Instruction device

Abstract

An instruction device (40) for making a program by icons representing functions constituting a control program of an industrial machine, has a screen display making section (155) that generates a program making screen having a predetermined area for arranging a plurality of icons to make a control program, and a relational display making section (154) that extracts two or more icons having a relationship in processing contents with each other from among the plurality of icons arranged in the predetermined area based on information related to each of the plurality of icons, and performs a display capable of visually recognizing the relationship with respect to the extracted two or more icons.

Description

Technical Field

[0001] This invention relates to teaching devices. Background Technology

[0002] To assist the instructor in making intuitive inputs for the robot's control program, a teaching pendant has been proposed that can perform programming using icons representing the various commands for robot control (e.g., Patent Document 1).

[0003] Furthermore, regarding a display system for displaying a series of operations related to the production system, Patent Documents 2 and 3 describe a structure in which "the display screen 312 of the display device 300 in the printed wiring board operation system is provided with an upper icon group display area 320, a lower icon group display area 322, a substitute graphic display area 324, a processing content display area 326, and a marker indicator graphic display area 328" (paragraph 0030 of Patent Document 2 and paragraph 0031 of Patent Document 3).

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent No. 6498366

[0007] Patent Document 2: Japanese Patent No. 4673058

[0008] Patent Document 3: Japanese Patent No. 5271344 Summary of the Invention

[0009] The problem that the invention aims to solve

[0010] In a programming device that uses icons, the teacher arranges the desired icons in the program creation area according to the processing order and sets the parameters for the icons as needed, thereby creating a control program. Here, the control program is established based on the interrelationship of the processing of multiple icons. However, generally, each icon arranged in the program creation area is displayed as a single icon. The teacher often wants to confirm the relationships between the icons.

[0011] Methods for solving problems

[0012] One aspect of this disclosure is a teaching pendant for creating a program using icons representing the functions of a control program constituting industrial machinery. The teaching pendant includes: a screen display creation unit that generates a program creation screen having a predetermined area for arranging a plurality of the icons to create the control program; and a relational display creation unit that, based on information related to each of the plurality of icons, extracts two or more icons whose processing content is related to each other from the plurality of icons arranged in the predetermined area, and displays the extracted two or more icons in a way that allows visual recognition of the relationship.

[0013] Invention Effects

[0014] Based on the above structure, the relationships between icons arranged in a predetermined area of ​​the program creation screen can be visually identified, enabling efficient program creation.

[0015] These objects, features, and advantages of the invention will become more apparent from the detailed description of typical embodiments of the invention shown in the accompanying drawings. Attached Figure Description

[0016] Figure 1 This is a diagram showing the overall structure of a robot system including a teaching device according to one embodiment.

[0017] Figure 2 This is a diagram illustrating an example of the hardware structure of a robot control device and a teach pendant.

[0018] Figure 3 This is a functional block diagram of the robot control device and the teaching pendant.

[0019] Figure 4 It is a diagram showing the structure of the program's screen.

[0020] Figure 5 This is an image that shows the detailed settings screen at the bottom of the screen when the view icon is selected and the detailed tab is selected.

[0021] Figure 6 This is an image of the detailed settings screen displayed at the bottom of the screen when the pick / place icon is selected and the detailed tab is selected.

[0022] Figure 7 This image represents the detailed settings screen displayed at the bottom of the screen when the jump tab icon is selected and the detailed tab is also selected.

[0023] Figure 8 This image represents the detailed settings screen displayed at the bottom of the screen when the tab icon is selected and the detailed tab is also selected.

[0024] Figure 9 This image shows the detailed settings screen displayed at the bottom of the screen when the robot arm icon is selected and the detailed tab is selected.

[0025] Figure 10 This image shows the detailed settings screen displayed at the bottom of the screen when the robot arm closure icon is selected and the detailed tab is selected.

[0026] Figure 11 This diagram illustrates an example of displaying icons that have a relationship by attaching the same identification mark.

[0027] Figure 12 This is an example of displaying related icons in the same way.

[0028] Figure 13 This is a diagram illustrating an example of how relationships are represented by displaying related icons that are linked together.

[0029] Figure 14 This diagram illustrates an example of how icons are displayed in a way that shows their interrelationships when multiple identical icons are mixed together.

[0030] Figure 15 This is an example of a warning displayed when no icon that is related to the icon is found. Detailed Implementation

[0031] Next, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the accompanying drawings, the same structural or functional parts are labeled with the same reference numerals. For ease of understanding, the scale of these drawings has been appropriately altered. Furthermore, the embodiments shown in the drawings are one example for implementing the invention, and the invention is not limited to the illustrated embodiments.

[0032] Figure 1 This diagram illustrates the overall structure of a robot system 100 including a teaching pendant 40 according to one embodiment. In this embodiment, the teaching pendant 40 for teaching the robot 30 is composed of a robot control device 50 and a teaching operation panel 10. The teaching pendant 40 is a teaching device capable of programming using icons, which represent functions (i.e., commands representing robot control) constituting the control program of the robot 30. As detailed below, the teaching pendant 40 displays the relationships between the icons arranged in the programming area of ​​the programming screen in a visually recognizable manner, thereby maximizing the efficiency of the user's programming work.

[0033] As a robot system including such a teaching device 40, various structural examples are possible, but in this embodiment, as an example, it is assumed that... Figure 1 The robot system 100 shown includes: a robot 30 with a manipulator 33 mounted at the fore-end of its arm; a robot control unit 50 that controls the robot 30; a teaching pendant 10 connected to the robot control unit 50; a vision sensor 70 mounted at the fore-end of the arm of the robot 30; and a vision sensor control unit 20 that controls the vision sensor 70. The robot system 100 can detect an object 1 on the workbench 2 using the vision sensor 70 and process the object 1 using the manipulator 33 mounted on the robot 30.

[0034] The vision sensor control device 20 has the functions of controlling the vision sensor 70 and performing image processing on the images captured by the vision sensor 70. The vision sensor control device 20 detects the position of the object 1 based on the images captured by the vision sensor 70 and provides the detected position of the object 1 to the robot control device 50. Thus, the robot control device 50 can correct the taught position to perform actions such as retrieving the object 1. The vision sensor 70 can be a camera that captures grayscale or color images, or a stereo camera or 3D sensor capable of acquiring distance images or 3D point groups. Multiple vision sensors can also be configured in the robot system 100. The vision sensor control device 20 maintains a model pattern of the object and performs image processing to detect the object by matching the image of the object in the photographed image with the pattern of the model pattern. Furthermore, in Figure 1 In this case, the vision sensor control device 20 is configured as a different device from the robot control device 50, but the functions of the vision sensor control device 20 can also be incorporated into the robot control device 50.

[0035] Figure 2 This diagram illustrates an example of the hardware structure of the robot control device 50 and the teach pendant 10. The robot control device 50 may also have a general computer structure, including a memory 52 (ROM, RAM, non-volatile memory, etc.), an input / output interface 53, an operation unit 54 containing various operation switches, and other components connected to the processor 51 via a bus. The teach pendant 10 serves as a device for inputting operations for teaching the robot 30 (i.e., creating control programs) and for displaying images. The teach pendant 10 may also have a general computer structure, including a memory 12 (ROM, RAM, non-volatile memory, etc.), a display unit 13, an operation unit 14 consisting of input devices such as a keyboard (or software keys), and an input / output interface 15, connected to the processor 11 via a bus. Alternatively, various information processing devices such as tablet terminals, smartphones, and personal computers may be used instead of the teach pendant 10.

[0036] Figure 3 This is a functional block diagram illustrating the functional structure of the teaching pendant 40, which consists of a robot control device 50 and a teaching operation panel 10. For example... Figure 3 As shown, the robot control device 50 includes a robot motion control unit 151 and a control program production unit 152.

[0037] The robot motion control unit 151 controls the motion of the robot 30 according to the control program or the operation input from the teach pendant 10.

[0038] The control program production unit 152 provides users with various functions for programming using icons by operating the teaching pendant 10. The control program production unit 152 includes an icon control unit 153, a relational display production unit 154, a screen display production unit 155, and an icon data storage unit 156 as components that provide such functions.

[0039] The icon data storage unit 156 stores various information related to each icon, such as the shape (image) data and setting parameters. The icon data storage unit 156 is configured, for example, within the non-volatile memory of the memory 52.

[0040] The screen display unit 155 generates various screens used when programming with icons, and displays them on the display unit 13 of the teach pendant 10.

[0041] Figure 4 This illustrates an example of a program creation screen 400 created by the screen display creation unit 155 and displayed on the display unit 13 of the teach pendant control panel 10. For example... Figure 4 As shown, the program creation screen 400 includes: an icon display area 200, which displays a list of various icons that can be used for programming; and a program creation area 300, which is used to arrange icons in sequence to create a control program. Figure 4 In the example, the icon display area 200 includes: a robot arm closing icon 201, which represents a command to close the robot arm; a robot arm opening icon 202, which represents a command to open the robot arm; a linear movement icon 203; a circular movement icon 204; a point appending icon 205; and a rotation icon 206, which causes the robot arm to rotate.

[0042] Users can select icons, for example, by hovering the cursor over them. Users can also select desired icons from the icon display area 200 and place them in the program creation area 300, for example, by dragging and dropping, thereby performing programming. Figure 6In the example, the robot arm closing icon 201, the circular movement icon 204, the two linear movement icons 203, and the robot arm opening icon 202 are arranged sequentially in the program creation area 300. When the number of icons in the program creation area 300 increases, the user can scroll horizontally to arrange the icons.

[0043] In the program creation screen 400, the user selects the programming tab 261 when programming. Conversely, by selecting an icon within the program creation area 300 and then selecting the details tab 262, the user can open a details settings screen for that icon's detailed settings (parameter settings). By performing predetermined operations while the icon is configured in the program creation area 300, the user can execute the control program.

[0044] The icon control unit 153 is responsible for controlling user operations when the user operates the operation unit 14 of the teach pendant 10 to perform various operations on icons, labels, etc., on the program creation screen 400. With the assistance of the icon control unit 153, the user sequentially selects desired icons from the list of icons arranged in the icon display area 200, arranges them in the program creation area 300, and creates a control program. Furthermore, the user selects icons arranged in the program creation area 300 as needed and selects the detail label 262, thereby displaying a detailed settings screen for detailed settings of the selected icon.

[0045] The relational display unit 154 extracts two or more icons whose processing content is related to each of the plurality of icons arranged in the program creation area 300 based on information related to each of the plurality of icons, and displays the extracted two or more icons in a visually recognizable manner. Here, the relational relationship between the icons can include various types of relationships such as processing collaboration, shared processing purpose, or shared processing object. Through this function of the relational display unit 154, users can visually and instantly grasp the relationships between the icons arranged in the program creation area 300, enabling efficient programming.

[0046] As an example, the relational display production unit 154 may also determine that icons that satisfy any one of the following conditions (a1) and (a2) are related to each other.

[0047] (a1) Icons using the same data

[0048] (a2) Icons using the same hardware

[0049] Here, when referring to the same data, it includes registers, tags, variables, and other data that can be referenced within the control program.

[0050] Reference Figure 5 and Figure 6 The first action example in the case where icons using the same data are extracted as related icons will be explained. Here, as examples of icons using the same data, the viewing icon 211 and the picking / placing icon 212 are used. Furthermore, in Figure 5 and Figure 6 For ease of explanation, this text indicates that only the "view" icon 211 and the "pick up / place" icon 212 are configured in the program creation area 300. However, in actual programs, the program creation area 300 typically contains many icons, with the "view" icon 211 and the "pick up / place" icon 212 configured separately. Here, the "view" icon 211 corresponds to the function of detecting the position of an object using a visual detection function (a function that uses a visual sensor to detect the position of an object), and the "pick up / place" icon 212 corresponds to the function of picking up or placing an object while correcting the teaching point using the position of the object detected by the visual detection function.

[0051] Figure 5 This indicates that by selecting the detailed tab 262 while the viewing icon 211 is selected, the detailed settings screen 500A of the viewing icon 211 will be displayed at the bottom of the screen. Figure 6 This indicates that by selecting the detailed tab 262 while the pick / place icon 212 is selected, the detailed settings screen 500B of the pick / place icon 212 will be displayed at the bottom of the screen.

[0052] like Figure 5 As shown, the detailed settings screen 500A of icon 211 includes settings such as "Camera Initial Settings," "Detection Settings," and "Shooting Position Teaching." Users can set these settings as needed. Additionally, default values ​​can be preset in the settings items of the detailed settings screen. "Detection Settings" includes: specifying the detection program name (macro name) (symbol 501), specifying the register of the output destination for the detection data (symbol 502), and specifying the register of the output destination for the detection result (the position information of the detected object) (symbol 503). Figure 5 In this example, register 1 of the vision register is designated as the output destination for the detection results. The register that holds the detection results stores the position information of the objects detected by the vision detection function.

[0053] like Figure 6As shown, the detailed settings screen 500B of the pick-up / place icon 212 includes settings for teaching the position (teach point) of the picked-up or placed object, specifying the height between the pick-up / placement position and the proximity point, the movement speed between the pick-up / placement position and the proximity point, and specifying the register of the object's position used when performing the pick-up / placement action while maintaining the corrected object position (symbol 513). Figure 6 In the example, the visual register number 1 is specified as the register used for correcting the position of the object.

[0054] Thus, the viewing icon 211 and the picking / placing icon 212 refer to visual register number 1, which is the same register. Therefore, when correcting the position of the object in the picking / placing icon 212, the position information of the object detected in the viewing icon 211 is used. Thus, the viewing icon 211 and the picking / placing icon 212 are related to the action content. The relational display production unit 154 refers to the setting information of the viewing icon 211 and the picking / placing icon 212, which refer to the same register as the register for holding the detection results, thereby determining that these icons are related to each other. Through the above, icons that are related to the processing content are appropriately extracted.

[0055] Even in situations where there are multiple pairs of icons to be viewed and icons to be picked up / placed within the program, and the register numbers of the output destinations of the detection results differ between the multiple pairs, each pair of related icons to be viewed and picked up / placed can be appropriately extracted and processed using the method described above, which extracts icons that use the same data as relational icons.

[0056] Next, refer to Figure 7 and Figure 8 The second action example will be explained when icons using the same data are extracted as related icons. Here, as examples of icons using the same data, jump label icon 221 and label icon 222 are used. Furthermore, in Figure 7 and Figure 8 For ease of explanation, this indicates that only jump label icon 221 and label icon 222 are configured in the program creation area 300. However, in actual programs, the program creation area 300 usually contains many icons, with jump label icon 221 and label icon 222 configured separately. Jump label icon 221 is the command used to jump to the label with the number specified by the label number as a detailed setting parameter. Label icon 222 is the icon configured at the jump destination of jump label icon 221.

[0057] Figure 7This indicates that by selecting the detailed tab 262 while the jump tab icon 221 configured in the program creation area 300 is selected, the detailed settings screen 500C of the jump tab icon 221 is displayed at the bottom of the screen. Figure 8 This indicates that by selecting detailed label 262 while label icon 222 is selected, the detailed settings screen 500D of label icon 222 will be displayed at the bottom of the screen.

[0058] like Figure 7 As shown, the jump label icon 221 has the label number (symbol 521) of the jump destination as a detailed setting parameter. Additionally, as... Figure 8 As shown, label icon 222 contains a label number (symbol 522) as a detailed setting parameter. In this example, the label number of jump label icon 221 and the label number of label icon 222 are the same, "1". That is, jump label icon 221 and label icon 222 use the same data (label number). Therefore, the jump destination of jump label icon 221 is label icon 222, and the processing of these icons is related.

[0059] In this case, the relational display production unit 154 identifies that these icons use the same data by referring to the label numbers, which are the detailed setting parameters of jump label icons 221 and label icons 222, and determines that these icons are related. Therefore, icons that are related to the processed content are appropriately extracted. By extracting the jump label icons of the jump source and the label icons of the jump destination in this way, the relational relationship between these icons is visually displayed. Thus, the user can instantly grasp the association between jump label icons 221 and label icons 222 on the program production screen 400, enabling efficient program production.

[0060] Furthermore, in a program, there are often multiple pairs of jump label icons and label icons with the same label number, sometimes with complex overlap. Even in such cases, the method described above can appropriately extract each pair of interrelated jump label icons and label icons (which serve as the jump source and jump destination).

[0061] Next, refer to Figure 9 and Figure 10 This refers to an example of an action where icons using the same hardware are extracted as related icons. Here, as an example of icons using the same hardware, an icon 202 is opened by a robotic arm, and an icon 201 is closed by a robotic arm. Furthermore, in... Figure 9 and Figure 10For ease of explanation, this diagram shows that only the robot arm open icon 202 and robot arm closed icon 201 are configured in the program creation area 300. However, in actual programs, the program creation area 300 usually contains many icons, with the robot arm open icon 202 and robot arm closed icon 201 configured separately. The robot arm open icon 202 is the icon for the command to open the robot arm. The robot arm closed icon 201 is the icon for the command to close the robot arm.

[0062] Figure 9 This indicates that by selecting the detailed tab 262 while the robot arm opening icon 202 configured in the program creation area 300 is selected, the detailed settings screen 500E of the robot arm opening icon 202 will be displayed at the bottom of the screen. Figure 10 This indicates that by selecting the detailed tab 262 while the robotic arm closing icon 201 is selected, the detailed settings screen 500F of the robotic arm closing icon 201 will be displayed at the bottom of the screen.

[0063] like Figure 9 As shown, as detailed setting parameters, the robot arm opening icon 202 includes an input field (symbol 531) for specifying the macro name of the macro command (subroutine) to be executed, a load number for specifying the load, and a standby time. Additionally, as... Figure 10 As shown, as detailed setting parameters, the robot arm closing icon 201 includes an input field (symbol 532) for specifying the macro name of the macro command to be executed, a load number, and a standby time. In this example, both the robot arm opening icon 202 and the robot arm closing icon 201 specify "select_macro" as the macro name. The program of the macro command "select_macro" contains the numbers representing the input / output devices of the robot arm device. Here, it is assumed that the device number of the robot arm device specified in the macro command of the robot arm opening icon 202 is the same as the device number of the robot arm device specified in the macro command of the robot arm closing icon 201. Therefore, in this case, the robot arm opening icon 202 and the robot arm closing icon 201 cooperate to make the same robot arm device work.

[0064] In this case, the relational display production unit 154 identifies the icons as using the same hardware by referring to the program of the macro commands that are the detailed setting items of the robot arm open icon 202 and the robot arm close icon 201, and determines that these icons are related. Therefore, icons whose processing content is related to each other are appropriately extracted. In this way, the relational relationship of the icons corresponding to commands for the same robot arm device is extracted and displayed, allowing the user to instantly grasp the association between the robot arm open icon 202 and the robot arm close icon 201 that cause the same robot arm device to move on the program production screen 400, thus efficiently producing the program.

[0065] Depending on the robot system, sometimes a single robot may be equipped with multiple robotic arms. For example, suppose a robot has two robotic arms (robotic arm #1 and robotic arm #2). In such a case, command icons for both robotic arms are mixed in the control program. However, according to this embodiment, the relational display generation unit 154 can extract the robotic arm open and closed icons for robotic arm #1 as relational icons, and can also extract the robotic arm open and closed icons for robotic arm #2 as relational icons. Therefore, even in the case where the robot system is equipped with multiple robotic arms, it is possible to associate the relational icons with each of the multiple robotic arms.

[0066] Furthermore, here, a robotic arm device is used as an example of hardware for a robot system. However, in addition to the robotic arm device, icons of various hardware devices that are connected to the robot system can also be extracted using the same method as described above.

[0067] Next, an example of the relational display production unit 154 displaying the relationships of icons that are determined to be related will be explained. The following is an example of the relational display performed by the relational display production unit 154.

[0068] (b1) Add images representing the same identification mark to icons that are related.

[0069] (b2) Relational icons are displayed in a more emphasized manner than other icons.

[0070] (b3) Attach an image that connects related icons to each other.

[0071] Figure 11 This is an example of displaying the relationship between icons by attaching images representing the same identification symbol to related icons, as described in "(b1)". Figure 11 In the program creation area 300, icons 211 (viewing) and 212 (picking / placing) are extracted as relational states from icons 211, 213, 212, and 201. Figure 11 In this context, as the same identification mark, the viewing icon 211 and the picking / placing icon 212, which are related, are labeled with a circled letter "A" (symbol 251) and displayed. By attaching the same identification mark to the viewing icon 211 and the picking / placing icon 212 and displaying them, users can visually and immediately recognize the relationship between these icons. Furthermore, in... Figure 11 The circled numbers 1 to 5 attached to each icon indicate the teaching point number (in other cases...). Figures 12 to 15 The same applies to China.

[0072] Figure 12 This is an example of displaying the relationships between icons through the aforementioned "(b2) displaying related icons in a more emphasized manner than other icons." Figure 12 In the program creation area 300, icons 211 (viewing) and 212 (picking / placing) are extracted as relational states from icons 211, 213, 212, and 201. Figure 12 In this design, the viewing icon 211 and the picking / placing icon 212, which are extracted as relational icons, are given a display frame (symbol 252) of the same color and highlighted. This allows the user to visually and immediately recognize the relational nature of these icons.

[0073] Here, we've illustrated an example of using a box of the same color to emphasize related icons. However, besides this, other methods for emphasizing related icons include setting the overall color of the icons to the same color, using the same pattern, etc. Alternatively, we can relatively emphasize the related icons by lowering the hue or making them grayer, among other methods. Furthermore, these methods can be used in combination.

[0074] Figure 13 This is an example of displaying the relationships between icons by attaching an image that connects related icons to each other, as described in "(b3)". Here, as an example, we show a display case where the viewing icon 211 and the picking / placing icon 212 are extracted as related icons. Figure 13 In the program creation area 300, icons 211 (viewing) and 212 (picking / placing) are extracted as relational states from icons 211, 213, 212, and 201. Figure 13 In the diagram, the viewing icon 211 and the picking / placing icon 212, which are extracted as relational icons, are connected by a line 253. Thus, the relationship between the viewing icon 211 and the picking / placing icon 212 becomes immediately clear.

[0075] Figure 14 This shows a relational display example when multiple identical icons exist within the program's creation area 300. Specifically, in... Figure 14In the process, by referring to a register with the same number (e.g., visual register 1) as the visual register for the output destination of the detection result, the pair of viewed icon 211a and picked / placed icon 212a is extracted as having a relation. Similarly, by referring to a register with the same number (e.g., visual register 2) as the visual register for the output destination of the detection result, the pair of viewed icon 211b and picked / placed icon 212b is extracted as having a relation.

[0076] The relational display production unit 154 displays the viewing icon 211a and the pick / place icon 212a connected by line 253a, and displays the viewing icon 211b and the pick / place icon 212b connected by line 253b. Thus, the user can immediately recognize that the viewing icon 211a and the pick / place icon 212a have a processing association, and at the same time, can immediately recognize that the viewing icon 211b and the pick / place icon 212b have a processing association.

[0077] Thus, according to the relational display method of this embodiment, even in the case where there are multiple identical icons (pairs of identical icons) in the program, the icons related to the processing can be appropriately matched with each other so that the user can identify them.

[0078] There are various examples of timing for the relational display production unit 154 to extract relational icons and display them relationally. For example, there are examples like (c1) to (c4) below.

[0079] (c1) Execute according to the user's pre-defined operation (e.g., user operation of selecting one of the icons configured in the program creation area 300).

[0080] (c2) Execute whenever an icon is configured in the program creation area.

[0081] (c3) Execute whenever detailed settings are made for the icons configured in the program creation area.

[0082] (c4) The combined use of two or more of the above (c1) to (c3).

[0083] In addition, Figure 12 As an example, this shows the state of the relationship between the viewing icon 211 and the pick-up / placement icon 212 displayed by the production department 154 when the viewing icon 211 is selected.

[0084] Furthermore, when extracting relationships from all icons configured in the program creation area 300 and displaying those relationships, it is also envisioned that the screen may become complex and difficult to view. To avoid such display complexity and to display the relationships as desired by the user, the relationship display creation unit 154 may also display the relationships using any one of the following (d1) to (d3).

[0085] (d1) When the user selects any of the icons configured in the program creation area 300, the relation is displayed only for the selected icon (only for the selected icon and icons that are related to the selected icon).

[0086] (d2) Display relational information only for icons that belong to categories pre-specified by the user (for icons that belong to pre-specified categories and have relational relationships).

[0087] (d3) When the user selects any of the icons configured in the program creation area 300, only the icons in the category to which the selected icon belongs (for icons that belong to the category to which the selected icon belongs and have a relation) are displayed.

[0088] The user designation in (d2) above includes the designation of categories based on various user operations. The categories in (d2) and (d3) above are categories that classify the same type of icon; for example, the following category division can also be applied. In this case, in the icon data storage unit 156, the icon data is classified and stored in the following Table 1.

[0089] [Table 1]

[0090]

[0091] In Table 1 above, the category "Action" includes icons related to the actions of robots, robotic arms, etc.; the category "Control" includes icons related to program control such as jumping; and the category "Vision" includes icons related to visual detection functions. As shown in Table 1, the categories are divided by the same type of icon belonging to the same category. Therefore, for example, if a user selects an icon belonging to the category "Action," only icons belonging to the selected category "Action" will be displayed.

[0092] In this way, only icons belonging to the categories selected by the user are displayed in a relational manner. This avoids complicating the program's interface due to relational display and allows the relational display to be presented in a way that aligns with the user's intent.

[0093] Originally, regarding icons that should be extracted as having relationships, there could be situations where the relationship display production unit 154 cannot extract the relationships due to user omissions in parameter settings or input errors. For example, regarding the viewing icon 211 and the picking / placing icon 212, sometimes an error occurs in the input of the register name of the output destination of the user's detection results, resulting in a mismatch between the register name of the output destination of the viewing icon 211 and the register name of the output destination of the picking / placing icon 212. In such cases, if the relationship display production unit 154 cannot extract the relationships, it can display a warning indicating that the relationships cannot be extracted for the icons. Examples of warning displays include pop-up notifications or error messages, icon emphasis, and various other examples. This allows the user to instantly grasp programming errors.

[0094] exist Figure 15 As an example, this illustrates a situation where, with the illustrated icon configured in the program creation area 300, the relationship display creation unit 154 cannot find an icon related to the viewed icon 211, and a warning message is displayed via pop-up screen 260. When such a warning is displayed, the user can, for example, open the detailed settings screen of the viewed icon 211 or the picked / placed icon 212 to check if there is an error in the register number of the output destination of the detection result, and can quickly correct the program.

[0095] As described above, according to this embodiment, the relationship between icons arranged in a predetermined area of ​​the program creation screen can be visually identified, enabling efficient program creation.

[0096] The present invention has been described above using typical embodiments. However, those skilled in the art will understand that various modifications, omissions, and additions can be made to the above embodiments without departing from the scope of the present invention.

[0097] Figure 3 The functional allocation of the robot control device 50 and the teach pendant 10 in the shown functional block diagram is illustrative. Various methods can be used to allocate the functions to the robot control device 50 and the teach pendant 10. For example, the functions could also be allocated as follows: Figure 3 A portion of the functions configured in the robot control device 50 are assigned to the teaching operation panel 10.

[0098] Alternatively, all the functions allocated to the robot control device 50 as the control program creation unit 152 can be allocated to the teach pendant 10. In this case, the teach pendant 10 can function as a teach pendant 40 (i.e., a program creation device) independently. Furthermore, in this case, various information processing devices such as tablet terminals, smartphones, and personal computers can be used as the teach pendant 40.

[0099] The structure of the teaching device described in the above embodiments can be applied not only to industrial robots, but also to programming using icons in machine tools and other various industrial machinery.

[0100] Figure 3 The functional blocks of the teaching pendant shown can be implemented by the CPU of the device constituting the teaching pendant executing various software stored in the storage device, or they can be implemented by a structure based on hardware such as ASIC (Application Specific Integrated Circuit).

[0101] Symbol Explanation

[0102] 1. Object;

[0103] 2. Workbench;

[0104] 10. Teaching control panel;

[0105] 11. Processor;

[0106] 12. Memory;

[0107] 13. Display Department;

[0108] 14. Operations Department;

[0109] 15 Input / output interfaces;

[0110] 20. Vision sensor control device;

[0111] 30 robots;

[0112] 33. Robotic arm;

[0113] 40 Teaching devices;

[0114] 50. Robot control device;

[0115] 51 processor;

[0116] 52. Memory;

[0117] 53. Input / output interfaces;

[0118] 54. Operations Department;

[0119] 70 vision sensors;

[0120] 100 Robot Systems;

[0121] 151 Robot Motion Control Unit;

[0122] 152 Control Program Production Department;

[0123] 153 Icon Control Department;

[0124] 154 Relational Display Production Department;

[0125] 155 Screen Display Production Department;

[0126] 156 Icon Data Storage Department;

[0127] 200 icon display area;

[0128] 261 Programming tags;

[0129] 262 detailed tags;

[0130] 300 Programming Area;

[0131] 400 Program Production Screen;

[0132] Detailed settings screens for 500A, 500B, 500C, 500D, 500E, and 500F.

Claims

1. A teaching pendant for creating programs using icons representing functions constituting a control program of industrial machinery, characterized in that, The teaching device has: The screen displays the production department, which generates a program production screen. This program production screen has a predetermined area for configuring multiple icons to create the control program; and The relational display production unit extracts two or more icons whose processing content is related to each of the plurality of icons arranged in the predetermined area based on information related to each of the plurality of icons, and displays the extracted two or more icons in a way that allows the relational relationship to be visually recognized.

2. The teaching device according to claim 1, characterized in that, The relational display production department extracts two or more icons from the multiple icons configured in the predetermined area that meet at least one of the conditions of using the same data or using the same hardware, considering them to have the relational relationship.

3. The teaching device according to claim 1 or 2, characterized in that, The relational display production unit attaches an image representing the same identification mark to two or more icons that have the relational relationship in the predetermined area.

4. The teaching device according to claim 1 or 2, characterized in that, The relational display production department displays the icons in the predetermined area in a manner that emphasizes two or more icons with the relational relationship more than other icons.

5. The teaching device according to claim 1 or 2, characterized in that, The relational display production department attaches an image in the predetermined area that connects two or more icons with the aforementioned relational relationship to each other.

6. The teaching device according to claim 1 or 2, characterized in that, The relational display production unit performs a visually recognizable relational display based on the case where a selection operation has been performed on one of the multiple icons configured in the predetermined area.

7. The teaching device according to claim 6, characterized in that, The relational display production department only displays the relationship between the selected icon and one or more icons that have the relational relationship with the selected icon in a way that allows for visual recognition of the relational relationship.

8. The teaching device according to claim 1 or 2, characterized in that, The teaching device further includes an icon data storage unit that stores information related to the multiple icons by classifying them into multiple categories. The relational display production unit displays two or more icons that belong to the pre-specified category and have the relational relationship among a plurality of icons arranged in the predetermined area, enabling visual recognition of the relational relationship.

9. The teaching device according to claim 8, characterized in that, The relational display production unit, based on the case where a selection operation has been performed on one of the multiple icons configured in the predetermined area, displays two or more icons among the multiple icons configured in the predetermined area that belong to the category to which the selected icon belongs and have the relational relationship, in a way that allows for visual recognition of the relational relationship.

10. The teaching device according to claim 1 or 2, characterized in that, The relational display production unit displays a warning for icons that do not have the relational relationship among the multiple icons arranged in the predetermined area.

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