Teaching device, teaching program, and program search method

Abstract

Provided are a teaching device, a teaching program, and a program search method that enable efficient search. A teaching device includes: a display unit that displays an image including a first display region that displays a program statement of an operation program that operates a robot, and a second display region that displays a character string retrieved from the program statement; a receiving unit that receives the character string and an attribute of the character string; and a control unit configured to retrieve, from the program statement, a portion corresponding to a combination of the character string and the attribute received by the receiving unit, and to display a retrieval result in the image, the attribute received by the receiving unit including at least one of a number of rows and a function name in the program statement.

Description

Technical Field

[0001] The present invention relates to a teaching device, a teaching program and a program retrieval method. Background Art

[0002] For example, Patent Document 1 describes a numerical control device having a fuzzy search function in a program. The numerical control device can display a display screen on a display, and the display screen has: a program display area, which is located on the right side and displays the machining program; and a search result display area, which is located on the left side and displays the "fuzzy keyword" as the search object and its search results.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2016-189128

[0004] However, the robot's motion program includes various attributes. In this case, the numerical control device described in Patent Document 1 cannot select an attribute as a search target, and cannot perform efficient search. Specifically, for example, if "10" indicating the number of lines and "10" indicating the function name are mixed in the program and "10" indicating the number of lines is to be searched, the numerical control device of Patent Document 1 cannot search only "10" included in the number of lines. Summary of the invention

[0005] The teaching device of the present invention has:

[0006] A display unit that displays an image including a first area and a second area, the first area displaying a program statement of an action program for causing the robot to move, and the second area displaying a character string retrieved from the program statement;

[0007] a receiving unit that receives the character string and the attribute of the character string; and

[0008] a control unit that searches for a portion corresponding to the combination of the character string and the attribute accepted by the acceptance unit from the program statement and displays the search result in the image,

[0009] The attribute accepted by the accepting unit includes at least one of a line number and a function name in the program statement.

[0010] The teaching program of the present invention enables the computer to perform the following actions:

[0011] displaying an image including a first area and a second area, wherein the first area displays a program statement of an operation program for causing the robot to operate, and the second area displays a character string retrieved from the program statement,

[0012] receiving the character string and the attributes of the character string,

[0013] searching the program statement for a location corresponding to the accepted combination of the character string and the attribute, and displaying the search result in the image;

[0014] The received attribute includes at least one of a line number and a function name in the program statement.

[0015] The program retrieval method of the present invention comprises:

[0016] A display step of displaying an image including a first area and a second area, wherein the first area displays a program statement of an action program for causing the robot to move, and the second area displays a character string retrieved from the program statement;

[0017] an accepting step of accepting the character string and the attributes of the character string; and

[0018] a searching step of searching, from the program statement, a location corresponding to the combination of the accepted character string and the attribute, and displaying the search result in the image,

[0019] The attribute accepted in the accepting step includes at least one of a line number and a function name in the program statement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a diagram showing the overall configuration of the robot system according to the first embodiment.

[0021] Figure 2 This is a diagram showing an example of an image.

[0022] Figure 3 This is a flowchart showing the process of the program search method.

[0023] Figure 4 This is a diagram showing an example of an image.

[0024] Figure 5 This is a diagram showing an example of an image.

[0025] Figure 6 This is a diagram showing an example of an image displayed by the teaching device according to the second embodiment.

[0026] Figure 7 This is a diagram showing an example of an image displayed by the teaching device according to the second embodiment.

[0027] Figure 8 This is a diagram showing an example of an image displayed by the teaching device according to the third embodiment.

[0028] Fig. 9 This is a diagram showing an example of an image displayed by the teaching device according to the third embodiment.

[0029] Fig.10 A diagram showing an example of an image displayed by the teaching device according to the fourth embodiment.

[0030] Fig.11 This is a diagram showing an example of an image displayed by the teaching device according to the fifth embodiment.

[0031] Fig.12 A diagram showing an example of an image displayed by the teaching device according to the sixth embodiment.

[0032] Fig.13 A diagram showing an example of an image displayed by the teaching device according to the sixth embodiment.

[0033] Fig.14 It is a diagram showing a modified example of an image.

[0034] Fig.15 A diagram showing an example of an image displayed by the teaching device according to the seventh embodiment.

[0035] Fig.16 A diagram showing an example of an image displayed by the teaching device according to the seventh embodiment.

[0036] Description of Reference Numerals

[0037] 1: robot system; 2: robot; 3: robot control device; 4: teaching device; 21: base; 22: robot arm; 23: end effector; 41: display unit; 42: receiving unit; 43: control unit; 221: arm; 222: arm; 223: arm; 224: arm; 225: arm; 226: arm; G: image; G1: program display area; G2: search string display area; G21: search string display area; G22: search string display area; G23: search string display area; G 24: Search string display area; G3: Attribute display area; G4: Search result display area; G5: Search instruction area; J1: Joint; J2: Joint; J3: Joint; J4: Joint; J5: Joint; J6: Joint; M1: Line number icon; M2: Function name icon; M3: Instruction icon; M4: Dot icon; Pd: Action program; Pt: Teaching program; Q1: Dot-dash line; Q2: Dot-dash line; Q3: Dot-dash line; Q4: Dot-dash line; S1: Display step; S2: Acceptance step; S3: Search step. DETAILED DESCRIPTION

[0038] Hereinafter, a teaching device, a teaching program, and a program search method of the present invention will be described in detail based on the preferred embodiments shown in the drawings.

[0039] Figure 1 It is a diagram showing the overall configuration of the robot system according to the first embodiment. Figure 2 This is a diagram showing an example of an image. Figure 3 This is a flowchart showing the process of the program search method. Figure 4 This is a diagram showing an example of an image. Figure 5 This is a diagram showing an example of an image.

[0040] Before describing the teaching device 4, the robot system 1 will be briefly described. Figure 1 As shown, the robot system 1 includes a robot 2 , a robot control device 3 for controlling the driving of the robot 2 , and a teaching device 4 for teaching the robot 2 the operation.

[0041] The robot 2 is a six-axis robot having six drive axes. The robot 2 includes a base 21 , a robot arm 22 rotatably connected to the base 21 , and an end effector 23 attached to the front end of the robot arm 22 .

[0042] The robot arm 22 is a robot arm in which six arms 221, 222, 223, 224, 225, and 226 are rotatably connected, and has six joints J1 to J6. Among them, joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are torsion joints. In addition, a driving mechanism is provided on each of the joints J1, J2, J3, J4, J5, and J6, and the driving mechanism includes a motor as a driving source for moving the joint, a reducer that decelerates and outputs the rotation of the motor, and an encoder that detects the rotation amount of the joint. In addition, a TCP (tool center point) is set as a control point at the front end of the robot arm 22. In the robot system 1, for example, the drive of each joint J1 to J6 is controlled so that the position and posture of the TCP are as desired. The end effector 23 is installed on the arm 226. The end effector 23 can be loaded and unloaded on the arm 226, and the end effector 23 suitable for the operation to be performed by the robot 2 can be selected and installed.

[0043] The robot 2 is described above, but the structure of the robot 2 is not particularly limited. For example, the robot 2 may be a SCARA robot (horizontal multi-joint robot), a dual-arm robot, etc. In addition, the robot 2 may be fixed to the ground and cannot move, or may be fixed to a mobile device such as an unmanned guided vehicle (AGV) and move.

[0044] The robot control device 3 controls the driving of the robot 2 based on, for example, instructions from a host computer (not shown). The robot control device 3 is composed of, for example, a computer, and has a processor for processing information, a memory communicably connected to the processor, and an external interface for connecting to an external device. Various programs executable by the processor are stored in the memory, and the processor can read and execute various programs stored in the memory.

[0045] The teaching device 4 is connected to the robot control device 3 when performing teaching operations on the robot 2. The teaching device 4 is, for example, a teaching pendant, a notebook PC, a desktop PC, a tablet terminal, etc. Figure 1 As shown, it has a display unit 41, a receiving unit 42 and a control unit 43. The display unit 41 is a display capable of displaying images, and the receiving unit 42 is a keyboard and a mouse.

[0046] In addition, the control unit 43 causes the display unit 41 to display a desired image, or performs arithmetic processing according to the input accepted by the acceptance unit 42. The control unit 43 is composed of, for example, a computer, and has a processor for processing information, a memory connected to the processor in a communicable manner, and an external interface for connecting to an external device. The memory stores a teaching program Pt that can be executed by the processor, and the processor can read and execute the teaching program Pt stored in the memory. That is, by reading and executing the teaching program Pt by the processor, the program retrieval method shown below is executed.

[0047] However, the configurations of the display unit 41, the receiving unit 42, and the control unit 43 are not particularly limited as long as they can perform the following detailed functions. For example, when the teaching device 4 is a tablet terminal, the receiving unit 42 can be a touch panel. In addition, when the teaching device 4 supports voice input, the receiving unit 42 can also be a microphone.

[0048] The display unit 41 displays the following information on the screen according to the command from the control unit 43: Figure 2 The image G for program search shown in FIG. 1 is a graphical interface, and includes: a program display area G1, which is an area for displaying program statements of the action program Pd for operating the robot 2; a search string display area G2, which is an area for the user to input a string to be searched from the program statement; an attribute display area G3, which is an area for the user to select an attribute to be searched; a search instruction area G5, which is an area for receiving an instruction to start the search; and a search result display area G4, which is an area for displaying the search result. The program display area G1 is an example of the first area, the search string display area G2 is an example of the second area, the attribute display area G3 is an example of the third area, and the search result display area G4 is an example of the fourth area.

[0049] In the example shown in the figure, the program display area G1 is arranged in the right half of the image G, the search string display area G2, the attribute display area G3 and the search instruction area G5 are arranged side by side horizontally in the upper left part of the image G, and the search result display area G4 is arranged below it. The search string display area G2 is an input field for inputting the string to be searched, and the attribute display area G3 is a selection field for selecting the attribute of the string to be searched. Through such a configuration, each area G1 to G5 can be arranged in the image G with good balance, and it becomes an easy-to-find, convenient and easy-to-use graphical interface. In particular, in the example shown in the figure, the attribute display area G3 is arranged in the search string display area G2. As a result, the search string display area G2 and the attribute display area G3 can be compactly displayed together, so that other parts, especially the search result display area G4, can be ensured to be larger. In addition, it can also prevent forgetting to select an attribute. Therefore, it becomes a more easy-to-find, convenient and easy-to-use graphical interface.

[0050] However, the configuration of each area G1 to G5 in the image G is not particularly limited. In addition, the image G only needs to have at least the program display area G1 and the search string display area G2. For example, at least one of the attribute display area G3, the search result display area G4, and the search instruction area G5 may be omitted, or other areas may be added. An example of omitting the attribute display area G3 will be described separately in the fourth and fifth embodiments described later, and an example of omitting the search instruction area G5 will be described separately in the fifth embodiment described later.

[0051] Next, each region G1 to G5 in the image G will be described in detail. Figure 2 As shown, the program statements of the action program Pd are displayed in the program display area G1. In the case where the program statements do not fit into one screen, the user can scroll the program display area G1 by operating the receiving unit 42 to confirm the last section. Figure 2 The program statements shown in are for illustration purposes only and are not necessarily correct program statements.

[0052] Here, the program statements of the action program Pd include program statements unique to the robot and various attributes. Representative attributes include: Figure 2 The "number of lines" shown by the dot-dash line Q1, the "function name" shown by the dot-dash line Q2, the "instruction" shown by the dot-dash line Q3, and the "dot" shown by the dot-dash line Q4. The number of lines indicates the number of lines in the program statement. In addition, the function name indicates the name (name) of the function included in the program statement. In addition, the instruction is the name (name) of the action instruction included in the program statement. In addition, the dot is the coordinate indicating the destination.

[0053] Here, the instructions include various instructions, such as "Moter" for switching the motors of the joints J1 to J6 on / off, "Power" for setting the torque of each motor, "Speed" for setting the moving speed of TCP, "Accel" for setting the acceleration of TCP, "Move" for moving TCP from the current location to the destination without limiting the moving path, and "Go" for moving TCP from the current location to the destination along the specified moving path. Figure 2 , "Motor", "Power", "Speed", "Accel" and "Go" are shown in the figure. However, what kind of instructions are included in the instructions is not particularly limited, and for example, it can be changed appropriately according to the work and action performed by the robot 2.

[0054] The above has been described about the attributes, but the present invention is not limited thereto. In addition, at least one of the line number and the function name may be included, for example, at least one of the "instruction" and the "point" may be omitted, or other attributes may be added.

[0055] In the attribute display area G3, icons corresponding to the respective attributes are displayed. Figure 2 In the display area G3, a row number icon M1 indicating the number of rows, a function name icon M2 indicating the function name, a command icon M3 indicating the command, and a point icon M4 indicating the point are displayed in a horizontal arrangement. The user can specify the attribute as the search object by simply selecting any icon from the icons M1 to M4. That is, in the attribute display area G3, multiple attributes are displayed for the user to select as the search object. The displayed multiple attributes become candidates for the attribute selected as the search object. Therefore, the selection of the attribute becomes easy. However, the display method of the attribute is not particularly limited.

[0056] Next, a program search method in which a processor reads a teaching program Pt and executes it will be described. Figure 3 As shown, the program search method includes a display step S1, an acceptance step S2, and a search step S3.

[0057] Display step S1

[0058] In the display step S1, the control unit 43 displays the image G on the display unit 41. In this state, Figure 2 As shown in FIG. 1 , the program statements of the operating program Pd are displayed in the program display area G1 . In addition, the control unit 43 is in a state where it can accept character strings and attributes searched by the user.

[0059] Acceptance step S2

[0060] In the acceptance step S2, if Figure 4As shown, the user inputs the character string to be searched into the search character string display area G2 via the receiving unit 42, selects the attribute to be the search object, and finally presses the search instruction area G5. Thus, the control unit 43 receives the character string and its attribute searched by the user. As described above, since the attribute display area G3 is displayed in the search character string display area G2, it is possible to effectively prevent the user from forgetting to select the attribute. In the example shown in the figure, "100" is input as the character string to be searched, and "function name" is selected as the attribute to be the search object. It should be noted that the control unit 43 can accept the searched character string and its attribute even by pressing a specific key of the keyboard provided by the receiving unit 42, such as "Enter", instead of the search instruction area G5. In addition, the user can also select more than two attributes. Furthermore, when the user presses the search instruction area G5 without selecting the attribute as the search object, the control unit 43 can prompt the user to select the attribute, or can use all the attributes as the search range.

[0061] Retrieval step S3

[0062] In the search step S3, the control unit 43 searches for a portion corresponding to the combination of the character string and the attribute received in the search character string display area G2 and the attribute display area G3, that is, a portion containing "100" in the function name, from the program statement of the action program Pd. Figure 5 As shown, the control unit 43 displays the search result in the search result display area G4 in the image G, and displays it in the program statement in the program display area G1.

[0063] In the illustrated example, in the search result display area G4, the function containing "100" is extracted from the program statement and displayed. In this way, only the search part can be notified to the user, and the search result becomes clear. In addition, in the illustrated example, at the same time, the search result is highlighted in the program statement in the program display area G1. In this way, the search part is eye-catching, and it can be clearly known in which part the search result is recorded. Therefore, by extracting and displaying the search results in the search result display area G4, and highlighting them in the program statement in the program display area G1, the search results can be notified to the user more easily and understandably. However, the display method of the search results is not particularly limited. For example, the display in the search result display area G4 can also be omitted.

[0064] It should be noted that, as another method of displaying in the program statement in the program display area G1, for example, the search result can also be displayed in a different color from other colors in the program statement in the program display area G1. For example, when the program statement is displayed in black, the search result is displayed in red. In this way, as in the case of highlighting, the search part is eye-catching, and the user can easily understand in which part of the program statement the function including "100" is recorded.

[0065] According to such a program search method, the attributes of the search object can be specified, so it is difficult to display unnecessary search results. In the example shown in the figure, since only functions containing "100" can be searched, unnecessary "100" such as "100" in "Speed", "100" in "Accel", and "100" in "Point" are not searched. Therefore, efficient search can be performed.

[0066] The robot system 1 has been described above. The teaching device 4 provided in such a robot system 1 includes: a display unit 41 that displays an image G including a program display area G1 and a search string display area G2, wherein the program display area G1 is a first area that displays the program statement of the action program Pd that causes the robot 2 to move as described above, and the search string display area G2 is a second area that displays the string retrieved from the program statement; an accepting unit 42 that accepts the string and the attribute of the string; and a control unit 43 that retrieves a portion corresponding to the combination of the string and the attribute accepted by the accepting unit 42 from the program statement, and displays the search result in the image G. Moreover, the attribute accepted by the accepting unit 42 includes at least one of the number of lines in the program statement and the function name. According to such a teaching device 4, the attribute of the search object can be specified, so it is difficult to display unnecessary search results. Therefore, efficient search can be performed.

[0067] In addition, as described above, the image G also includes the attribute display area G3 as a third area, which displays a plurality of attributes for the user to select. This makes it easy for the user to select an attribute.

[0068] Furthermore, as described above, the attribute display area G3 is displayed in the search character string display area G2. This can effectively prevent the user from forgetting to select an attribute.

[0069] In addition, as described above, the row number icon M1 indicating the row number and the function name icon M2 indicating the function name are displayed in the attribute display area G3. According to such a configuration, the user can specify the attribute to be searched simply by selecting an icon. Therefore, the attribute selection becomes easy.

[0070] As described above, the image G also includes the search result display area G4, which is an area for displaying the search results. This allows the user to be informed of only the searched part, and the search results become clear.

[0071] In addition, as described above, the control unit 43 highlights the search results in the program statement. This makes the searched part stand out, and the user can clearly know in which part of the program statement the search object is described.

[0072] In addition, as described above, the control unit 43 may display the search results in different colors in the program statement, thereby making the searched part stand out and allowing the user to clearly know in which part of the program statement the search object is described.

[0073] In addition, as described above, the teaching program Pt displays an image G including a program display area G1 and a search string display area G2, wherein the program display area G1 is used as a first area to display the program statement of the action program Pd that causes the robot 2 to move, and the search string display area G2 is used as a second area to display the string retrieved from the program statement, accept the string and the attribute of the string, and cause the computer, i.e., the control unit 43, to perform the following actions: retrieve the part corresponding to the combination of the accepted string and attribute from the program statement, and display the search result in the image G. Moreover, the accepted attribute includes at least one of the number of lines and the function name in the program statement. According to such a teaching program Pt, the attribute of the search object can be specified, so it is difficult to display unnecessary search results. Therefore, efficient search can be performed.

[0074] In addition, as described above, the program search method includes: a display step S1, displaying an image G including a program display area G1 and a search string display area G2, wherein the program display area G1 is used as a first area to display a program statement of an action program Pd that causes the robot 2 to move, and the search string display area G2 is used as a second area to display a string retrieved from the program statement; an acceptance step S2, accepting a string and a property of the string; and a search step S3, retrieving a portion corresponding to a combination of the accepted string and property from the program statement, and displaying the search result in the image G. Moreover, the property accepted in the acceptance step S2 includes at least one of the number of lines and the function name in the program statement. According to such a program search method, the property of the search object can be specified, so it is difficult to display unnecessary search results. Therefore, efficient search can be performed.

[0075] Second embodiment

[0076] Figure 6 as well as Figure 7 Each of them is a diagram showing an example of an image displayed by the teaching device according to the second embodiment.

[0077] The teaching device 4 involved in this embodiment is the same as the teaching device 4 of the first embodiment except that the method of specifying the attribute is different. It should be noted that in the following description, the teaching device 4 of this embodiment is described mainly with respect to the differences from the first embodiment, and the description of the same matters is omitted. In addition, in each figure of this embodiment, the same reference numerals are marked for the same structures as those in the above embodiment.

[0078] In the teaching device 4 of this embodiment, as Figure 6 As shown in FIG. 1 , a “▽” mark is displayed in the attribute display area G3 to open the drop-down list. The drop-down list stores various attributes, such as Figure 7 As shown, by selecting "▽" to display a drop-down list, the attribute of the search object can be specified. According to such a configuration, for example, the attribute display area G3 can be reduced compared to the first embodiment, and accordingly, the area within the image G can be allocated to other areas G1, G2, G4, G5.

[0079] According to the second embodiment, the same effects as those of the first embodiment can be achieved.

[0080] Third embodiment

[0081] Figure 8 as well as Fig. 9 Each of them is a diagram showing an example of an image displayed by the teaching device according to the third embodiment.

[0082] The teaching device 4 involved in this embodiment is the same as the teaching device 4 of the first embodiment except that the method of specifying the attribute is different. It should be noted that in the following description, the teaching device 4 of this embodiment is described mainly with respect to the differences from the first embodiment, and the description of the same matters is omitted. In addition, in each figure of this embodiment, the same reference numerals are marked for the same structures as those in the above embodiment.

[0083] In the teaching device 4 of this embodiment, as Figure 8 As shown in FIG. 1 , the search string display area G2 and the attribute display area G3 are displayed side by side. In addition, in the attribute display area G3, each attribute is displayed vertically, and the search string display area G2 is displayed horizontally on each attribute. That is, the search string display area G21 for the attribute "number of rows", the search string display area G22 for the attribute "function name", the search string display area G23 for the attribute "instruction", and the search string display area G24 for the attribute "point" are displayed respectively. For example, Figure 8As shown, when "100" is input in the search character string display area G22 and the search command area G5 is pressed, the control unit 43 searches for function names including "100" from program statements and displays the search results on the image G. With such a configuration, since attributes are always specified, forgetting to specify attributes can be prevented.

[0084] It should be noted that, according to this embodiment, Fig. 9 As shown, different character strings can be input in two or more search character string display areas G2. Thus, different character strings can be searched at the same time, thereby shortening the search time. It should be noted that in the example shown in the figure, the control unit 43 searches for function names containing "100" and line numbers containing "10" from the program statement at the same time.

[0085] According to the third embodiment, the same effects as those of the first embodiment can be achieved.

[0086] Fourth embodiment

[0087] Fig.10 It is a diagram showing an example of an image displayed by the teaching device according to the fourth embodiment.

[0088] The teaching device 4 involved in this embodiment is the same as the teaching device 4 of the first embodiment except that the method of specifying the attribute is different. It should be noted that in the following description, the teaching device 4 of this embodiment is described mainly with respect to the differences from the first embodiment, and the description of the same matters is omitted. In addition, in the figures of this embodiment, the same reference numerals are marked for the same structures as those in the above embodiment.

[0089] In the teaching device 4 of this embodiment, as Fig.10 As shown, the attribute display area G3 is omitted from the image G. Instead, in the teaching device 4, keys for specifying each attribute are prepared. For example, in the present embodiment, if ":" is written before the character string in the search character string display area G2, the control unit 43 sets the attribute of the search object to "number of lines", if "f" is written, the control unit 43 sets the attribute of the search object to "function name", if "#" is written, the control unit 43 sets the attribute of the search object to "instruction", and if "?" is written, the control unit 43 sets the attribute of the search object to "point". In the illustrated configuration, "f100" is input in the search character string display area G2, so the control unit 43 searches for function names containing "100" from the program statement and displays the search result in the image G. In addition, the key for specifying an attribute is not particularly limited.

[0090] According to such a configuration, the attribute display region G3 can be omitted and the other regions G1 , G2 , and G4 can be enlarged.

[0091] According to the fourth embodiment, the same effects as those of the first embodiment can be achieved.

[0092] Fifth embodiment

[0093] Fig.11 This is a diagram showing an example of an image displayed by the teaching device according to the fifth embodiment.

[0094] The teaching device 4 involved in this embodiment is the same as the teaching device 4 of the first embodiment except that the method of specifying the attribute is different. It should be noted that in the following description, the teaching device 4 of this embodiment is described mainly with respect to the differences from the first embodiment, and the description of the same matters is omitted. In addition, in the figures of this embodiment, the same reference numerals are marked for the same structures as those in the above embodiment.

[0095] In the teaching device 4 of this embodiment, as Fig.11 As shown, the attribute display area G3 and the search instruction area G5 are omitted from the image G. Instead, in the teaching device 4, a key for starting the search by specifying each attribute is prepared. In other words, a key for starting the search is set for each attribute. In the present embodiment, if ":" of the keyboard provided by the receiving unit 42 is pressed while a character string is input to the search character string display area G2, the attribute of the search object is searched as "number of rows", if "f" is pressed, the attribute of the search object is searched as "function name", if "#" is pressed, the attribute of the search object is searched as "instruction", and if "?" is pressed, the attribute of the search object is searched as "dot". As shown in the figure, if "f" is pressed while "100" is input in the search character string display area G2, the control unit 43 searches for the function name containing "100" from the program statement, and displays the search result in the image G. It should be noted that the key for starting the search by specifying an attribute is not particularly limited.

[0096] According to such a configuration, the other regions G1 , G2 , and G4 can be enlarged by omitting the attribute display region G3 and the search instruction region G5 .

[0097] According to the fifth embodiment, the same effects as those of the first embodiment can be achieved.

[0098] Sixth Embodiment

[0099] Fig.12 as well as Fig.13 Each of them is a diagram showing an example of an image displayed by the teaching device according to the sixth embodiment. Fig.14 It is a diagram showing a modified example of an image.

[0100] The teaching device 4 involved in this embodiment is the same as the teaching device 4 of the first embodiment described above, except that the attributes that can be selected as the search object according to the action mode of the robot 2 are different. It should be noted that in the following description, the teaching device 4 of this embodiment is mainly described with the difference from the first embodiment described above, and the description of the same matters is omitted. In addition, in each figure of this embodiment, the same reference numerals are marked for the same structures as those in the above embodiment.

[0101] The action modes of the robot 2 include a teaching mode used when teaching the action program Pd to the robot 2, and an automatic mode used when driving the robot 2 based on the action program Pd at a production site, etc. For example, in the teaching mode, the maximum moving speed of the robot 2 is suppressed to be lower than that in the automatic mode in order to ensure safety.

[0102] In the teaching operation, since the action program Pd is started from scratch while the robot 2 is being operated, it is necessary to correct various parts of the action program Pd regardless of the attributes. Fig.12 As shown in FIG. 1 , when the teaching mode is selected as the action mode of the robot 2, in the image G, all attributes are displayed in the attribute display area G3 as in the first embodiment described above. In contrast, in the case of a production site, only specific attributes of the action program Pd such as fine-tuning of the TCP are often corrected. Therefore, Fig.13 As shown, when the automatic mode is selected, only the attributes expected to be corrected in the automatic mode are displayed in the image G, and in the present embodiment, only the "function name" and the "point" are displayed.

[0103] As described above, in the teaching device 4 of this embodiment, different attributes can be selected as search targets according to the operation mode of the robot 2. That is, the display method of the attribute display area G3 is different according to the operation mode. Thus, useless attributes are not displayed, and the user can easily select an attribute.

[0104] In addition, in the present embodiment, only the "function name" and the "point" are displayed in the automatic mode, but the present invention is not limited thereto. Fig.14 As shown, all attributes are displayed, but attributes other than "Function Name" and "Point" may be unselectable. With such a configuration, the user can confirm what attributes exist in the automatic mode. In the example shown in the figure, an "×" mark is marked on the attributes that cannot be selected, but this is not limited to this. For example, it may be displayed lighter than the selectable attributes.

[0105] In the above embodiment, as the action modes of the robot 2, there are a teaching mode for teaching the action program Pd to the robot and an automatic mode for driving the robot 2 based on the action program Pd, and the display method of the attribute display area G3 is different in the teaching mode and the automatic mode. According to such a configuration, since useless attributes are not displayed, the user can easily select an attribute.

[0106] According to the sixth embodiment, it is possible to achieve the same effects as those of the first embodiment.

[0107] Here, if the display method of the attribute display area G3 is different according to the action mode, it is not limited to the present embodiment. For example, the arrangement order of the icons M1 to M4 can be made different. Specifically, in the teaching mode, as shown in the figure, the row number icon M1, the function name icon M2, the instruction icon M3, and the point icon M4 are displayed in the order from the left side of the attribute display area G3. In contrast, in the automatic mode, the function name icon M2, the point icon M4, the row number icon M1, and the instruction icon M3 can also be displayed in the order from the left side of the attribute display area G3. According to such a configuration, in the automatic mode, the row number icon M1 and the instruction icon M3 are difficult to be selected.

[0108] Seventh embodiment

[0109] Fig.15 as well as Fig.16 Each of them is a diagram showing an example of an image displayed by the teaching device according to the seventh embodiment.

[0110] The teaching device 4 involved in this embodiment is the same as the teaching device 4 of the first embodiment described above, except that it can select different attributes as the search object according to the type of the searched string (character type). It should be noted that in the following description, the teaching device 4 of this embodiment is described mainly with respect to the differences from the first embodiment described above, and the description of the same matters is omitted. In addition, in each figure of this embodiment, the same figure mark is marked for the same structure as the above embodiment.

[0111] Program statements are mainly composed of three types of characters: Japanese, numbers, and English (letters). Among them, Japanese and English are not used for line numbers at least. In contrast, numbers may be used for all attributes. Therefore, according to the type of characters, it can be known that they are not used for specific attributes. Therefore, in the teaching device 4 of this embodiment, different attributes can be selected as search objects according to the type of characters input to the search string display area G2.

[0112] For example, Fig.15 As shown in FIG. 1 , when a number is input in the search string display area G2, all attributes are displayed and all attributes can be selected. Fig.16 As shown, when English is input in the search string display area G2, attributes other than the number of lines are displayed, and attributes other than the number of lines can be selected. Although not shown, when Japanese is input in the search string display area G2, attributes other than the number of lines are displayed in the same way as in English, and attributes other than the number of lines can be selected.

[0113] As described above, in the teaching device 4 of this embodiment, different attributes can be selected as search objects according to the type of characters input to the search string display area G2. In other words, the display method of the attribute display area G3 is different according to the type of characters. Thus, useless attributes are not displayed, and the user can easily select an attribute.

[0114] In the present embodiment described above, the display mode of the attribute display area G3 is changed according to the type of characters input to the search character string display area G2. According to such a configuration, since useless attributes are not displayed, the user can easily select an attribute.

[0115] According to the seventh embodiment, it is possible to achieve the same effects as those of the first embodiment.

[0116] It should be noted that if the display method of the attribute display area G3 is different according to the character type, it is not limited to the present embodiment. For example, the arrangement order of the icons M1 to M4 can be different. Specifically, when the character type is a number, as shown in the figure, the row number icon M1, the function name icon M2, the instruction icon M3, and the point icon M4 can be displayed in this order from the left side of the attribute display area G3. On the contrary, when the character type is English or Japanese, the function name icon M2, the point icon M4, the instruction icon M3, and the row number icon M1 can be displayed in this order from the left side of the attribute display area G3. According to such an arrangement, it is difficult to select the row number icon M1 when the character type is English or Japanese.

[0117] Above, the teaching device, teaching program and program search method of the present invention are described based on the illustrated embodiments, but the present invention is not limited thereto, and the structure of each part can be replaced with any structure or process with the same function. In addition, other arbitrary structures or processes can also be added to the present invention.

Claims

1. A teaching device, characterized in that: have: A display unit that displays an image including a first area and a second area, the first area displaying a program statement of an action program for causing the robot to move, and the second area displaying a character string retrieved from the program statement; a receiving unit, receiving the character string and the attribute of the character string; as well as a control unit that searches for a portion corresponding to the combination of the character string and the attribute accepted by the acceptance unit from the program statement and displays the search result in the image; The attribute accepted by the accepting unit includes at least one of a line number and a function name in the program statement.

2. The teaching device according to claim 1, wherein: The image also includes a third area displaying a plurality of the attributes for user selection.

3. The teaching device according to claim 2, wherein: The third area is displayed within the second area.

4. The teaching device according to claim 2, wherein: An icon indicating the row number and an icon indicating the function name are displayed in the third area respectively.

5. The teaching device according to any one of claims 2 to 4, wherein: As the action modes of the robot, the teaching device has: a teaching mode for teaching the action program to the robot; and an automatic mode for driving the robot based on the action program. The display manner of the third area is made different between the teaching mode and the automatic mode.

6. The teaching device according to any one of claims 2 to 4, wherein: The display mode of the third area is changed according to the type of characters input into the second area.

7. The teaching device according to claim 1, wherein: The image also has a fourth area for displaying the search result.

8. The teaching device according to claim 1, wherein: The control unit displays the search result in a highlighted manner in the program statement.

9. The teaching device according to claim 1, wherein: The control unit displays the search result in a different color in the program statement.

10. A teaching program product, characterized in that: Contains a teaching program, which enables the computer to perform the following actions: displaying an image including a first area and a second area, the first area displaying a program statement of an action program for causing the robot to move, and the second area displaying a character string retrieved from the program statement; Accepting the character string and the attributes of the character string; as well as searching the program statement for a location corresponding to the accepted combination of the character string and the attribute, and displaying the search result in the image; The received attribute includes at least one of a line number and a function name in the program statement.

11. A program retrieval method, characterized in that: include: A display step of displaying an image including a first area and a second area, wherein the first area displays a program statement of an action program for causing the robot to move, and the second area displays a character string retrieved from the program statement; An acceptance step of accepting the character string and the attributes of the character string; as well as a searching step of searching, from the program statement, a location corresponding to the combination of the accepted character string and the attribute, and displaying the search result in the image, The attribute accepted in the accepting step includes at least one of a line number and a function name in the program statement.

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