those in the first embodiment are not described, but are given the same reference numerals.

[0069] like Figure 8As shown, the display 31 (third operation unit) of the teaching pendant 30 displays an icon 51 indicating a common target position P1, that is, the target position P1 is the target position of multiple movement instructions. Icon 52 (third code) indicates the number of times the target position P1 becomes the common target position. The number "2" shown on the icon 52 indicates that the target position P1 becomes the common target position two (2) times. Therefore, the operator can understand the situation of non-movement instructions.

[0070] The icon 52 is displayed on the display 31 of the teaching pendant 30 in such a manner that the operator can select the icon 52. When the operator selects the icon 52, a move instruction of "Move 1" and an icon 53 thereof, and a move instruction of "Move 3" and an icon 54 thereof are displayed on the display 31. Each of the icons 53, 54 shows a number corresponding to the sum of non-move instructions. Figure 8 The example shown indicates that after the move instruction of "Move 1" the non-move instruction is executed five (5) times, and after the move instruction of "Move 3" the other non-move instruction is executed five (5) times.

[0071] (Third Embodiment)

[0072] The third embodiment will be described below, mainly describing the differences from the first embodiment. The same components as the first embodiment will not be described, but will be given the same reference numerals.

[0073] like Fig. 9 As shown, the icon 61 displayed on the display 31 of the teaching pendant 30 (second operating unit) indicates the total number of non-movement instructions executed at the common target position P1. The number "10" shown on the icon 61 indicates the total number of five (5) operations of non-movement instructions after the movement instruction of "Move 1" and the total number of five (5) executions of non-movement instructions after the movement instruction of "Move 3". Other icons 62, 63, 64 also show numbers corresponding to the total number of non-movement instructions executed at each target position P0, P2, P3. Therefore, the operator can understand the situation of non-movement instructions.

[0074] The icon 61 is displayed on the display 31 of the teach pendant 30 in such a manner that the operator can select the icon 61. When the operator selects the icon 61, both the movement instruction of "Move 1" and the movement instruction of "Move 3" have a target position of a common target position P1, and a table describing non-movement instructions to be executed after each movement instruction is displayed on the display 31 of the teach pendant 30. Fig. 9The table shows that the move instruction of "Move 1" is "Wait 100", the second non-move instruction is the first non-move instruction after "bifurcation", and the move instruction of "Move 3" is the first non-move instruction after "Wait 100".

[0075] The icon 61 is displayed on the display 31 of the teaching pendant 30 (second operating unit) so that the operator can select the icon 61. When the operator selects the icon 61 showing the sum of the non-movement instructions, the operator can understand the details of the procedure of the non-movement instructions executed at the common target position P1.

[0076] like Fig.10 As shown, the icon 61 displayed on the display 31 of the teach pendant 30 (second operating unit) represents a moving instruction of "Move 1" and a moving instruction of "Move 3", both of which have the same target position of a common target position P1, and a first group of icons 71-75 representing non-moving instructions after the moving instruction of "Move 1", and a second group of icons 76-80 representing non-moving instructions after the moving instruction of "Move 3".

[0077] (Variant)

[0078] The above-described embodiment may be modified as follows: The icons displayed on the display 31 of the teaching pendant 30 may be switched between an active state in which the icons are displayed and an inactive state in which the icons disappear.

[0079] The target position can be represented by other figures (first code) other than a circle. The figure (first code) can include letters, marks, pictures and other figures with meanings.

[0080] The number of non-moving instructions can be represented by other figures (second code) other than numbers. The figure (second code) can be an icon with a symbol (such as a column) representing the number of non-moving instructions. An icon with more columns represents a plurality of non-moving instructions executed at the target position. The figure (second code) can also be an icon that can change color according to the number of non-moving instructions. Since the color of the icon can be detected even from a perspective view, when the color changes, the icon with color can change from the same viewpoint of the movement trajectory.

[0081] Although the above-described invention uses a microcomputer installed in the teaching pendant 30 to support programming of the robot 10, a microcomputer installed in the controller 20 may also support programming by using a monitor (display).

[0082] The present invention can be used in a glasses-type device for applying a virtual image to a real image. This device applies virtual images of the movement trajectory L1-L3, the target position P0-P4, and the icons 41-48, 53-58, 61-64 (second code) to the real image of the robot 10 actually seen by the operator through the glasses.

[0083] Other types of articulated robots 10 than the structures disclosed in the drawings may be used.

Claims

1. A support device for programming robot operations, the support device having a display showing movement trajectories corresponding to the movements of the robot and supporting the creation of a program comprising at least one movement instruction and at least one non-movement instruction; wherein, The support device for programming has: a first operating unit that indicates a target position of each of the movement instructions overlapping the movement trajectory by using a first code; as well as a second operating unit that indicates the number of the non-movement instructions executed at the target position by using a second code, wherein the second operation section indicates the number of the non-movement instructions executed at a common target position in which the target positions of a plurality of the movement instructions are the same by using the second code, and The second operation portion indicates the number of the non-movement instructions executed at the common target position corresponding to each of the plurality of movement instructions.

2. The support device for programming robot operations according to claim 1, wherein: The second code includes a number corresponding to a number of the non-move instructions executed at the target location.

3. The support device for programming robot operations according to claim 1, wherein: The second operating section describes a plurality of the second codes corresponding to a plurality of the movement instructions in such a manner that parts of the second codes overlap with each other.

4. The support device for programming robot operations according to claim 3, wherein: The second operation section describes the plurality of second codes in such a manner that the plurality of second codes are arranged in time sequence.

5. The support device for programming robot operations according to claim 1, wherein: The second operation unit can select the second code at the common target position, and can edit the movement instruction and the non-movement instruction of the selected second code.

6. The support device for programming robot operations according to claim 1, wherein: The support device for programming has a third operating section that shows the number of the target positions that are identical to the common target position by using a third code.

7. A support device for programming robot operations according to claim 6, wherein: The third operating unit is capable of selecting the third code, and When the third code is selected, the second operation unit indicates the number of the non-movement instructions related to the movement instruction to move to the common target position.

8. The support device for programming robot operations according to claim 1, wherein: The second operation section shows the sum of the non-movement instructions at the common target position by using the second code.

9. A support device for programming robot operations according to claim 8, wherein: The second operating portion is capable of selecting the second code, and when the second code is selected, the non-movement instruction is displayed in such a manner that the non-movement instruction is associated with the movement instruction to move to the common target position.

10. The support device for programming robot operations according to claim 1, wherein: The second operation portion describes a number corresponding to the total of the non-movement instructions executed at the target position and a number corresponding to the time sequence of the non-movement instructions being executed.

11. The support device for programming robot operation according to claim 1, wherein: The display is capable of showing the movement trajectory from various viewpoints, and When the viewpoint is changed, the second operating unit displays the second code as a front view.

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