Robot control device and robot control system

Abstract

The purpose of the present invention is to efficiently make full use of the preceding technical tricks in the teaching operation of a robot. A robot control device according to one embodiment of the present disclosure is a computer device that controls a robot having a sensor. A robot control device (1) includes: a storage unit (6) that stores a parameter for setting an operation of a robot (8) in association with an index value indicating an operation state in which the robot operates in accordance with the parameter; a search unit (25) that searches for a parameter on the basis of the index value; and a display unit (4) that displays the searched parameters.

Description

Technical Field

[0001] The invention relates to a robot control device for controlling a robot and a robot control system. Background Art

[0002] Teaching a robot is an indispensable task for making the robot perform a prescribed action. With the popularization of robots, not only highly skilled operators but also less skilled operators must perform robot teaching. On the other hand, as robots become more advanced in functionality, robot teaching becomes more complicated. Therefore, a robot teaching assisting device having the function of assisting operators in teaching the robot has been proposed (Patent Document 1).

[0003] In particular, for operators with low proficiency who cannot understand the motion parameters well, when an abnormal situation occurs, such as an alarm is generated when the robot is moving, or the robot's movement stops midway, they do not know which motion parameter has an impact and caused the abnormal situation. Therefore, it is not a simple task to modify the motion parameter to an appropriate value in order to avoid the abnormal situation. For example, when an abnormal situation occurs, the operator uses the manual to find a method for solving the abnormal situation. However, the manual contains a lot of information, so the operation of searching using the manual takes a long time, which reduces the overall efficiency of the robot's teaching operation.

[0004] Prior art literature Patent Literature Patent Document 1: Japanese Patent Application Publication No. 2014-233814 Summary of the invention Problem that the invention aims to solve Although the efficiency is not high, the operator can gradually accumulate the know-how by repeatedly setting the motion parameters while searching in the manual. The know-how is important information obtained through consuming time and labor. With the know-how, even operators with low proficiency can smoothly set the motion parameters. Therefore, when the operator responsible for the teaching of the robot changes, it is very important to teach the know-how accumulated by the previous operator to the new operator. However, the know-how includes content for dealing with various situations, and it is not easy to impart all the know-how to new operators, and it takes a very long time. Therefore, in the teaching of the robot, it is hoped to make full use of the know-how of predecessors efficiently.

[0005] Means used to solve problems A robot control device according to one embodiment of the present disclosure is a computer device that controls a robot having a sensor. The robot control device comprises: a storage unit that stores parameters for setting the actions of the robot in association with index values ​​indicating the action state of the robot according to the parameters; a search unit that searches for the parameters based on the index values; and a display unit that displays the searched parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a perspective view showing a robot device including the robot control device according to the present embodiment.

[0007] Figure 2 This is a functional block diagram of the robot control device according to this embodiment.

[0008] Figure 3 It is shown Figure 2 A diagram showing an example of a formula stored in a storage unit.

[0009] Figure 4 It is shown Figure 2 FIG. 4 is a diagram showing an example of a setting history management table stored in a storage unit of FIG.

[0010] Figure 5 It is shown Figure 2 A diagram of an example of a distribution table related to action abnormalities stored in a storage unit.

[0011] Figure 6 It is shown Figure 2 A diagram showing an example of an allocation table related to whether an action is successful and stored in a storage unit.

[0012] Figure 7 It is shown Figure 2 A diagram of an example of a weight coefficient management table stored in a storage unit.

[0013] Figure 8 It is shown Figure 2 A diagram showing an example of a search screen displayed on a display unit of .

[0014] Fig. 9 It is shown Figure 2 FIG. 1 is a diagram showing an example of a simulation screen displayed on a display unit of . DETAILED DESCRIPTION

[0015] Hereinafter, the robot control device of the present embodiment will be described with reference to the drawings. In the following description, components having substantially the same function and structure are given the same reference numerals, and repeated description will be given only when necessary.

[0016] The robot control device of the present embodiment is a computer device having the following functions: a function of storing action parameters for setting the actions of the robot in association with index values ​​(hereinafter referred to simply as index values) representing the action states of the robot, a function of retrieving the action parameters based on the index values, and a function of displaying the retrieved action parameters.

[0017] The "index value indicating the action state of the robot" is a value that numerically indicates the state of the robot in action or the result of the robot's action according to a prescribed rule. Typically, the index value indicating the action state of the robot is derived based on the robot's cycle time, the torque value applied to the robot in action, the presence or absence of an overheat alarm, and the degree of success of the robot's action. In this way, the index value indicating the action state of the robot is derived not only from quantitative data obtained as numerical values ​​such as cycle time or torque value, but also from qualitative data such as the presence or absence of an overheat alarm and whether the action is successful.

[0018] In the present embodiment, as an example of an action parameter, an action speed as setting information of the moving speed of the hand reference point is adopted, but the action parameter is not limited thereto. For example, for a robot that moves according to the same action program, various parameters that produce changes in the action can be adopted as action parameters. More specifically, as action parameters, standby time, interpolation form, moving form, etc. can be adopted. The standby time is the time of stillness when a standby instruction is described in the action program. The interpolation form is a condition related to the interpolation form between two teaching points. For example, the interpolation form includes circular interpolation, linear interpolation, etc. The moving form is a condition related to how to move between multiple teaching points. For example, the moving form includes a form of moving in a manner that requires passing through a teaching point, a form of moving smoothly in a manner that requires passing through a teaching point, and the like.

[0019] In the present embodiment, as data used for calculating the index value, four types of data are used, namely, cycle time, torque value, presence or absence of an overheat alarm, and the degree of success of the action. However, the data used for calculating the index value is not limited to the above four types of data. For example, the index value can be calculated using at least one of the above four types of data. In the present embodiment, as sensor data used for calculating the index value, a torque value based on the output of a force sensor is used, but the sensor data is not limited thereto. For example, any value based on the output of any sensor equipped to the robot, such as the acceleration based on the output of an acceleration sensor equipped to the robot, the speed based on the output of a speed sensor, can be used for calculating the index value.

[0020] In the present embodiment, overheating is used as an example of an abnormality used in calculating the index value, but the type of abnormality is not limited to this. For example, as an abnormality, rapid acceleration, speed exceeding, vibration, etc. can be used. In addition, the abnormality is not limited to one, but can also be multiple.

[0021] In the present embodiment, the degree of indicating whether an action is successful includes two types, "action successful" and "action unsuccessful", but is not limited to this. For example, "action successful" may be divided into "successful with stable action" and "successful with unstable action". In addition, "action unsuccessful" may be divided into "successful if the robot's action is slightly improved" and "unsuccessful if the robot's action is not greatly improved". In addition, the state of complete success may be set to "5", and the state of complete failure may be set to "1", and the degree of indicating whether an action is successful may be divided into five stages. Typically, the degree of indicating whether an action is successful is input into the robot control device through user operation. Of course, if the degree of indicating whether an action is successful includes two types, "action successful" and "action unsuccessful", it can be determined based on the output of various sensors equipped by the robot.

[0022] Hereinafter, the robot control device 1 according to the present embodiment will be described.

[0023] like Figure 1 As shown, the robot control device 1 of the present embodiment constitutes a robot device 7 together with a robot 8. The robot 8 has a force sensor 9 for detecting a load applied to the end effector. The output data of the force sensor 9 equipped with the robot 8 is input to the robot control device 1. The sensor 9 equipped with the robot 8 is not limited to the force sensor 9. For example, the robot 8 may also have a visual camera for photographing the workpiece W, an encoder for detecting the rotation position of the motor, an infrared sensor for detecting the presence or absence of an operator or an obstacle, a contact sensor for detecting the presence or absence of contact by an operator, etc.

[0024] like Figure 2 As shown, the robot control device 1 of this embodiment is configured by connecting hardware such as an operation unit 3, a display unit 4, a communication unit 5, and a storage unit 6 to a processor 2 (CPU, etc.). The robot control device 1 is provided by a general information processing terminal such as a personal computer or a tablet computer.

[0025] The operation unit 3 includes input devices such as a keyboard, a mouse, and a jog wheel. The input device may be provided by a touch panel that also serves as the display unit 4, or by a dedicated operation device (suspended controller) of the robot control device 1. The user can input various information into the robot control device 1 via the operation unit 3.

[0026] The display unit 4 has a display device such as an LCD (Liquid Crystal Display), and displays the search screen 100 and the simulation screen 200 generated by the screen generation unit 26. The communication unit 5 controls the transmission and reception of data with the robot 8. Through the processing of the communication unit 5, the robot control device 1 receives output data from the force sensor 9 equipped on the robot 8.

[0027] The storage unit 6 has a storage device such as a HDD (Hard Disk Drive) or an SSD (Solid State Disk). The storage unit 6 stores a search program for searching for action parameters, data of a three-dimensional model displayed on the simulation screen 200, data of various formulas, and data of various tables.

[0028] The three-dimensional model data includes the three-dimensional model data of the robot 8 including the force sensor 9 and the three-dimensional model data of the workpiece. Typically, the three-dimensional model data is provided by CAD (Computer-Aided Design) data.

[0029] The formula includes the conversion formula for cycle time, the conversion formula for torque value, and the calculation formula for index value. The conversion formula for cycle time is a calculation formula used to convert cycle time into a value for calculating index value. Figure 3 As shown, the conversion value A of the cycle time can be obtained by substituting the cycle time into the variable a of the conversion formula "A=120 / a". The conversion formula of the conversion value B of the torque value is given by "B=1(b<80), B=0(b≥80)". That is, the torque value is binarized, and if its value b is above 80, it is converted to the value "0", and if it is less than 80, it is converted to the value "1". The index value Iv can be obtained by substituting the value into the variables A, B, C, D, ω1~ω4 of the calculation formula "Iv=(A×ω1)×(B×ω2)×(C×ω3)×(D×ω4)".

[0030] The various tables include a setting history management table for managing action speeds set in the past, an allocation table for allocating numerical values ​​to the presence or absence of an overheat alarm (referred to as an allocation table related to action abnormality), an allocation table for allocating numerical values ​​to indicate the degree of success of an action (referred to as an allocation table related to whether an action is successful), and a weight coefficient management table for managing weight coefficients used in calculating indicator values.

[0031] Figure 4 An example of the setting history management table is shown.

[0032] like Figure 4As shown, in one record of the setting history management table, the project number, setting date and time, action program name, action speed, cycle time, torque value, presence or absence of an overheat alarm, whether the action is successful, index value, and countermeasure method are managed. A record of the setting history management table is called a setting history record. For example, in the setting history record, the action program name, action speed, and countermeasure method are registered based on the user's input information. The cycle time, torque value, presence or absence of an overheat alarm, whether the action is successful, and index value are automatically registered by the internal processing of the robot control device 1. Of course, part of the cycle time, torque value, presence or absence of an overheat alarm, whether the action is successful, and index value can also be input by the user.

[0033] The motion speed is an example of an motion parameter, and is a parameter for setting the moving speed of the hand reference point. The cycle time corresponds to the time actually spent from the start of the motion to the end of the motion when the robot 8 performs a series of motions specified by the motion program. The torque value corresponds to the maximum value of the torque value applied to the robot 8 in motion, calculated based on the output of the force sensor 9 equipped by the robot 8. The overheat alarm is issued when the motor is driven at a high speed, when the motor is driven at a strict cycle, or when the actual temperature of the motor or its surroundings is high. Whether the action is successful indicates whether the robot 8 has normally performed a series of actions specified by the motion program. "Normal" means that a series of actions specified by the motion program is performed within the specified time. For example, the robot 8 temporarily stops during the action and fails to complete the series of actions specified by the motion program within the specified time. The action specified by the motion program fails. In these cases, whether the action is successful is "no".

[0034] Figure 5 An example of an allocation table related to abnormal operation is shown.

[0035] like Figure 5 As shown, in the allocation table related to abnormal operation, numerical values ​​are allocated to the presence or absence of an overheat alarm. The numerical value C "1" is allocated to the overheat alarm "no", and the numerical value C "0" is allocated to the overheat alarm "yes". As described above, the allocated values ​​are initially determined, but can also be appropriately changed according to user operations.

[0036] In this embodiment, overheating is used as an action abnormality, and numerical values ​​are assigned to the presence or absence of the abnormality. However, the degree of overheating can be divided into three or more stages, and numerical values ​​can be assigned to each of them. In addition, multiple types of action abnormalities can also be included. Action abnormalities include important action abnormalities related to whether the action is successful, and mild action abnormalities that are irrelevant to whether the action is successful. Therefore, the numerical values ​​assigned according to the type of action abnormality can also be different.

[0037] Figure 6An example of an allocation table related to whether an action is successful is shown.

[0038] like Figure 6 As shown, in the allocation table related to whether an action is successful, numerical values ​​are associated with whether an action is successful or not. A numerical value D "1" is assigned to "success" of whether an action is successful, and a numerical value D "0" is assigned to "unsuccessful (failed)". As described above, the allocated value is initially determined and can be appropriately changed according to user operations.

[0039] In this embodiment, "success" and "unsuccessful" are used as the degree of success of the action, and numerical values ​​are assigned to each. However, as already described, the degree of success of the action can also be divided into three or more stages, and numerical values ​​can be assigned to each.

[0040] Figure 7 An example of a weight coefficient management table is shown. The weight coefficient is a parameter for changing the degree of influence of the cycle time, torque value, presence or absence of an overheat alarm, and success or failure of an operation on the index value.

[0041] For example, regarding the actions of the robot, if the user places importance on the cycle time, the weight coefficient corresponding to the cycle time is set larger than the other weight coefficients. Figure 6 As shown, the weight coefficient ω1 corresponding to the cycle time is set to "2", the weight coefficient ω2 corresponding to the torque value is set to "1", the weight coefficient ω3 corresponding to the presence or absence of action abnormality is set to "1", and the weight coefficient ω4 corresponding to whether the action is successful is set to "1".

[0042] For example, regarding the movement of the robot, when the user attaches importance to fine movement, the weight coefficient corresponding to the torque value is set larger than other weight coefficients. Figure 6 As shown, the weight coefficient ω1 corresponding to the cycle time is set to "1", the weight coefficient ω2 corresponding to the torque value is set to "2", the weight coefficient ω3 corresponding to the presence or absence of action abnormality is set to "1", and the weight coefficient ω4 corresponding to whether the action is successful is set to "1".

[0043] like Figure 2 As shown, the search program stored in the storage unit 6 is executed by the processor 2, whereby the robot control device 1 functions as a virtual space generation unit 21, a model configuration unit 22, a simulation execution unit 23, an index value calculation unit 24, a search unit 25, and a screen generation unit 26.

[0044] The virtual space generation unit 21 generates a virtual space on software that three-dimensionally represents an action space in which the robot moves. The virtual space generated by the virtual space generation unit 21 is displayed on the simulation screen 200 generated by the screen generation unit 26 .

[0045] The model configuration unit 22 configures the three-dimensional model 8' (robot model 8') of the robot 8 and the three-dimensional model W' (workpiece model W') of the workpiece W in the virtual space generated by the virtual space generation unit 21 and displayed on the simulation screen 200. The robot model 8' and the workpiece model W' are configured in the virtual space in a manner corresponding to the positional relationship between the robot 8 and the workpiece W in the actual motion space.

[0046] The simulation execution unit 23 causes the robot model 8' in the virtual space displayed on the simulation screen 200 to perform a simulated action in a simulated manner according to the action program and the action speed, or according to the user's instruction via the operation unit 3. Through the processing of the simulation execution unit 23, the robot model 8' displayed on the simulation screen 200 can be moved according to the action speed selected by the user. Thus, based on the action speed associated with the unsuccessful action, the action of the robot 8 when the action is unsuccessful can be reproduced on the simulation screen 200 and displayed as a dynamic image. In addition, in the setting history record, it is associated with the time point in the action at which an event that is the main cause of the unsuccessful action occurred or an overheating alarm was issued. On the simulation screen 200, the user can confirm the event that is the main cause of the unsuccessful action through the position and posture of the robot 8 at that time, and correct the action of the robot 8 to make the action successful.

[0047] The index value calculation unit 24 calculates an index value representing the action state of the robot. Typically, the index value calculation unit 24 uses Figure 3 The cycle time conversion formula shown in the figure converts the cycle time a into the conversion value A, and the torque value conversion formula converts the torque value b into the conversion value B. Figure 5 The assignment table shown here assigns a numerical value C to the presence or absence of an overheat alarm. Figure 6 The allocation table shown in FIG. 1 assigns a numerical value D to whether the action is successful. Figure 7 , based on the important items input by the user, the weight coefficients ω1, ω2, ω3, and ω4 are determined. Then, the index value calculation unit 24 sends Figure 3 The index value Iv is calculated by substituting the conversion value A, conversion value B, distribution value C, distribution value D and weight coefficients ω1, ω2, ω3, and ω4 into the calculation formula of the index value Iv shown. Of course, the calculation method of the index value is not limited to this.

[0048] The search unit 25 searches the setting history management table and extracts the motion speed according to the search condition input by the user operation on the search screen 100. Typically, the search unit 25 searches the setting history management table and extracts the motion speed associated with the maximum index value as the recommended motion speed.

[0049] However, the method of searching the motion speed by the search unit 25 is not limited to this. For example, the search unit 25 may search the setting history management table and extract a plurality of motion speeds arranged in descending order of index values ​​as the motion speeds to be suggested. In addition, the motion speed that is close to the recommended motion speed value and is associated with the overheat alarm "yes" may be extracted as the reference motion speed.

[0050] The screen generation unit 26 generates a search screen 100 for the user to search for the motion speed and a simulation screen 200 for reproducing the motion of the robot based on the motion speed selected by the user.

[0051] Below, refer to Figure 8 The search screen 100 generated by the screen generating unit 26 will be described. Figure 8 As shown, the search screen 100 includes a search condition display area 110 for displaying search conditions, a search result display area 120 for displaying search results, and a playback button 150 for switching from the search screen 100 to the simulation screen 200 .

[0052] In the search condition display area 110 , a pull-down menu 112 is associated with and arranged in relation to the search condition “operating program name”, and a pull-down menu 114 is associated with and arranged in relation to the search condition “important item (importance)”.

[0053] The search result display area 120 includes an area 130 for displaying a recommended operation speed and an area 140 for displaying an operation speed associated with the overheat alarm "yes". The operation speed recommended for the search condition input by the user, the index value, cycle time, torque value, the presence or absence of the overheat alarm, and whether the operation is successful are displayed in the area 130. In addition, the operation speed, index value, cycle time, torque value, the presence or absence of the overheat alarm, and the countermeasure method for preventing overheating of the setting history associated with the overheat alarm "yes" are displayed in the area 140. Check boxes 135 and 145 for receiving the selection operation of the operation speed are arranged in each area 130 and 140.

[0054] like Figure 8 As shown, if the action program name "Test 1" and the important item "cycle time" are input through user operation on the retrieval screen, the robot control device 1, through the processing of the indicator value calculation unit 24, refers to the setting history record management table, extracts the setting history record associated with the action program name "Test 1", and calculates the indicator value of the extracted setting history record.

[0055] Specifically, the robot control device 1 refers to Figure 7 The weight coefficient management table shown determines the weight coefficients corresponding to the important item "cycle time" as ω1=2, ω2=1, ω3=1, and ω4=1.

[0056] Robot control device 1 use Figure 3 The conversion formula for cycle time shown is used to convert cycle time a, and the conversion formula for torque value is used to convert torque value b. For example, the cycle time "10s" of item number "1" is converted to the value A "12", the cycle time "20s" of item number "2" is converted to the value A "6", the cycle time "30s" of item number "3" is converted to the value A "4", and the cycle time "25s" of item number "4" is converted to the value A "4.8".

[0057] Robot control device 1 Figure 5 The assignment table related to abnormal operation shown in the figure assigns a numerical value C to the presence or absence of an overheat alarm. For example, the numerical value B "0" is assigned to the "presence" of the overheat alarm of item numbers "1" and "2", and the numerical value B "1" is assigned to the "non-presence" of the overheat alarm of item numbers "3" and "4".

[0058] Robot control device 1 Figure 6 The assignment table related to whether the action is successful is shown, and the success of the action is assigned a numerical value D. For example, the value "0" is assigned to the success of the action "No" of the item number "1" and "2", and the value "1" is assigned to the success of the action "Success".

[0059] The robot control device 1 is Figure 3 Substitute the values ​​A, B, C, D and the weight coefficients ω1, ω2, ω3, ω4 into the calculation formula of the index value Iv shown in the figure to calculate the index value Iv corresponding to the set history record. Figure 4 As shown, the index value "0" corresponding to the item number "1", the index value "0" corresponding to the item number "2", the index value "8" corresponding to the item number "3", and the index value "9.6" corresponding to the item number "4" are calculated.

[0060] The robot control device 1 extracts the item number "4" with the largest index value through the processing of the search unit 25, and determines the motion speed "400 mm / s" associated with the item number "4" as the recommended motion speed. Figure 8 As shown, the recommended action speed "400mm / s", the index value "9.6" associated with the action speed "400mm / s", the cycle time "25s", the torque value "72N", the overheat alarm "none" and whether the action is successful "successful" are displayed.

[0061] The robot control device 1 extracts the item number "2" having a cycle time "500mm / s" which is closer to the cycle time "25s" of the recommended motion speed "400mm / s" from the item numbers "1" and "2" associated with the overheat alarm "Yes" through the processing of the search unit 25. Then, the motion speed "500mm / s" associated with the item number "2" is determined as the motion speed associated with the overheat alarm "Yes". Figure 8 As shown, the action speed "500mm / s", the index value "0", the cycle time "20s", the torque value "91N", the overheat alarm "yes" and whether the action is successful "no" are displayed as the setting history records associated with the overheat alarm "yes".

[0062] The configuration of the search screen 100 is not limited to this embodiment.

[0063] In this embodiment, the motion speed, the index value associated with the motion speed, the torque value, the presence or absence of an overheat alarm, and whether the motion is successful are displayed, but the user only needs to be able to understand at least the motion speed, so only the motion speed may be displayed.

[0064] In this embodiment, in order to assist the user in setting the motion speed, the recommended motion speed and the motion speed associated with the overheat alarm "yes" are displayed, but the user only needs to be able to understand at least the recommended motion speed, so only the recommended motion speed may be displayed.

[0065] In this embodiment, only one recommended motion speed is displayed, but multiple motion speeds may be displayed in the recommended order. In addition, multiple motion speeds associated with the overheat alarm "yes" may be displayed instead of one. Furthermore, the motion speed associated with whether the action is successful "no" may also be displayed.

[0066] In the present embodiment, the search item is selected from the pull-down menu, but a search field may be provided so that the user can freely input the search condition in the search field.

[0067] Below, refer to Fig. 9 , the simulation screen 200 generated by the screen generation unit 26 is described. In the simulation screen 200, by Figure 8 The user operates the check boxes 135 and 145 displayed on the search screen 100 shown in the figure, selects the motion speed, and clicks the playback button 150 to display it. Fig. 9As shown, the simulation screen 200 includes a moving image display area 210 for displaying a simulated moving image, an operation area 220 for displaying a play / pause button 221, a replay button 223, and a fast forward button 225 for operating the simulated moving image, and a return button 230 for returning to the search screen 100. The moving image display area 210 displays a virtual space generated by the virtual space generation unit 21 and configured with a robot model 8' and a workpiece model W' by the model configuration unit 22. The robot model 8' moves by the processing of the simulation execution unit 23. The user can confirm the movement of the robot 8 when the overheat alarm occurs through simulation by selecting the check box 145 corresponding to the movement speed associated with the overheat alarm "Yes" in the search screen 100.

[0068] According to the robot control device 1 of this embodiment, the following effects are achieved. One feature of the robot control device 1 of this embodiment is that the motion speed of the motion program is stored in association with an index value representing the motion state of the robot that moves according to the motion speed. The index value representing the motion state of the robot is a value obtained by digitizing the state of the robot in motion and the motion result of the robot according to a prescribed rule. The prescribed rules include whether to attach importance to cycle time or to fine motion.

[0069] For example, the robot control device 1 can calculate the index value after increasing the influence of the cycle time. Therefore, for users who attach importance to the cycle time, the robot control device 1 calculates the maximum index value, that is, the action speed of the setting history record with priority to the cycle time can be prompted as the recommended action speed. Similarly, the robot control device 1 can calculate the index value after increasing the influence of the torque value. Therefore, for users who attach importance to fine movements, the robot control device 1 calculates the maximum index value, that is, the action speed of the setting history record with priority to the torque value can be prompted as the recommended action speed.

[0070] The robot control device 1 associates an index value representing the motion state of the robot 8 that moves according to the motion speed with the motion speed, so that the user can retrieve the motion speed corresponding to the desired item based on the index value. As a result, even if a large number of setting history records are maintained, the user can easily extract the desired motion speed by searching, and the time to find the desired setting history records from the past setting history records can be shortened. Therefore, the robot control device 1 can maintain the motion speed of the robot 8 when the motion fails, which is generally deleted due to a slow cycle time, an excessive load applied to the robot 8, an abnormal motion, an unsuccessful motion, etc., together with the motion speed set to an appropriate value as know-how. In this way, maintaining the motion speed of the robot 8 when the motion fails is also one of the important features of the robot control device 1 of this embodiment.

[0071] According to this feature, the robot control device 1 can not only prompt the user the motion speed set to an appropriate value, but also prompt the user the motion speed set to an inappropriate value when the motion of the robot 8 fails. For example, if the information prompted by the robot control device 1 is only the recommended motion speed, it is difficult for the user to change the motion speed. This is because even if the user understands the recommended motion speed, he cannot understand to what extent the motion speed can be increased. In this case, the user needs to test run the robot 8 while changing the motion speed to understand to what extent the motion speed can be increased.

[0072] On the other hand, as in the present embodiment, the recommended motion speed and the motion speed when the motion of the robot 8 fails are displayed as reference motion speeds together with the main cause of the failure and the countermeasures to the failure, thereby enabling the user to understand to what extent the motion speed will fail and the countermeasures to the failure. Therefore, the user refers not only to the recommended motion speed set in the past but also to the motion speed when the motion of the robot 8 fails set in the past, thereby enabling the user to discuss and decide in detail the motion speed in the current setting.

[0073] Thus, according to the robot control device 1 of this embodiment, the operator can grasp the motion parameters tried in the past, the cycle time of the robot 8 operated according to the motion parameters, the torque value, the presence or absence of motion abnormality, and whether the motion is successful as the know-how. Thus, it is not necessary to test run the robot 8 with the same motion parameters, and the teaching work can be performed efficiently.

[0074] In the robot control device 1 of the present embodiment, after the robot 8 moves according to the action program, an index value representing the action state of the robot is calculated as the result of the action. However, the robot control device 1 may also calculate a plurality of index values ​​corresponding to a plurality of time points during the period when the robot 8 moves according to the action program. By obtaining the time change of the index value, the time point at which the index value is low can be determined as the time point at which the action fails. Thus, the action of the robot 8 at the time point at which the action fails and the positional relationship between the robot 8 and surrounding objects such as the workpiece can be displayed in the simulation screen 200, and the operator can visually confirm the simulation screen 200 and more intuitively grasp the cause of the failure.

[0075] The embodiments of the present disclosure are described in detail, but the present disclosure is not limited to the above-mentioned embodiments. These embodiments can be variously added, replaced, changed, partially deleted, etc. within the scope of the main idea of ​​the invention or derived from the contents recorded in the claims and their equivalents without exceeding the scope of the idea and main idea of ​​the present invention. For example, in the above-mentioned embodiments, the order of each action or the order of each process is shown as an example, but it is not limited to this. In addition, the same is true when numerical values ​​or formulas are used in the description of the above-mentioned embodiments.

[0076] Description of Reference Numerals 1: Robot control device, 7: Robot device, 8: Robot, 9: Force sensor, 100: Search screen, 110: Search condition display area, 112, 114: Pull-down menu, 120: Search result display area, 130: Recommended motion speed display area, 140: Motion speed display area associated with overheat alarm "yes", 135, 145: Check box, 150: Playback button.

Claims

1. A robot control device for controlling a robot having a sensor, wherein: have: a storage unit for storing parameters for setting the motion of the robot in association with index values ​​representing a motion state of the robot in accordance with the parameters; A retrieval unit, which retrieves the parameter based on the index value; as well as The display unit displays the retrieved parameters.

2. The robot control device according to claim 1, wherein: The parameters and the index values ​​are stored in the storage unit in association with the cycle time of the robot, output values ​​of sensors equipped on the robot or values ​​derived from the output values, the presence or absence of abnormal operation, and the degree indicating whether the operation is successful.

3. The robot control device according to claim 2, wherein: There is also a calculation unit that calculates the index value based on the cycle time, the output value of the sensor or a value derived from the output value, a value assigned to the presence or absence of abnormality in the action, and a value assigned to the degree of success of the action.

4. The robot control device according to claim 3, wherein: According to the importance input by the user, the respective weights of the cycle time, the output value of the sensor or the value derived from the output value, the value assigned to the presence or absence of an abnormal action, and the value assigned to whether the action is successful are changed relative to the indicator value.

5. The robot control device according to claim 2, wherein: The display unit displays the retrieved parameter, the index value associated with the retrieved parameter, the cycle time, the output value of the sensor or a value derived from the output value, the presence or absence of abnormality in the action, and a degree indicating whether the action is successful.

6. The robot control device according to claim 2, wherein: The display unit displays a moving image that reproduces the movement of the robot when the movement is unsuccessful, based on the parameter associated with the failure of the movement.

7. The robot control device according to claim 2, wherein: The search unit searches for the parameter associated with success of the action and the parameter associated with failure of the action.

8. The robot control device according to claim 7, wherein: The display unit displays the parameter associated with the failure of the action and a countermeasure method for making the action successful.

9. The robot control device according to claim 2, wherein: The degree of success of the action is represented by input according to the user's instruction.

10. A robot control system, wherein a robot control device for controlling a robot having a sensor is connected to an information processing device via a network, wherein: The robot control device has: a storage unit for storing parameters for setting the motion of the robot in association with index values ​​representing the motion state of the robot in accordance with the parameters; a retrieval unit that retrieves the parameter based on the index value, and A display unit, which displays the retrieved parameters; The parameters and the index values ​​stored in the storage unit are shared with the information processing device.

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