A programming method and device of an industrial robot, a teach pendant and a storage medium

Abstract

The application discloses a programming method and device of an industrial robot, a teaching device and a storage medium, and relates to the technical field of industrial robots.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot technology, specifically relating to a programming method, device, teach pendant, and storage medium for an industrial robot. Background Technology

[0002] With the development of artificial intelligence, computer technology, and other related technologies, the application of industrial robots is becoming increasingly widespread. my country is currently in a period of vigorous upgrading and transformation of its machinery manufacturing industry, and intelligent manufacturing technology, led by industrial robots, will inevitably lead to new technological innovations. Industrial robot programming is the means by which operators control the movement and functions of industrial robots. As the industrial robot industry continues to develop, the programming methods for industrial robots are becoming increasingly important.

[0003] When an industrial robot needs to perform a specific production task, the operator must first write a program to control the robot's actions. Operating industrial robots is typically complex and inherently dangerous. Furthermore, industrial robot programming is primarily text-based, requiring operators to input numerous different instructions into the program editing interface. Therefore, operators must possess a high level of industrial robot programming skills. Clearly, learning and writing industrial robot programs is very challenging for operators.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The purpose of this invention is to provide a programming method, device, teach pendant, and storage medium for industrial robots, in order to solve the problem that operators face great difficulty in learning and writing programs for industrial robots. By setting up programming modules in the program editor of the industrial robot's teach pendant, and integrating operation guidelines and explanations of the meaning of each instruction into the programming modules, the difficulty for operators in learning and writing programs for industrial robots can be reduced.

[0006] This invention provides a programming method for an industrial robot, applied to the program editor of the industrial robot's teach pendant, to program the program used to control the industrial robot. The program editor includes a programming module. The programming method for the industrial robot includes: the programming module has a learning function; through the learning function of the programming module, operation instructions for all instructions of the industrial robot's program and explanations of the meaning of each instruction are integrated and set to form a set of learning instructions for the industrial robot's program; when an operator needs to query and learn any instruction among all the instructions of the industrial robot's program, if the program editor receives a query request from the operator to query any instruction among all the instructions of the industrial robot's program, it calls the set of learning instructions integrated in the programming module, and displays the instruction, its operation instructions, and its explanations in the program editor's program editing and display area for the operator to learn.

[0007] In some implementations, the programming module also has a custom program function. When the operator writes the current program for the industrial robot in the program editor, the custom program function of the programming module records each instruction and its operation steps when the operator writes the current program. Based on each instruction and its operation steps, combined with the operation guidelines and meaning explanations of the corresponding instructions in the learning instruction set, a writing guide for all instructions in the current program of the industrial robot is generated and recorded as the custom program module for the current program of the industrial robot. This custom program module is then loaded into the programming module. This custom program module is used when other operators need to learn or write... When writing the current program of the industrial robot, if the program editor receives a query request from another operator to query the custom program module of the current program of the industrial robot, it calls the custom program module of the current program of the industrial robot loaded in the programming module, and displays the writing guidance steps of all instructions of the current program of the industrial robot in the custom program module of the current program of the industrial robot in the program editing and display area of ​​the program editor, so that other operators can learn or write the current program of the industrial robot; wherein, the writing guidance steps of all instructions of the current program of the industrial robot include: the overall writing steps of all instructions of the current program of the industrial robot, and the operation guidance and meaning explanation of each instruction in the current program of the industrial robot.

[0008] In some embodiments, the programming module also has a general program adding function; through the general program adding function of the programming module, the writing guidance steps of all instructions of any one of the general programs of the industrial robot are pre-loaded, denoted as the general program module of the general program, and the general program module of the general program of the industrial robot is loaded into the programming module; when any operator needs to learn or write any general program of the industrial robot, if the program editor receives a query request from any operator to query the general program module of any general program of the industrial robot, it calls the general program module of any general program of the industrial robot loaded in the programming module, and displays the writing guidance steps of all instructions of any general program of the industrial robot in the general program module of the general program of the industrial robot in the program editing and display area of ​​the program editor, so that any operator can learn or write any general program of the industrial robot; wherein, the writing guidance steps of all instructions of any general program of the industrial robot include: the overall writing steps of all instructions of any general program of the industrial robot, and the operation guidance and meaning explanation of each instruction in all instructions of any general program of the industrial robot.

[0009] In some embodiments, the programming module further has a program reuse function; through the program reuse function of the programming module, when a custom program module of the current program of the industrial robot is loaded in the programming module, the program reuse function of the programming module is associated with the custom program module of the current program of the industrial robot; when a general program module of any general program of the industrial robot is loaded in the programming module, the program reuse function of the programming module is associated with the general program module of any general program of the industrial robot; when any operator is writing a new program for the industrial robot and needs to reuse the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, if the program editor Upon receiving a query request from any operator to access the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, the system invokes the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, and directly loads all instructions of the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot into the program editing and display area of ​​the new program of the industrial robot. This allows any operator to directly use or edit all or part of the instructions from the loaded custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot during the process of writing a new program for the industrial robot.

[0010] In conjunction with the above method, another aspect of the present invention provides a programming device for an industrial robot, applied to a program editor of the teach pendant of the industrial robot, to program a program for controlling the industrial robot using the program editor; the program editor includes a programming module; the programming device for the industrial robot includes: a setting unit configured as the programming module, having a learning function; through the learning function of the programming module, integrating operation guidelines for all instructions of the industrial robot program and explanations of the meaning of each instruction to form a set of learning instructions for the industrial robot program; and a calling unit configured to, when an operator needs to query and learn any instruction among all instructions of the industrial robot program, if the program editor receives a query request from the operator to query any instruction among all instructions of the industrial robot program, call the set of learning instructions integrated in the programming module, and display the instruction, its operation guidelines, and explanations of its meaning in the program editor's program editing and display area for the operator to learn.

[0011] In some embodiments, the setting unit is further configured as the programming module, and also has a custom program function; when the operator writes the current program of the industrial robot in the program editor, the custom program function of the programming module records each instruction and the operation steps of each instruction when the operator writes the current program of the industrial robot; the setting unit is further configured to generate writing guidance steps for all instructions of the current program of the industrial robot based on each instruction and the operation steps of each instruction when the operator writes the current program of the industrial robot, combined with the operation guidance and meaning description of the corresponding instructions in the learning instruction set, and record it as the custom program module of the current program of the industrial robot, and load the custom program module of the current program of the industrial robot into the programming module; the calling unit, It is also configured that, in cases where other operators need to learn or write the current program of the industrial robot, if the program editor receives a query request from other operators to query the custom program module of the current program of the industrial robot, it calls the custom program module of the current program of the industrial robot loaded in the programming module, and displays the writing guidance steps of all instructions of the current program of the industrial robot in the custom program module of the current program of the industrial robot in the program editing and display area of ​​the program editor, so that other operators can learn or write the current program of the industrial robot; wherein, the writing guidance steps of all instructions of the current program of the industrial robot include: the overall writing steps of all instructions of the current program of the industrial robot, and the operation guidance and meaning explanation of each instruction in the current program of the industrial robot.

[0012] In some embodiments, the setting unit is further configured as the programming module, and also has a general program adding function; through the general program adding function of the programming module, the writing guidance steps of all instructions of any one of the general programs of the industrial robot are pre-loaded, denoted as the general program module of that general program, and the general program module of the industrial robot's general program is loaded into the programming module; the calling unit is further configured to, when any operator needs to learn or write any general program of the industrial robot, if the program editor receives a query from any operator for the general program module of any general program of the industrial robot. Upon request, the general program module of any general program of the industrial robot loaded in the programming module is invoked. The writing guidance steps of all instructions of any general program of the industrial robot in the general program module of any general program of the industrial robot are displayed in the program editing and display area of ​​the program editor, so that any operator can learn or write any general program of the industrial robot. The writing guidance steps of all instructions of any general program of the industrial robot include: the overall writing steps of all instructions of any general program of the industrial robot, and the operation guidance and meaning explanation of each instruction in any general program of the industrial robot.

[0013] In some embodiments, the setting unit is further configured as the programming module, which also has a program reuse function. Through the program reuse function of the programming module, when a custom program module of the current program of the industrial robot is loaded in the programming module, the program reuse function of the programming module is associated with the custom program module of the current program of the industrial robot; when a general program module of any general program of the industrial robot is loaded in the programming module, the program reuse function of the programming module is associated with the general program module of any general program of the industrial robot; the calling unit is further configured to, during the process of any operator writing a new program for the industrial robot, reuse either the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot. In the event that the program editor receives a query request from any operator to query the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, it calls the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, and directly loads all the instructions of the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot into the program editing and display area of ​​the new program of the industrial robot, so that any operator can directly use or edit all or part of the instructions of the loaded custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot during the process of writing the new program of the industrial robot.

[0014] In conjunction with the above-described device, the present invention further provides a teach pendant, comprising: the programming device for the industrial robot described above.

[0015] In conjunction with the above method, the present invention further provides a storage medium comprising a stored program, wherein, when the program is executed, the device on which the storage medium is located executes the above-described industrial robot programming method.

[0016] Therefore, the solution of this invention, by setting a programming module in the program editor of the industrial robot's teach pendant, integrates the operation steps and meaning explanations of each instruction of the industrial robot into the programming module. When operators learn or operate the programming in the program editor of the industrial robot's teach pendant, they can learn or operate according to the operation steps and meaning explanations of each instruction. Thus, by integrating the operation guidance and meaning explanations of at least each instruction into the programming module in the program editor, it is beneficial to reduce the difficulty for operators in learning and writing industrial robot programs. Furthermore, in the solution of this invention, the programming module has a custom program function. Through the customization function, programs written by experienced operators can be generated into program modules. These program modules contain operation guidance for all instructions and the meaning explanations of each instruction. These program modules can serve as learning modules for other operators and can also be directly reused in subsequent programming, which also helps to reduce the difficulty for operators in learning and programming. Moreover, in the solution of this invention, a program template for a general program for controlling the industrial robot is added to the programming module, which can be directly reused in subsequent programming, which also helps to reduce the difficulty for operators in learning and programming.

[0017] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention.

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating an embodiment of the programming method for an industrial robot according to the present invention;

[0020] Figure 2 This is a flowchart illustrating an embodiment of the customizable function of the program editor of the teach pendant for an industrial robot in the method of the present invention.

[0021] Figure 3 This is a flowchart illustrating an embodiment of the function of adding a program editor to the teach pendant of an industrial robot in the method of the present invention;

[0022] Figure 4 This is a flowchart illustrating an embodiment of the reuse function of the program editor of the teach pendant for an industrial robot in the method of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of an embodiment of the programming device for an industrial robot according to the present invention;

[0024] Figure 6This is a schematic diagram of the program editing interface of the program editor for the teach pendant of an industrial robot, as well as the interface of the programming module within the program editing interface.

[0025] Figure 7 The program editing interface of the program editor for the teach pendant of industrial robots, as well as the program guidance operation in the program editing interface and the instruction addition interface;

[0026] Figure 8 This is a schematic diagram of the program editing process for the program editor of the teach pendant for industrial robots.

[0027] Referring to the accompanying drawings, the reference numerals in the embodiments of the present invention are as follows:

[0028] 11-Function button for programming template; 12-Function button for custom function; 13-Function button for reuse function; 14-Function button for guidance function; 15-Function button for function module (e.g., function module for moving from point A to point B in a straight line); 16-Function button for function module of custom 1; 21-Function button for adding instructions; 22-Function button for motion instructions; 23-Add button for MOVJ instructions; 24-Prompt area for operation guidance; 25-Program editing and display area; 102-Setting unit; 104-Calling unit. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0030] Considering that industrial robots have numerous and complex programming instructions—requiring logical combinations of many instructions to control them and perform specific tasks—and the inherent risks of damage and accidents caused by improper operation, a certain level of skill is required in both operating and programming industrial robots. While many universities and institutions have established courses on industrial robots, this has not yet resolved the high barriers to entry in this area.

[0031] Furthermore, when operators control industrial robots to complete a routine operation, they need to add multiple instructions. Operators program using the teach pendant's program editor. However, due to limitations such as the teach pendant's small screen (resistive touchscreen) and inability to open multiple program interfaces simultaneously, it's impossible to directly copy and paste instruction code from one program file to another, resulting in low code reuse. In particular, because teach pendants are industrial control products, they typically use resistive touchscreens for safety reasons. Resistive touchscreens require clicking for operation, unlike the swiping operation of a capacitive touchscreen on a mobile phone. Also, only one program file can be opened at a time in the program interface, making it difficult to copy code from one program to another.

[0032] Therefore, the present invention proposes a programming method for industrial robots. By setting a programming module in the program editor of the industrial robot's teach pendant, the operation steps and meaning explanations of each instruction of the industrial robot are integrated into the programming module, facilitating operator learning and operation and reducing the learning and programming difficulty for operators. For the operator's programming process of a segment of the industrial robot's program, operation guidelines and meaning explanations for all instructions in that segment are generated, forming a program module for that segment. This program module is custom-loaded into the programming module, facilitating learning and operation for other operators and enabling direct reuse in subsequent programming processes, further reducing the learning and programming difficulty for operators. Finally, a program template for a general program used to control the industrial robot is added to the programming module, facilitating direct reuse in subsequent programming processes and further reducing the learning and programming difficulty for operators.

[0033] According to an embodiment of the present invention, a programming method for an industrial robot is provided, applied to a program editor of a teach pendant of the industrial robot, to program a program for controlling the industrial robot using the program editor; the program editor includes programming modules, such as the programming modules corresponding to the function buttons 11 of the programming template. The program for controlling the robot includes programs for controlling the robot's movements. Figure 1 The diagram shows a flowchart of an embodiment of the method of the present invention. The programming method for this industrial robot may include steps S110 to S120.

[0034] In step S110, the programming module has a learning function; through the learning function of the programming module, it integrates operation guidelines for all instructions of the program of the industrial robot, as well as the meaning of each instruction, to form a set of learning instructions for the program of the industrial robot.

[0035] In step S120, if an operator needs to query and learn any instruction from all the instructions in the industrial robot's program, and the program editor receives a query request from the operator, it invokes the learning instruction set integrated into the programming module. The instruction, its operation guide, and its meaning explanation are all displayed in the program editor's editing and display area for the operator to learn. The operation guide instructs the operator on how to add and use the instruction in the program editor, while the meaning explanation describes and explains the instruction's parameters. For example, for the MOVJ instruction, the meaning explanation refers to the description and parameter explanation of the instruction; the operation guide guides the user on how to add and use the instruction. The operation guide and meaning explanation are not limited to a single instruction but also apply to adding a program (a program composed of multiple instructions logically related).

[0036] Specifically, Figure 6 This is a schematic diagram of the program editing interface of the program editor for the teach pendant of an industrial robot, as well as the interface of the programming module within the program editing interface. Figure 7 This refers to the program editing interface of the program editor for the teach pendant of an industrial robot, as well as the program guidance operations in the program editing interface and the instruction addition interface, such as... Figure 6 As shown, after the operator clicks the function button 11 of the programming template, they can select the set of learning instructions to be learned in the window at the bottom right of the interface. For example, clicking the function button 15 of the function module (such as the function module for moving from point A to point B in a straight line), and then clicking the function button 14 of the guidance function, the program editor will switch to the following... Figure 7 The window shown initially guides the operator through the corresponding instruction set. Prompt information is displayed in the prompt area 24 of the operation guide, indicating the next steps. For example, it may prompt the operator to click the "Add Instruction" button. After clicking, prompt area 24 prompts the operator to select a motion instruction from the instruction selection box. After the operator completes this step, prompt area 24 prompts the operator to select the MOVJ instruction. Once the operator selects the MOVJ instruction, it will be displayed in the program editing and display area 25. The prompt area 24 also displays a detailed description of the MOVJ instruction, an explanation of its parameters, and prompts for the next step. By displaying guidance for each step of the instruction set and providing detailed explanations, the operator is guided step-by-step through the programming process of the instruction set, enabling them to quickly improve their programming skills and increase programming efficiency.

[0037] This invention proposes a novel programming method for industrial robots, integrating the operation steps of industrial robot instructions into a programming template. This facilitates learning and operation for operators, lowering the programming threshold. By setting up a programming module in the program editor of the industrial robot's teach pendant, the operation steps and meaning explanations of each industrial robot instruction are integrated into the programming module, making it easier for operators to learn and operate, and reducing the learning and programming difficulty for operators. This solves the problems of complex industrial robot operation processes, the need for operators to use a large number of programming instructions to control the industrial robot to complete a certain task, and the difficulty in understanding and learning industrial robot programming instructions, thus requiring operators to have high-level industrial robot programming skills.

[0038] In some embodiments, the programming method for the industrial robot described in this invention may further include: the program editor of the industrial robot's teach pendant also has a custom program module, in which the operator can generate custom programs. The following is in conjunction with... Figure 2 The flowchart illustrates an embodiment of the custom function of the program editor of the teach pendant of the industrial robot shown, further illustrating the specific process of using the custom function in the program editor, which includes steps S210 to S230.

[0039] In step S210, the programming module also has a custom program function; when the operator writes the current program of the industrial robot in the program editor, the custom program function of the programming module records each instruction and the operation steps of each instruction when the operator writes the current program of the industrial robot.

[0040] In step S220, based on each instruction and operation step of the current program of the industrial robot written by the operator, and combined with the operation guide and meaning description of the corresponding instructions in the learning instruction set, writing guide steps for all instructions of the current program of the industrial robot are generated, which are denoted as the custom program module of the current program of the industrial robot, and the custom program module of the current program of the industrial robot is loaded into the programming module.

[0041] In step S230, if other operators need to learn or write the current program of the industrial robot, and if the program editor receives a query request from other operators to query the custom program module of the current program of the industrial robot, then the custom program module of the current program of the industrial robot loaded in the programming module is invoked. The writing guidance steps of all instructions of the current program of the industrial robot in the custom program module of the current program of the industrial robot are displayed in the program editing and display area of ​​the program editor, so that other operators can learn or write the current program of the industrial robot. The writing guidance steps of all instructions of the current program of the industrial robot include: the overall writing steps of all instructions of the current program of the industrial robot, and the operation guidance and meaning explanation of each instruction in the current program of the industrial robot.

[0042] Specifically, Figure 6 This is a diagram showing the program editing interface of the program editor for an industrial robot's teach pendant, as well as the interfaces of the programming modules within the program editing interface. Figure 6 As shown, the program editing interface of the industrial robot's teach pendant includes a program editing and display area. At the top of this area is a close button, and at the bottom are buttons for adding instructions, instruction operation, point teaching, programming modules (button 11), and program editing. Clicking the programming module button 11 displays the programming module interface, which includes buttons for custom functions (button 12), reuse functions (button 13), guidance functions (button 14), function modules (e.g., a module for linear movement from point A to point B) (button 15), custom function module 1, and page up / down buttons. Users can select the appropriate function button to perform the corresponding operation. Operators can use the custom function button 12 to write custom programs, recording each instruction and its operation steps, and combining this with the corresponding instruction's operation guide and explanation to generate a custom program module. The generated custom program module will be displayed as shown in the image. Figure 6 The location of the function button in the custom function module 1 is that the function button of the custom function module 1 is the custom program module generated in step S220. Operators can generate multiple custom program modules. Figure 6In the interface, multiple custom program modules can be displayed vertically, meaning that a custom function button 2, a custom function button 3, and so on can be displayed below the custom function button 1. To help other operators understand the functions of the custom program module function buttons, the names of the custom program module function buttons can be defined by the operator, such as "moving a joint from point A to point B," etc.

[0043] In this invention, by setting a programming module in the program editor of the industrial robot's teach pendant, and allowing for custom functions in the programming template, a specific work program can be written to control the industrial robot. The programming template automatically generates operation guidelines and explanations of the instructions corresponding to that specific work program, thus enabling the creation of program modules with custom functions. It also generates guidance for each step of the custom function program writing process and detailed explanations of the corresponding instructions, facilitating learning of the industrial robot's functions by other operators. In this way, for the programming process of a segment of the industrial robot's program by an operator, operation guidelines and explanations of the meaning of each instruction in that segment are generated, forming a program module for that segment. This program module is then custom-loaded into the programming module, facilitating learning and operation by other operators, and allowing for direct reuse in subsequent programming processes. It also helps reduce the learning and programming difficulty for operators. Therefore, it solves the problem that while industrial robot programming manuals may contain detailed instruction descriptions, they only explain the specific meaning and parameters of the instructions, without explaining the specific operations involved. In related solutions, recording the operation steps of program instructions only involves screen recording of the operation steps. However, the solution of this invention generates a new operation guide based on the recorded user operation steps and the operation steps and meaning explanation of each individual instruction. This new operation guide includes the operation and meaning explanation of each instruction, and does not simply record one operation step of the user, but can better guide new operators in learning and using the program.

[0044] In some embodiments, the programming method for the industrial robot described in this invention may further include: the programming module not only has a custom program module but also a general program module, which contains basic functions or some commonly used functions that come pre-installed with the program editor. Operators can directly use the functions in this general program module when writing programs. The following is in conjunction with... Figure 3 The flowchart illustrating an embodiment of the method of the present invention, which shows the addition of functions in the program editor of the industrial robot's teach pendant, further explains the specific process of adding functions in a general program module when writing a program, including steps S310 to S320.

[0045] In step S310, the programming module also has a general program adding function; through the general program adding function of the programming module, the writing guidance steps of all instructions of any one of the general programs of at least one general program of the industrial robot are preloaded, and are denoted as the general program module of the general program, and the general program module of the general program of the industrial robot is loaded into the programming module.

[0046] In step S320, if any operator needs to learn or write any general program of the industrial robot, and if the program editor receives a query request from any operator to query the general program module of any general program of the industrial robot, then the general program module of any general program of the industrial robot loaded in the programming module is invoked. The writing guidance steps of all instructions of any general program of the industrial robot in the general program module of any general program of the industrial robot are displayed in the program editing and display area of ​​the program editor, so that any operator can learn or write any general program of the industrial robot. The writing guidance steps of all instructions of any general program of the industrial robot include: the overall writing steps of all instructions of any general program of the industrial robot, and the operation guidance and meaning explanation of each instruction in all instructions of any general program of the industrial robot.

[0047] Among them, see Figure 6 In the example shown, the function module corresponding to function button 15 of the functional module (such as the function module that moves the robot in a straight line from point A to point B) refers to those basic and commonly used functions. The function module corresponding to function button 16 of the custom function module refers to some functions designed and implemented by the operator, which can realize more complex program logic. In the solution of this invention, the robot's general functions refer to the most basic functions of the program used to control the robot's actions. The logic is relatively simple. Adding the robot's general functions to the programming module facilitates the understanding and learning of the robot program by new operators.

[0048] In some embodiments, the programming method for the industrial robot described in this invention may further include: after an operator generates a custom program in a custom program module, other operators can reuse the custom program in the custom program module when writing programs in a program editor. The following is in conjunction with... Figure 4 The flowchart shown is a schematic diagram of an embodiment of the reuse function of the program editor of the industrial robot's teach pendant in the method of the present invention. It further illustrates the process of using the reuse function in the program editor, which includes steps S410 to S420.

[0049] In step S410, the programming module further has a program reuse function; through the program reuse function of the programming module, when a custom program module of the current program of the industrial robot is loaded in the programming module, the program reuse function of the programming module is associated with the custom program module of the current program of the industrial robot; when a general program module of any general program of the industrial robot is loaded in the programming module, the program reuse function of the programming module is associated with the general program module of any general program of the industrial robot.

[0050] In step S420, when any operator is writing a new program for the industrial robot and needs to reuse the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, if the program editor receives a query request from any operator to query the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, then the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot is invoked, and all instructions of the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot are directly loaded into the program editing and display area of ​​the new program of the industrial robot, so that any operator can directly use or edit all or part of the instructions of the loaded custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot during the process of writing a new program for the industrial robot.

[0051] In this invention, by setting a programming module in the program editor of the industrial robot's teach pendant and adding a program template for controlling the industrial robot to perform routine operations in the programming template, this part of the code can be directly reused when writing different programs, without having to repeatedly add related instructions, thus improving programming efficiency. In this way, adding a program template for a general program for controlling the industrial robot to the programming module facilitates direct reuse in subsequent programming processes, reducing the learning and programming difficulty for operators. This solves the problems of the teach pendant screen not being able to open multiple program interfaces, the inability to directly copy and paste some instructions from one program to another file, and the need to add multiple instructions again for certain commonly used operations in different programs, resulting in low code reusability.

[0052] Specifically, Figure 7 This refers to the program editing interface of the program editor for the teach pendant of an industrial robot, as well as the program guidance operations within the program editing interface and the instruction addition interface. (The remaining text appears to be incomplete and requires further context.) Figure 6The program editing interface of the teach pendant for the industrial robot shown is accessed by clicking the "Add Instruction" function button 21. As shown... Figure 7 As shown, a command pop-up window appears in a portion of the program editing and display area of ​​the program editing interface (such as the lower right corner). This pop-up window also includes a filter button. Users can filter different commands using this button. Clicking the filter button will display multiple candidate commands. If a motion command is selected from the candidate commands, the motion command function button 22 will be displayed in the command pop-up window. This includes up and down selection buttons, which allow users to navigate to other command function buttons. Because the teach pendant interface is small and is a touchscreen, interface switching is usually done via buttons; therefore, the up and down selection buttons facilitate navigation.

[0053] On the command pop-up interface, you can add different commands for program editing. For example, you can click the "Add" button for MOVL command (i.e., linear interpolation command) to add a MOVL command; click the "Add" button for MOVP command (i.e., execute the transfer command only once when the preceding conditions are met) to add a MOVP command; click the "Add" button for MOVC command (i.e., circular motion command) to add a MOVC command; click the "Add" button for MOVJ command (i.e., joint interpolation command) to add a MOVJ command; and click the "Add" button for HOME command (i.e., return to initial state command) to add a HOME command. The HOME command is the robot's motion control command, specifically used to control the robot to return to its initial state.

[0054] For example, different categories of instructions can be selected using the filter buttons on the instruction pop-up interface. If the MOVJ instruction is selected, clicking the "Add" button 23 for the MOVJ instruction will insert it into the program editing area, displaying the MOVJ instruction in the program editing and display area 25. Above the program editing and display area 25, a prompt box, namely the operation guidance prompt area 24, is displayed, providing instructions for the operator to follow up on the next steps. The industrial robot's program can be displayed and edited in the program editing and display area 25. Of course, if the operator does not need the guidance function and directly edits the program, the operation guidance prompt area 24 will not be displayed.

[0055] See Figure 6 and Figure 7As shown in the example, in the solution of this invention, the programming template set in the program editor of the industrial robot's teach pendant supports custom functions (such as custom function module 1). An industrial robot program consists of many instructions. The programming template integrates the specific operation instructions for all instructions, as well as detailed explanations of each instruction. Experienced operators or trainers can write a program through the custom function of the programming template. The programming template will automatically generate specific guidance steps based on the instructions in the program, which can help trainees or novice operators quickly learn the relevant programming functions of the industrial robot. For example, the palletizing function is implemented by multiple palletizing instructions and other instructions. Experienced operators or trainers only need to customize the palletizing function in the programming template and then change the custom name to palletizing. Subsequent operators who want to learn the palletizing function can click on the guidance to learn and operate it. The learning and operation process is as described above. For example, a palletizing program includes motion control instructions, as well as instructions for picking up and placing pallets. The programming module, based on the operation guide generated by the palletizing program, includes motion control instructions, as well as instructions for picking up and placing pallets, and also includes a program composed of these instructions logically related to each other. This customization feature can significantly reduce training costs and more effectively guide operators in learning and programming the more complex functions of industrial robots.

[0056] When industrial robots perform production work, they often need to perform relatively complex actions. To complete these actions, operators often need to edit thousands of lines of instructions. For frequently used and repetitive parts of the program, the program can be saved in the programming template through the custom programming function. When needed, the program can be added directly to the program by clicking the programming template, selecting the relevant part of the program, and clicking the reuse function button 13. This can improve programming efficiency and reduce programming time.

[0057] Figure 8 This is a schematic diagram of the program editing flow for the program editor of an industrial robot's teach pendant. (Example:) Figure 8 As shown, the program editing process of the program editor of the industrial robot's teach pendant includes:

[0058] Step 1: When you start writing a program using the program editor of the industrial robot's teach pendant, you can execute Step 2, Step 3, or a combination of Step 2 and Step 3.

[0059] Step 2: The operator writes the program directly on the program editor of the industrial robot's teach pendant. After the program is written, proceed to step 4.

[0060] Step 3: The operator writes the program on the program editor of the industrial robot's teach pendant, selects the function corresponding to the programming template, that is, the program module corresponding to the program, and completes the writing of the relevant program according to the operation guide of all instructions in the program module. After the program is written, proceed to step 4.

[0061] Specifically, in step 3, such as Figure 6 As shown, when an operator edits a program using the program editor of the industrial robot's teach pendant, they can select the relevant functions that the industrial robot needs to perform through programming templates for guided operation. For example, clicking function button 15 of a function module (such as a function module that moves linearly from point A to point B), and then clicking function button 14 of the guided function, will guide the operator to program and implement that action. Figure 7 As shown, the prompt area 24 of the operation guide will display prompt information to tell the operator the next operation steps. To make the industrial robot move in a straight line from point A to point B, the prompt area 24 of the operation guide will first show: Click the Add Instruction button; after the operator clicks the Add Instruction function button 21, an instruction selection box will pop up. At this time, the prompt area 24 of the operation guide will prompt: Please select a motion instruction in the instruction selection box. The instruction selection box also includes instructions such as palletizing instructions, logic control instructions, input instructions, and output instructions; after the operator operates, the prompt area 24 of the operation guide will continue to prompt: Please select the MOVJ instruction; after the operator clicks the Add MOVJ instruction button 23 and selects the MOVJ instruction, the MOVJ instruction will be displayed in the program editing and display area 25, and a detailed explanation of the instruction will be displayed in the prompt area 24 of the operation guide. For example, for the MOVJ instruction, MOVJ( <par>The explanation of the (V10,w0,T0) command is: move in joint mode, and move in parameter mode. <par>Set the target location, move at a speed of V10, with the world coordinate system at w0 and the tool coordinate system at T0. The operation guide prompt area 24 will display the next operation: Click on the MOVJ command's program editing and display area 25. <par>To refine the instructions, please select point A. You can create new point coordinate data, or manually control the industrial robot to move to point A and then click the point teaching button. After the operator completes the operation, you will be prompted to add MOVL instructions step by step, guiding the operator to complete the corresponding programming so that the industrial robot can perform the relevant tasks, greatly reducing the programming threshold for operators.

[0062] Step 4: After completing the program, control the industrial robot to execute the program, thereby controlling the industrial robot to perform related functions.

[0063] The present invention includes a programming module in the program editor of the industrial robot's teach pendant. This module integrates the specific operation steps and detailed explanations of each instruction. Operators can learn the relevant operations of each instruction by referring to the programming template and the operation guidelines. Figure 7 The prompts in area 24 of the operation guide are used for instructions. Additionally, experienced operators can customize programs to control the industrial robot's movement within the programming template. The template generates operation instructions for the program, including the steps for each instruction and an explanation of its meaning. This facilitates learning for other operators and lowers the programming barrier. For example, when another operator clicks an instruction, a detailed explanation of that instruction will be displayed in the prompt box, along with instructions for the next step. Furthermore, common industrial robot operations can be added to the programming template through customization, allowing for direct reuse of this code in subsequent program editing, improving programming efficiency. Overall, this reduces the difficulty for operators in learning and writing industrial robot programs, saving time and effort.

[0064] The technical solution of this embodiment integrates the operation steps and meaning explanations of each instruction of the industrial robot into a programming module set in the program editor of the industrial robot's teach pendant. When operators learn or operate the programming in the program editor of the industrial robot's teach pendant, they can learn or operate according to the operation steps and meaning explanations of each instruction. Therefore, by integrating the operation guidance and meaning explanations of at least each instruction into the programming module in the program editor, the difficulty for operators in learning and writing industrial robot programs is reduced. Furthermore, in this invention, the programming module has a custom program function. Through this function, programs written by experienced operators can be generated into a program module containing operation guidance for all instructions and the meaning explanations of each instruction. This program module can serve as a learning module for other operators and can be directly reused in subsequent programming, further reducing the learning and programming difficulty for operators. Moreover, in this invention, a program template for a general program for controlling the industrial robot is added to the programming module, which can be directly reused in subsequent programming, further reducing the learning and programming difficulty for operators.

[0065] According to an embodiment of the present invention, a programming device for an industrial robot corresponding to a programming method for an industrial robot is also provided. A program editor is applied to the teach pendant of the industrial robot to program a program for controlling the industrial robot; the program editor includes programming modules, such as the programming modules corresponding to the function buttons 11 of the programming template. See also Figure 5 The diagram shows a structural schematic of an embodiment of the device of the present invention. The programming device for the industrial robot may include: a setting unit 102 and a calling unit 104.

[0066] The setting unit 102 is configured as the programming module and has a learning function. Through the learning function of the programming module, it integrates operation guidelines for all instructions of the industrial robot's program and explanations of the meaning of each instruction, forming a set of learning instructions for the industrial robot's program. The specific functions and processing of the setting unit 102 are described in step S110.

[0067] The calling unit 104 is configured to, when an operator needs to query and learn any instruction from all the instructions in the industrial robot's program, if the program editor receives a query request from the operator to query any instruction from all the instructions in the industrial robot's program, then it calls the learning instruction set integrated in the programming module, and displays the instruction, its operation guide, and its meaning explanation in the program editor's program editing and display area for the operator to learn. The specific functions and processing of the calling unit 104 are described in step S120. The operation guide instructs the operator on how to add and use instructions in the program editor, while the meaning explanation describes and explains the instructions and their parameters. For example, for the MOVJ instruction, the meaning explanation refers to the description and parameter explanation of the instruction; the operation guide guides the user on how to add and use the instruction. The operation guide and meaning explanation are not limited to the operation of a single instruction but also apply to the addition of a program (a program composed of multiple instructions logically related).

[0068] Specifically, Figure 6 This is a schematic diagram of the program editing interface of the program editor for the teach pendant of an industrial robot, as well as the interface of the programming module within the program editing interface. Figure 7 This refers to the program editing interface of the program editor for the teach pendant of an industrial robot, as well as the program guidance operations in the program editing interface and the instruction addition interface, such as... Figure 6 As shown, after the operator clicks the function button 11 of the programming template, they can select the set of learning instructions to be learned in the window at the bottom right of the interface. For example, clicking the function button 15 of the function module (such as the function module for moving from point A to point B in a straight line), and then clicking the function button 14 of the guidance function, the program editor will switch to the following... Figure 7 The window shown initially guides the operator through the corresponding instruction set. Prompt information is displayed in the prompt area 24 of the operation guide, indicating the next steps. For example, it may prompt the operator to click the "Add Instruction" button. After clicking, prompt area 24 prompts the operator to select a motion instruction from the instruction selection box. After the operator completes this step, prompt area 24 prompts the operator to select the MOVJ instruction. Once the operator selects the MOVJ instruction, it will be displayed in the program editing and display area 25. The prompt area 24 also displays a detailed description of the MOVJ instruction, an explanation of its parameters, and prompts for the next step. By displaying guidance for each step of the instruction set and providing detailed explanations, the operator is guided step-by-step through the programming process of the instruction set, enabling them to quickly improve their programming skills and increase programming efficiency.

[0069] This invention proposes a novel programming method for industrial robots, integrating the operation steps of industrial robot instructions into a programming template. This facilitates learning and operation for operators, lowering the programming threshold. By setting up a programming module in the program editor of the industrial robot's teach pendant, the operation steps and meaning explanations of each industrial robot instruction are integrated into the programming module, making it easier for operators to learn and operate, and reducing the learning and programming difficulty for operators. This solves the problems of complex industrial robot operation processes, the need for operators to use a large number of programming instructions to control the industrial robot to complete a certain task, and the difficulty in understanding and learning industrial robot programming instructions, thus requiring operators to have high-level industrial robot programming skills.

[0070] In some embodiments, the programming device for the industrial robot described in this invention may further include: the program editor of the industrial robot's teach pendant also has a custom program module, in which the operator can generate custom programs, as follows:

[0071] The setting unit 102 is also configured as the programming module and has a custom program function. When the operator writes the current program for the industrial robot in the program editor, the custom program function of the programming module records each instruction and the operation steps of each instruction when the operator writes the current program for the industrial robot. The specific functions and processing of this setting unit 102 are further described in step S210.

[0072] The setting unit 102 is further configured to generate writing guidance steps for all instructions in the current program of the industrial robot based on each instruction written by the operator and the operation steps of each instruction, combined with the operation guidelines and meaning descriptions of the corresponding instructions in the learning instruction set. This guidance step is denoted as a custom program module of the current program of the industrial robot, and the custom program module of the current program of the industrial robot is loaded into the programming module. The specific functions and processing of this setting unit 102 are further described in step S220.

[0073] The calling unit 104 is further configured to, when other operators need to learn or write the current program of the industrial robot, if the program editor receives a query request from other operators to query the custom program module of the current program of the industrial robot, call the custom program module of the current program of the industrial robot loaded in the programming module, and display the writing guidance steps of all instructions of the current program of the industrial robot in the custom program module of the current program of the industrial robot in the program editing and display area of ​​the program editor, so that other operators can learn or write the current program of the industrial robot; wherein, the writing guidance steps of all instructions of the current program of the industrial robot include: the overall writing steps of all instructions of the current program of the industrial robot, and the operation guidance and meaning explanation of each instruction in the current program of the industrial robot. The specific functions and processing of the calling unit 104 are also described in step S230.

[0074] Specifically, Figure 6 This is a diagram showing the program editing interface of the program editor for an industrial robot's teach pendant, as well as the interfaces of the programming modules within the program editing interface. Figure 6 As shown, the program editing interface of the industrial robot's teach pendant includes a program editing and display area. At the top of this area is a close button, and at the bottom are buttons for adding instructions, instruction operation, point teaching, programming modules (button 11), and program editing. Clicking the programming module button 11 displays the programming module interface, which includes buttons for custom functions (button 12), reuse functions (button 13), guidance functions (button 14), function modules (e.g., a module for linear movement from point A to point B) (button 15), custom function module 1, and page up / down buttons. Users can select the appropriate function button to perform the corresponding operation. Operators can use the custom function button 12 to write custom programs, recording each instruction and its operation steps, and combining this with the corresponding instruction's operation guide and explanation to generate a custom program module. The generated custom program module will be displayed as shown in the image. Figure 6 The location of the function button in the custom function module 1 is that the function button of the custom function module 1 is the custom program module generated in step S220. Operators can generate multiple custom program modules. Figure 6 In the interface, multiple custom program modules can be displayed vertically, meaning that a custom function button 2, a custom function button 3, and so on can be displayed below the custom function button 1. To help other operators understand the functions of the custom program module function buttons, the names of the custom program module function buttons can be defined by the operator, such as "moving a joint from point A to point B," etc.

[0075] In this invention, by setting a programming module in the program editor of the industrial robot's teach pendant, and allowing for custom functions in the programming template, a specific work program can be written to control the industrial robot. The programming template automatically generates operation guidelines and explanations of the instructions corresponding to that specific work program, thus enabling the creation of program modules with custom functions. It also generates guidance for each step of the custom function program writing process and detailed explanations of the corresponding instructions, facilitating learning of the industrial robot's functions by other operators. In this way, for the programming process of a segment of the industrial robot's program by an operator, operation guidelines and explanations of the meaning of each instruction in that segment are generated, forming a program module for that segment. This program module is then custom-loaded into the programming module, facilitating learning and operation by other operators, and allowing for direct reuse in subsequent programming processes. It also helps reduce the learning and programming difficulty for operators. Therefore, it solves the problem that while industrial robot programming manuals may contain detailed instruction descriptions, they only explain the specific meaning and parameters of the instructions, without explaining the specific operations involved. In related solutions, recording the operation steps of program instructions only involves screen recording of the operation steps. However, the solution of this invention generates a new operation guide based on the recorded user operation steps and the operation steps and meaning explanation of each individual instruction. This new operation guide includes the operation and meaning explanation of each instruction, and does not simply record one operation step of the user, but can better guide new operators in learning and using the program.

[0076] In some embodiments, the programming device for the industrial robot described in this invention may further include: a programming module that not only has a custom program module but also a general program module. This module contains basic functions or some commonly used functions that come pre-installed with the program editor. When writing a program, the operator can directly use the functions in the general program module, as detailed below:

[0077] The setting unit 102 is also configured as the programming module and has a general program adding function. Through the general program adding function of the programming module, the writing guidance steps for all instructions of any one of the at least one general program of the industrial robot are pre-loaded, denoted as the general program module of that general program, and the general program module of that general program of the industrial robot is loaded into the programming module. The specific functions and processing of the setting unit 102 are further described in step S310.

[0078] The calling unit 104 is further configured to, when any operator needs to learn or write any general program of the industrial robot, if the program editor receives a query request from any operator to query the general program module of any general program of the industrial robot, then call the general program module of any general program of the industrial robot loaded in the programming module, and display the writing guidance steps of all instructions of any general program of the industrial robot in the general program module of the general program of the industrial robot in the program editing and display area of ​​the program editor, so that any operator can learn or write any general program of the industrial robot; wherein, the writing guidance steps of all instructions of any general program of the industrial robot include: the overall writing steps of all instructions of any general program of the industrial robot, and the operation guidance and meaning explanation of each instruction in all instructions of any general program of the industrial robot. The specific functions and processing of this calling unit 104 are also described in step S320.

[0079] Among them, see Figure 6 In the example shown, the function module corresponding to function button 15 of the functional module (such as the function module that moves the robot in a straight line from point A to point B) refers to those basic and commonly used functions. The function module corresponding to function button 16 of the custom function module refers to some functions designed and implemented by the operator, which can realize more complex program logic. In the solution of this invention, the robot's general functions refer to the most basic functions of the program used to control the robot's actions. The logic is relatively simple. Adding the robot's general functions to the programming module facilitates the understanding and learning of the robot program by new operators.

[0080] In some embodiments, the programming device for the industrial robot described in this invention may further include: after an operator generates a custom program in the custom program module, other operators can reuse the custom program in the custom program module when writing programs in the program editor, as follows:

[0081] The setting unit 102 is also configured as the programming module and has a program reuse function. Through the program reuse function of the programming module, when a custom program module of the current program of the industrial robot is loaded in the programming module, the program reuse function of the programming module is associated with the custom program module of the current program of the industrial robot; when a general program module of any general program of the industrial robot is loaded in the programming module, the program reuse function of the programming module is associated with the general program module of any general program of the industrial robot. The specific functions and processing of this setting unit 102 are further described in step S410.

[0082] The calling unit 104 is further configured to, when any operator is writing a new program for the industrial robot and needs to reuse the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, if the program editor receives a query request from any operator to query the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, then it calls the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, and directly loads all the instructions of the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot into the program editing and display area 25 of the new program of the industrial robot, so that any operator can directly use or edit all or part of the instructions of the loaded custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot during the process of writing a new program for the industrial robot. The specific functions and processing of this calling unit 104 are also described in step S420.

[0083] In this invention, by setting a programming module in the program editor of the industrial robot's teach pendant and adding a program template for controlling the industrial robot to perform routine operations in the programming template, this part of the code can be directly reused when writing different programs, without having to repeatedly add related instructions, thus improving programming efficiency. In this way, adding a program template for a general program for controlling the industrial robot to the programming module facilitates direct reuse in subsequent programming processes, reducing the learning and programming difficulty for operators. This solves the problems of the teach pendant screen not being able to open multiple program interfaces, the inability to directly copy and paste some instructions from one program to another file, and the need to add multiple instructions again for certain commonly used operations in different programs, resulting in low code reusability.

[0084] Specifically, Figure 7 This refers to the program editing interface of the program editor for the teach pendant of an industrial robot, as well as the program guidance operations within the program editing interface and the instruction addition interface. (The remaining text appears to be incomplete and requires further context.) Figure 6 The program editing interface of the teach pendant for the industrial robot shown is accessed by clicking the "Add Instruction" function button 21. As shown... Figure 7 As shown, a command pop-up window appears in a portion of the program editing and display area of ​​the program editing interface (such as the lower right corner). This pop-up window also includes a filter button. Users can filter different commands using this button. Clicking the filter button will display multiple candidate commands. If a motion command is selected from the candidate commands, the motion command function button 22 will be displayed in the command pop-up window. This includes up and down selection buttons, which allow users to navigate to other command function buttons. Because the teach pendant interface is small and is a touchscreen, interface switching is usually done via buttons; therefore, the up and down selection buttons facilitate navigation.

[0085] On the command pop-up interface, you can add different commands for program editing. For example, you can click the "Add" button for MOVL command (i.e., linear interpolation command) to add a MOVL command; click the "Add" button for MOVP command (i.e., execute the transfer command only once when the preceding conditions are met) to add a MOVP command; click the "Add" button for MOVC command (i.e., circular motion command) to add a MOVC command; click the "Add" button for MOVJ command (i.e., joint interpolation command) to add a MOVJ command; and click the "Add" button for HOME command (i.e., return to initial state command) to add a HOME command. The HOME command is the robot's motion control command, specifically used to control the robot to return to its initial state.

[0086] For example, different categories of instructions can be selected using the filter buttons on the instruction pop-up interface. If the MOVJ instruction is selected, clicking the "Add" button 23 for the MOVJ instruction will insert it into the program editing area, displaying the MOVJ instruction in the program editing and display area 25. Above the program editing and display area 25, a prompt box, namely the operation guidance prompt area 24, is displayed, providing instructions for the operator to follow up on the next steps. The industrial robot's program can be displayed and edited in the program editing and display area 25. Of course, if the operator does not need the guidance function and directly edits the program, the operation guidance prompt area 24 will not be displayed.

[0087] See Figure 6 and Figure 7 As shown in the example, in the solution of this invention, the programming template set in the program editor of the industrial robot's teach pendant supports custom functions (such as custom function module 1). An industrial robot program consists of many instructions. The programming template integrates the specific operation instructions for all instructions, as well as detailed explanations of each instruction. Experienced operators or trainers can write a program through the custom function of the programming template. The programming template will automatically generate specific guidance steps based on the instructions in the program, which can help trainees or novice operators quickly learn the relevant programming functions of the industrial robot. For example, the palletizing function is implemented by multiple palletizing instructions and other instructions. Experienced operators or trainers only need to customize the palletizing function in the programming template and then change the custom name to palletizing. Subsequent operators who want to learn the palletizing function can click on the guidance to learn and operate it. The learning and operation process is as described above. For example, a palletizing program includes motion control instructions, as well as instructions for picking up and placing pallets. The programming module, based on the operation guide generated by the palletizing program, includes motion control instructions, as well as instructions for picking up and placing pallets, and also includes a program composed of these instructions logically related to each other. This customization feature can significantly reduce training costs and more effectively guide operators in learning and programming the more complex functions of industrial robots.

[0088] When industrial robots perform production work, they often need to perform relatively complex actions. To complete these actions, operators often need to edit thousands of lines of instructions. For frequently used and repetitive parts of the program, the program can be saved in the programming template through the custom programming function. When needed, the program can be added directly to the program by clicking the programming template, selecting the relevant part of the program, and clicking the reuse function button 13. This can improve programming efficiency and reduce programming time.

[0089] Figure 8 This is a schematic diagram of the program editing flow for the program editor of an industrial robot's teach pendant. (Example:) Figure 8 As shown, the program editing process of the program editor of the industrial robot's teach pendant includes:

[0090] Step 1: When you start writing a program using the program editor of the industrial robot's teach pendant, you can execute Step 2, Step 3, or a combination of Step 2 and Step 3.

[0091] Step 2: The operator writes the program directly on the program editor of the industrial robot's teach pendant. After the program is written, proceed to step 4.

[0092] Step 3: The operator writes the program on the program editor of the industrial robot's teach pendant, selects the function corresponding to the programming template, that is, the program module corresponding to the program, and completes the writing of the relevant program according to the operation guide of all instructions in the program module. After the program is written, proceed to step 4.

[0093] Specifically, in step 3, such as Figure 6 As shown, when an operator edits a program using the program editor of the industrial robot's teach pendant, they can select the relevant functions that the industrial robot needs to perform through programming templates for guided operation. For example, clicking function button 15 of a function module (such as a function module that moves linearly from point A to point B), and then clicking function button 14 of the guided function, will guide the operator to program and implement that action. Figure 7 As shown, the prompt area 24 of the operation guide will display prompt information to tell the operator the next operation steps. To make the industrial robot move in a straight line from point A to point B, the prompt area 24 of the operation guide will first show: Click the Add Instruction button; after the operator clicks the Add Instruction function button 21, an instruction selection box will pop up. At this time, the prompt area 24 of the operation guide will prompt: Please select a motion instruction in the instruction selection box. The instruction selection box also includes instructions such as palletizing instructions, logic control instructions, input instructions, and output instructions; after the operator operates, the prompt area 24 of the operation guide will continue to prompt: Please select the MOVJ instruction; after the operator clicks the Add MOVJ instruction button 23 and selects the MOVJ instruction, the MOVJ instruction will be displayed in the program editing and display area 25, and a detailed explanation of the instruction will be displayed in the prompt area 24 of the operation guide. For example, for the MOVJ instruction, MOVJ( <par>The explanation of the (V10,w0,T0) command is: move in joint mode, and move in parameter mode. <par>Set the target location, move at a speed of V10, with the world coordinate system at w0 and the tool coordinate system at T0. The operation guide prompt area 24 will display the next operation: Click on the MOVJ command's program editing and display area 25. <par>To refine the instructions, please select point A. You can create new point coordinate data, or manually control the industrial robot to move to point A and then click the point teaching button. After the operator completes the operation, you will be prompted to add MOVL instructions step by step, guiding the operator to complete the corresponding programming so that the industrial robot can perform the relevant tasks, greatly reducing the programming threshold for operators.

[0094] Step 4: After completing the program, control the industrial robot to execute the program, thereby controlling the industrial robot to perform related functions.

[0095] The present invention includes a programming module in the program editor of the industrial robot's teach pendant. This module integrates the specific operation steps and detailed explanations of each instruction. Operators can learn the relevant operations of each instruction by referring to the programming template and the operation guidelines. Figure 7 The prompts in area 24 of the operation guide are used for instructions. Additionally, experienced operators can customize programs to control the industrial robot's movement within the programming template. The template generates operation instructions for the program, including the steps for each instruction and an explanation of its meaning. This facilitates learning for other operators and lowers the programming barrier. For example, when another operator clicks an instruction, a detailed explanation of that instruction will be displayed in the prompt box, along with instructions for the next step. Furthermore, common industrial robot operations can be added to the programming template through customization, allowing for direct reuse of this code in subsequent program editing, improving programming efficiency. Overall, this reduces the difficulty for operators in learning and writing industrial robot programs, saving time and effort.

[0096] Since the processing and functions implemented by the device in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned methods, any details not covered in the description of this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0097] By adopting the technical solution of this invention, a programming module is set in the program editor of the industrial robot's teach pendant. The operation steps and meaning explanations of each instruction of the industrial robot are integrated into the programming module. When operators learn or operate the programming in the program editor of the industrial robot's teach pendant, they can learn or operate according to the operation steps and meaning explanations of each instruction. This solves the problem that while industrial robot programming manuals provide detailed instruction descriptions, they only explain the specific meaning and parameters of the relevant instructions, without explaining the specific operation of the instructions. This helps reduce the learning and programming difficulty for operators. Furthermore, in this invention, the programming module has a custom program function. Through this function, programs written by experienced operators can be generated into a program module. This program module contains operation guidelines for all instructions and explanations of the meaning of each instruction. This program module can serve as a learning module for other operators and can be directly reused in subsequent programming, further reducing the learning and programming difficulty for operators. Moreover, in this invention, a program template for a general program used to control the industrial robot is added to the programming module, which can be directly reused in subsequent programming, further reducing the learning and programming difficulty for operators.

[0098] According to an embodiment of the present invention, a teach pendant corresponding to a programming device for an industrial robot is also provided. The teach pendant may include the programming device for the industrial robot described above.

[0099] Since the processing and functions implemented by the teach pendant in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned devices, any details not covered in the description of this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0100] By adopting the technical solution of this invention, a programming module is set in the program editor of the industrial robot's teach pendant. The operation steps and meaning explanations of each instruction of the industrial robot are integrated into the programming module. When operators learn or operate the programming in the program editor of the industrial robot's teach pendant, they can learn or operate according to the operation steps and meaning explanations of each instruction. This solves the problem that the operation process of industrial robots is complex, requiring operators to use a large number of programming instructions to control the industrial robot to complete a certain task, and requiring operators to have high industrial robot programming skills. This helps to reduce the learning and programming difficulty for operators. Furthermore, in this invention, the programming module has a custom program function. Through this function, programs written by experienced operators can be generated into a program module. This program module contains operation guidelines for all instructions and explanations of the meaning of each instruction. This program module can serve as a learning module for other operators and can be directly reused in subsequent programming, further reducing the learning and programming difficulty for operators. Moreover, in this invention, a program template for a general program for controlling the industrial robot is added to the programming module, which can be directly reused in subsequent programming, further reducing the learning and programming difficulty for operators.

[0101] According to an embodiment of the present invention, a storage medium corresponding to a programming method for an industrial robot is also provided, the storage medium including a stored program, wherein the program controls the device where the storage medium is located to execute the programming method for the industrial robot described above when it is running.

[0102] Since the processing and functions implemented by the storage medium in this embodiment are basically the same as the embodiments, principles and examples of the aforementioned methods, any details not covered in this embodiment can be found in the relevant descriptions in the aforementioned embodiments, and will not be repeated here.

[0103] By adopting the technical solution of this invention, a programming module is set in the program editor of the industrial robot's teach pendant. The operation steps and meaning explanations of each instruction of the industrial robot are integrated into the programming module. When operators learn or operate the programming in the program editor of the industrial robot's teach pendant, they can learn or operate according to the operation steps and meaning explanations of each instruction. This solves the problem of obscure and difficult-to-understand industrial robot programming instructions and the high difficulty of learning and operation, thus reducing the learning and programming difficulty for operators. Furthermore, in this invention, the programming module has a custom program function. Through this function, programs written by experienced operators can be generated into a program module. This program module contains operation guidelines for all instructions and explanations of the meaning of each instruction. This program module can serve as a learning module for other operators and can be directly reused in subsequent programming, further reducing the learning and programming difficulty for operators. Moreover, in this invention, a program template for a general program for controlling the industrial robot is added to the programming module, which can be directly reused in subsequent programming, further reducing the learning and programming difficulty for operators.

[0104] In summary, it is readily understood by those skilled in the art that, without conflict, the aforementioned advantageous methods can be freely combined and superimposed.

[0105] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of the claims of the present invention.< / par> < / par> < / par> < / par> < / par> < / par>

Claims

1. A programming method for an industrial robot, characterized in that, A program editor is applied to the teach pendant of the industrial robot to program the program for controlling the industrial robot. The program editor includes a programming module. The programming method for the industrial robot includes: The programming module has a learning function; through the learning function of the programming module, it integrates operation guidelines for all instructions of the program of the industrial robot, as well as the meaning of each instruction, to form a set of learning instructions for the program of the industrial robot. If an operator needs to query and learn any instruction from all the instructions in the industrial robot's program, and the program editor receives a query request from the operator to query any instruction from all the instructions in the industrial robot's program, then it calls the learning instruction set integrated in the programming module and displays the instruction, the operation guide for the instruction, and the meaning of the instruction in the learning instruction set in the program editor in the program editing and display area of ​​the program editor for the operator to learn. The programming module also has a custom program function; when the operator writes the current program of the industrial robot in the program editor, the custom program function of the programming module records each instruction and the operation steps of each instruction when the operator writes the current program of the industrial robot. Based on each instruction and operation step of the current program of the industrial robot written by the operator, and combined with the operation guide and meaning description of the corresponding instructions in the learning instruction set, the writing guide steps of all instructions of the current program of the industrial robot are generated, which are recorded as the custom program module of the current program of the industrial robot, and the custom program module of the current program of the industrial robot is loaded into the programming module. When other operators need to learn or write the current program of the industrial robot, if the program editor receives a query request from other operators to query the custom program module of the current program of the industrial robot, it calls the custom program module of the current program of the industrial robot loaded in the programming module, and displays the writing guidance steps of all instructions of the current program of the industrial robot in the custom program module of the current program of the industrial robot in the program editing and display area of ​​the program editor, so that other operators can learn or write the current program of the industrial robot; wherein, the writing guidance steps of all instructions of the current program of the industrial robot include: the overall writing steps of all instructions of the current program of the industrial robot, and the operation guidance and meaning explanation of each instruction in the current program of the industrial robot.

2. The programming method for an industrial robot according to claim 1, characterized in that, Also includes: The programming module also has a general program addition function; through the general program addition function of the programming module, the writing guidance steps of all instructions of any general program in at least one general program of the industrial robot are pre-loaded, and are recorded as the general program module of the general program, and the general program module of the general program of the industrial robot is loaded into the programming module. When any operator needs to learn or write any general program of the industrial robot, if the program editor receives a query request from any operator to query the general program module of any general program of the industrial robot, it calls the general program module of any general program of the industrial robot loaded in the programming module, and displays the writing guidance steps of all instructions of any general program of the industrial robot in the general program module of the general program of the industrial robot in the program editing and display area of ​​the program editor, so that any operator can learn or write any general program of the industrial robot; wherein, the writing guidance steps of all instructions of any general program of the industrial robot include: the overall writing steps of all instructions of any general program of the industrial robot, and the operation guidance and meaning explanation of each instruction in all instructions of any general program of the industrial robot.

3. The programming method for an industrial robot according to claim 1 or 2, characterized in that, Also includes: The programming module also has a program reuse function; through the program reuse function of the programming module, when a custom program module of the current program of the industrial robot is loaded in the programming module, the program reuse function of the programming module is associated with the custom program module of the current program of the industrial robot; when a general program module of any general program of the industrial robot is loaded in the programming module, the program reuse function of the programming module is associated with the general program module of any general program of the industrial robot. When any operator is writing a new program for the industrial robot and needs to reuse the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, if the program editor receives a query request from any operator to query the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, then the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot is invoked, and all instructions of the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot are directly loaded into the program editing and display area of ​​the new program of the industrial robot, so that any operator can directly use or edit all or part of the instructions of the loaded custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot during the process of writing a new program for the industrial robot.

4. A programming device for an industrial robot, characterized in that, A program editor is applied to the teach pendant of the industrial robot to program the program for controlling the industrial robot. The program editor includes a programming module. The programming device for the industrial robot includes: The setting unit is configured as the programming module and has a learning function; through the learning function of the programming module, it integrates the operation guide of all instructions for setting the program of the industrial robot, as well as the meaning of each instruction, to form a set of learning instructions for the program of the industrial robot. The calling unit is configured to, when an operator needs to query and learn any instruction from all the instructions in the industrial robot's program, if the program editor receives a query request from the operator to query any instruction from all the instructions in the industrial robot's program, then call the learning instruction set integrated in the programming module, and display the instruction, the operation guide for the instruction, and the meaning explanation of the instruction in the learning instruction set in the program editor's program editing and display area for the operator to learn; The setting unit is also configured as the programming module and has a custom program function; when the operator writes the current program of the industrial robot in the program editor, the custom program function of the programming module records each instruction and the operation steps of each instruction when the operator writes the current program of the industrial robot. The setting unit is further configured to generate writing guidance steps for all instructions of the current program of the industrial robot based on each instruction and the operation steps of each instruction when the operator writes the current program of the industrial robot, combined with the operation guidance and meaning description of the corresponding instructions in the learning instruction set, and denoted as the custom program module of the current program of the industrial robot, and load the custom program module of the current program of the industrial robot into the programming module. The calling unit is further configured to, when other operators need to learn or write the current program of the industrial robot, if the program editor receives a query request from other operators to query the custom program module of the current program of the industrial robot, call the custom program module of the current program of the industrial robot loaded in the programming module, and display the writing guidance steps of all instructions of the current program of the industrial robot in the custom program module of the current program of the industrial robot in the program editing and display area of ​​the program editor, so that other operators can learn or write the current program of the industrial robot; wherein, the writing guidance steps of all instructions of the current program of the industrial robot include: the overall writing steps of all instructions of the current program of the industrial robot, and the operation guidance and meaning explanation of each instruction in the current program of the industrial robot.

5. The programming device for an industrial robot according to claim 4, characterized in that, Also includes: The setting unit is also configured as the programming module and has a general program adding function; By using the general program addition function of the programming module, the writing guidance steps of all instructions of any general program in at least one general program of the industrial robot are preloaded, and denoted as the general program module of the general program, and the general program module of the general program of the industrial robot is loaded into the programming module. The calling unit is further configured to, when any operator needs to learn or write any general program of the industrial robot, if the program editor receives a query request from any operator to query the general program module of any general program of the industrial robot, then call the general program module of any general program of the industrial robot loaded in the programming module, and display the writing guidance steps of all instructions of any general program of the industrial robot in the general program module of the general program of the industrial robot in the program editing and display area of ​​the program editor, so that any operator can learn or write any general program of the industrial robot; wherein, the writing guidance steps of all instructions of any general program of the industrial robot include: the overall writing steps of all instructions of any general program of the industrial robot, and the operation guidance and meaning explanation of each instruction in all instructions of any general program of the industrial robot.

6. The programming device for an industrial robot according to claim 4 or 5, characterized in that, Also includes: The setting unit is also configured as the programming module and has a program reuse function. Through the program reuse function of the programming module, when a custom program module of the current program of the industrial robot is loaded in the programming module, the program reuse function of the programming module is associated with the custom program module of the current program of the industrial robot; when a general program module of any general program of the industrial robot is loaded in the programming module, the program reuse function of the programming module is associated with the general program module of any general program of the industrial robot. The calling unit is further configured to, when any operator is writing a new program for the industrial robot and needs to reuse the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, if the program editor receives a query request from any operator to query the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, then it calls the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot, and directly loads all the instructions of the custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot into the program editing and display area of ​​the new program of the industrial robot, so that any operator can directly use or edit all or part of the instructions of the loaded custom program module of the current program of the industrial robot or the general program module of any general program of the industrial robot during the process of writing a new program for the industrial robot.

7. A teach pendant, characterized in that, include: The programming device for an industrial robot as described in any one of claims 4 to 6.

8. A storage medium, characterized in that, The storage medium includes a stored program, wherein, when the program is executed, the device containing the storage medium is controlled to perform the programming method of the industrial robot according to any one of claims 1 to 3.

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