Control device and display device

Abstract

The invention relates to a control device and a display device, and provides a control device capable of immediately mastering the change over time of an actual measurement value of operation information related to an error when the error occurs. A control device is characterized by being provided with: an acquisition unit that acquires operation information over time of a robot arm in which a plurality of arms are rotatably connected; a determination unit that, when an error has occurred in the operation of the robot arm, determines the type of the error on the basis of the operation information; and a display control unit that, on the basis of error information in which the operation information and the type of the error are associated, controls a display unit such that the display unit displays information on the change over time of the measured value of the operation information corresponding to the type of the error determined by the determination unit.

Description

Technical Field

[0001] The present invention relates to a control device and a display device. Background Art

[0002] In recent years, due to skyrocketing labor costs and labor shortages in factories, robots with robotic arms have begun to be used to handle tasks such as the handling, manufacturing, processing, assembly, and inspection of workpieces like mechanical parts, leading to the automation of previously manual tasks. However, errors can occur in the driving of these robotic arms. These errors can range from abnormal speeds and positions of various robot components to abnormal output torque.

[0003] Patent Document 1 discloses a display device that notifies an operator of the occurrence of the aforementioned error. The display device displays various graphical information such as the current value, position, velocity, acceleration, position deviation, velocity deviation, and acceleration deviation of the motors of various robot components when the aforementioned error occurs.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2021-091078

[0005] However, the display device of Patent Document 1 has a problem in that it is difficult to intuitively understand what kind of error has occurred by simply displaying the various information described above. Summary of the Invention

[0006] The control device of the present invention includes: an acquisition unit that acquires temporal motion information of a robot arm in which a plurality of arms are rotatably connected;

[0007] a determination unit that, when an error occurs in the operation of the robot arm, determines a type of the error based on the motion information; and

[0008] The display control unit controls the display unit based on the error information associating the operation information with the error type so that the display unit displays information on a temporal change in the actual measurement value of the operation information corresponding to the error type determined by the determination unit.

[0009] A display device according to the present invention is a display device controlled by a control device, the control device comprising: an acquisition unit for acquiring temporal motion information of a robot arm comprising a plurality of arms rotatably connected; and a determination unit for determining, when an error occurs in the operation of the robot arm, the type of the error based on the motion information. The display device is characterized by comprising:

[0010] a display unit; and

[0011] The display control unit controls the display unit based on error information associating the action information with the error type so that the display unit displays information on a temporal change in the actual measurement value of the action information corresponding to the error type determined by the determination unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic structural diagram of a robot system including the control device of the present invention.

[0013] Figure 2 yes Figure 1 Block diagram of the robotic system shown.

[0014] Figure 3 It shows Figure 1 FIG. 1 is a diagram showing an example of a notification image displayed on the display unit shown.

[0015] Figure 4 This is a diagram showing an example of error information in which action information and error types are associated with each other.

[0016] Figure 5 This is a diagram showing an example of data for creating a graph of information indicating temporal changes in actual measurement values ​​of motion information.

[0017] Description of Reference Numerals

[0018] 1: Robot system; 2: Robot; 8: Robot control device; 10: Control device; 21: Base; 22: Robot arm; 23: First arm; 24: Second arm; 25: Working head; 26: End effector; 27: First joint actuator; 27A: Motor; 28: Second joint actuator; 28A: Motor; 40: Display unit; 40B: Display control unit; 81: Control unit; 82: Storage unit; 83: Communication unit; 90A: Determination unit; 90B: Display control unit; 91: Control unit; 92: Storage unit; 93: Communication unit; 25 1: Spline nut; 252: Ball screw nut; 253: Spline shaft; 291: First drive mechanism; 291A: Motor; 292: Second drive mechanism; 292A: Motor; B: Switch button; D: Notification screen; D1: First area; D2: Second area; D3: Third area; G: Graph; H0: Ideal value; H1: Measured value; J1: First rotation axis; J2: Second rotation axis; J3: Third rotation axis; L: Longitudinal line; P: Action program; P1: Unit action program; PA: Parameter; SG: Simulation image; T: Time. DETAILED DESCRIPTION

[0019] Implementation Method

[0020] Figure 1This is a schematic structural diagram of a robot system including the control device of the present invention. Figure 2 yes Figure 1 Block diagram of the robotic system shown. Figure 3 It shows Figure 1 FIG. 1 is a diagram showing an example of a notification image displayed on the display unit shown. Figure 4 This is a diagram showing an example of error information in which action information and error types are associated with each other. Figure 5 This is a diagram showing an example of data for creating a graph of information indicating temporal changes in actual measurement values ​​of motion information.

[0021] Hereinafter, a control device and a display device according to the present invention will be described in detail based on preferred embodiments shown in the accompanying drawings.

[0022] It should be noted that, for the sake of convenience, the following description of the robot arm will be Figure 1 The side of the base 21 in the figure is referred to as the “base end”, and the opposite side, that is, the side of the end effector 26 is referred to as the “front end”.

[0023] like Figure 1 As shown, the robot system 1 includes a robot 2 , a robot control device 8 for controlling the robot 2 , and a control device (display unit control device) 10 according to the present invention.

[0024] First, the robot 2 will be described.

[0025] Figure 1 The robot system 1 shown comprises a robot 2 , a robot control device 8 which controls the drives of the robot 2 , and a control device 10 .

[0026] The robot 2 in the illustrated robot system 1 is a horizontal multi-joint robot that drives a robotic arm 22 with desired motions, such as for carrying, assembling, and inspecting workpieces such as electronic components, or performing various operations such as processing and painting workpieces using tools (hereinafter collectively referred to as "operations"). However, the use of the robot 2 is not particularly limited. Furthermore, the robot 2 of the present invention may also be, for example, a six-axis multi-joint robot, an orthogonal robot incorporating linear slides, or a dual-arm robot, in addition to a horizontal multi-joint robot.

[0027] like Figure 1 As shown, the robot 2 includes a base 21 as a base portion and a robot arm 22 rotatably connected to the base 21. The base 21 is fixed to the ground parallel to the horizontal plane.

[0028] The robot arm 22 includes: a first arm 23, whose base end is connected to the base 21 and rotates relative to the base 21 around a first rotation axis J1 along the vertical direction; and a second arm 24, whose base end is connected to the front end of the first arm 23 and rotates relative to the first arm 23 around a second rotation axis J2 along the vertical direction.

[0029] A working head 25 is provided at the front end of the second arm 24. The working head 25 includes a spline nut 251 and a ball screw nut 252 coaxially arranged at the front end of the second arm 24, and a spline shaft 253 inserted through the spline nut 251 and the ball screw nut 252. The spline shaft 253 is rotatable relative to the second arm 24 about its central axis, i.e., a third rotation axis J3 extending in the vertical direction, and is also movable upward and downward along the third rotation axis J3.

[0030] The end effector 26 is mounted on the lower end of the spline shaft 253. The end effector 26 is selected from any one that is detachable and suitable for the intended operation. Examples of the end effector 26 include an end effector capable of holding a workpiece or a tool.

[0031] The robot 2 has: a first joint actuator 27 connecting the base 21 and the first arm 23, so that the first arm 23 rotates around the first rotation axis J1 relative to the base 21; and a second joint actuator 28 connecting the first arm 23 and the second arm 24, so that the second arm 24 rotates around the second rotation axis J2 relative to the first arm 23.

[0032] The robot 2 also includes a first drive mechanism 291 that rotates the spline nut 251 to rotate the spline shaft 253 about the third rotation axis J3 , and a second drive mechanism 292 that rotates the ball screw nut 252 to move the spline shaft 253 up and down in a direction along the third rotation axis J3 .

[0033] The first joint actuator 27 includes a motor 27A as a first motor, a speed reducer (not shown), an encoder, and the like (not shown). The second joint actuator 28 includes a motor 28A as a second motor, a speed reducer (not shown), an encoder, and the like (not shown). The first drive mechanism 291 includes a motor 291A, a speed reducer (not shown), an encoder, and the like (not shown). The second drive mechanism 292 includes a motor 292A, a speed reducer (not shown), an encoder, and the like (not shown).

[0034] like Figure 2 As shown, motor 27A, motor 28A, motor 291A, and motor 292A are electrically connected to robot control device 8 via motor drivers (not shown). Robot control device 8 controls the power supply conditions, i.e., the amount of power supplied and the timing of power supply, from a power supply (not shown) to each motor 27A, motor 28A, motor 291A, and motor 292A via each motor driver. This allows the operation of robot arm 22 to be controlled so that each arm can be adjusted to a desired posture.

[0035] Each encoder is electrically connected to the robot controller 8. Each encoder detects the rotational position information of the corresponding motor and transmits it to the robot controller 8. Based on the rotational position information received from the encoders, the robot controller 8 controls the power supply conditions to the motors 27A, 28A, 291A, and 292A. By understanding the rotational position of each motor 27A, 28A, 291A, and 292A, the robot controller 8 can accurately perform the desired motion by controlling the operation of the robot arm 22.

[0036] like Figure 1 As shown, in this embodiment, the robot control device 8 is built into the base 21. However, it is not limited to this structure, and the robot control device 8 can also be set at a position away from the robot 2. In addition, the robot control device 8 has the function of controlling the drive of the robot 2 and is electrically connected to the various parts of the robot 2 mentioned above. Figure 2 As shown, the robot control device 8 includes a control unit 81, a storage unit 82, and a communication unit 83. These units are connected to each other so as to be communicable, for example, via a bus.

[0037] The control unit 81 is comprised of, for example, a CPU (Central Processing Unit), and reads and executes various programs, such as the motion program P, stored in the storage unit 82. Signals generated by the control unit 81 are transmitted to various components of the robot 2 via the communication unit 83, and signals from various components of the robot 2 are received by the control unit 81 via the communication unit 83. This enables the robot arm 22 to perform predetermined tasks under predetermined conditions.

[0038] The storage unit 82 stores various programs executed by the control unit 81. Examples of the storage unit 82 include volatile memory such as RAM (Random Access Memory), nonvolatile memory such as ROM (Read Only Memory), and a detachable external storage device.

[0039] The communication unit 83 uses an external interface such as a wired LAN (Local Area Network) or a wireless LAN to transmit and receive signals with various components of the robot 2. In this case, communication can be performed via a server (not shown) or a network such as the Internet.

[0040] Next, the control device 10 of the present invention will be described.

[0041] like Figure 1 as well as Figure 2As shown, the control device 10 is a display control device that controls the operation of the display unit 40. In this embodiment, the control device 10 is a tablet-type terminal built into the device body having the display unit 40. However, this configuration is not limiting; the control device 10 may also be built into a laptop computer, desktop computer, teaching pendant, smartphone, or the like. Furthermore, the control device 10 may be built into or integrated with the aforementioned robot control device 8, or may be configured as part of the robot control device 8.

[0042] The display unit 40 is a display composed of a touch panel. An operator (user) can input various information by observing an image displayed on the display unit 40 or performing a desired touch operation (hereinafter referred to as "operation") with his or her finger or a touch pen.

[0043] The display unit 40 is composed of, for example, liquid crystal, organic EL, or the like, and has, in addition to displaying information, touch-based operation functions (input functions). The display unit 40 can display display screens and operation screens in color or monochrome. The touch panel in the display unit 40 can be either pressure-sensitive or capacitive.

[0044] The control device 10 includes a control unit 91, a storage unit 92, and a communication unit 93. These are provided in the device body.

[0045] The control unit 91 is composed of at least one processor, such as a CPU (Central Processing Unit), and reads and executes various programs, such as teaching programs, stored in the storage unit 92. The control unit 91 also has functions such as determining whether the robot 2 has an error, determining the type of error, and controlling the operation of the display unit 40.

[0046] Among the processors included in the control unit 91, the one that determines whether the robot 2 has experienced an error and the type of error is the determination unit 90A. Among the processors included in the control unit 91, the one that controls the operation of the display unit 40 is the display control unit 90B. These functions will be described in detail later.

[0047] The storage unit 92 stores various programs and the like that can be executed by the control unit 91. Examples of the storage unit 92 include a volatile memory such as RAM (Random Access Memory), a nonvolatile memory such as ROM (Read Only Memory), and a detachable external storage device.

[0048] The communication unit 93 transmits and receives signals with the display unit 40 and external devices such as the robot control unit 8 in a wired or wireless manner, using an external interface such as a wired LAN (Local Area Network) or a wireless LAN. In this case, communication can be performed via a server (not shown) or a network such as the Internet.

[0049] The communication unit 93 functions as an acquisition unit to acquire information representing various temporal changes related to the movements of the various parts of the robot arm 22. That is, the acquisition unit acquires temporal movement information of the robot arm 22. The communication unit 93 acquires temporal movement information of the robot arm 22 via the robot control device 8. The temporal movement information referred to here refers to information that changes over time. In other words, it refers to information about changes in numerical values ​​and data acquired by the communication unit 93 by starting the robot or driving the robot arm 22. As the movement information, for example, there is information related to the speed of each part of the robot arm 22, information related to the position and posture of each part of the robot arm 22, and information related to the torque of each part of the robot arm 22. In addition, the movement information may also include other information.

[0050] Information related to the speed of each component of the robot arm 22 includes at least one of information related to the rotational speed of the first arm 23 relative to the base 21, the rotational speed of the second arm 24 relative to the first arm 23, the rotational speed of the work head 25, and the lifting speed of the work head 25; and information related to the acceleration in the rotational direction of the first arm 23 relative to the base 21, the acceleration in the rotational direction of the second arm 24 relative to the first arm 23, the acceleration in the rotational direction of the work head 25, and the acceleration during the lifting and lowering of the work head 25. In this embodiment, all of these are included. This information can be obtained, for example, based on encoder values ​​of encoders connected to each of the motors 27A, 28A, 291A, and 292A, or output values ​​of sensors such as speed sensors and acceleration sensors.

[0051] Information regarding the position and posture of each part of the robot arm 22 includes information regarding the rotational position of the first arm 23 relative to the base 21, the rotational position of the second arm 24 relative to the first arm 23, the rotational position of the work head 25, and the vertical position of the work head 25. This position information can be obtained based on, for example, encoder values ​​of encoders connected to the motors 27A, 28A, 291A, and 292A, respectively.

[0052] The information related to the torque of each part of the robot arm 22 is information related to the output torque of the first joint actuator 27, the second joint actuator 28, the first drive mechanism 291, and the second drive mechanism 292. The information related to the output torque can be obtained based on, for example, the current values ​​of the motor 27A, the motor 28A, the motor 291A, and the motor 292A, and the output value of a torque sensor (not shown).

[0053] The communication unit 93 acquires these pieces of information over time, and the acquired information is stored in the storage unit 92 at any time.

[0054] Here, there are cases where errors occur in the operation of various parts of the robot arm 22 during the operation of the robot arm 22. Errors include various types such as speed abnormality, torque abnormality, position abnormality, collision with other objects, etc. When such an error occurs in the robot 2, the control device 10 causes the display unit 40 to display Figure 3 The notification screen D is shown as shown. The notification screen D is described below.

[0055] In the control device 10, the communication unit 93, serving as an acquisition unit, acquires temporal motion information of the robot arm 22 during the robot arm 22's operation. Specifically, the communication unit 93 acquires the motion information over time during the robot arm 22's operation. "Acquiring motion information over time" includes a configuration that constantly acquires motion information and a configuration that constantly acquires motion information at predetermined intervals (e.g., 1 ms).

[0056] Then, the determination unit 90A determines whether an error has occurred in the operation of the robot arm 22 based on the temporal motion information of the robot arm 22 , and if an error has occurred in the operation of the robot arm 22 , determines the type of error based on the motion information.

[0057] Whether an error has occurred during the operation of the robot arm 22 is determined based on the following judgments. For example, the information regarding the speed of each component of the robot arm 22 determines whether the acquired speed has deviated from a specified value or more (judgment 1); the information regarding the position and posture of each component of the robot arm 22 determines whether the acquired position information has deviated from a specified value or more (judgment 2); and the information regarding the torque of each component of the robot arm 22 determines whether the acquired torque has deviated from a specified value or more (judgment 3).

[0058] In this embodiment, these three judgments are performed, but a configuration may be employed in which only one or two of the judgments are performed. In addition, other judgments may also be performed.

[0059] When the determination unit 90A determines that an error has occurred during the operation of the robot arm 22, it determines the type of error based on the motion information. Specifically, the error type is determined based on which of the three determinations, 1, 2, or 3, the error was determined. For example, if an error is determined in determination 1, it is determined that an abnormality has occurred in the speed of each component of the robot arm 22. An error may be determined in only one of the three determinations, or in two or three of the three determinations.

[0060] The display control unit 90B is based on Figure 4 The error information shown is generated, and the operation of the display unit 40 is controlled to display it on the display unit 40.

[0061] like Figure 4 As shown, the error information is information that associates action information with error types, and is stored as a table in the storage unit 82, for example. It should be noted that the error information may be stored in a storage device other than the storage unit 82.

[0062] exist Figure 4 In the example shown, error information is stored in association with the action information of "position", "speed", and "torque", respectively, by the type of error ("trajectory generation related", "position related", "speed related", "torque, current related"), the error number, and the displayed message.

[0063] The “trajectory generation related” and “position related” items are related to the positions of the various parts of the robot 22 , the “speed related” items are related to the speed information of the robot 22 , and the “torque, current related” items are related to the torque information of the robot 22 .

[0064] Based on such error information, the display control unit 90B generates the following notification screen D and displays it on the display unit 40 .

[0065] like Figure 3 As shown, the notification screen D has a first area D1 displaying a graph G, a second area D2 displaying a simulation image SG of the robot 2, and a third area D3 displaying an action program P. The first area D1 is located at Figure 3 The second area D2 is located in the lower right corner Figure 3 The third area D3 is located on the upper side of the first area D1. Figure 3 The position on the left side of the first area D1 and the second area D2.

[0066] In this embodiment, the display positions of the first area D1, the second area D2 and the third area D3 in the notification screen D are: the first area D1 is Figure 3 In the lower right part, the second area D2 is Figure 3In the upper right part, the third area D3 is Figure 3 The left side is located in the middle, but the present invention is not limited to this configuration.

[0067] In addition, in the notification screen D, the first area D1, the second area D2 and the third area D3 are displayed in one window at the same time, but the present invention is not limited to this. It can be a structure in which these areas are displayed in one window at any time, especially in a prescribed order, or it can be a structure in which these areas are displayed selectively.

[0068] When the first area D1 , the second area D2 , and the third area D3 are selectively displayed on the notification screen D, the notification screen D may include selection buttons (not shown) for selecting these areas.

[0069] Alternatively, the first area D1, the second area D2, and the third area D3 may be displayed in different windows, respectively. In this case, operations such as enlarging, reducing, and moving each window can be performed.

[0070] like Figure 3 As shown, a graph G is displayed in the first area D1. The horizontal axis of the graph G represents time T, and the vertical axis represents motion information. In the example shown, the vertical axis represents the actual rotational speed H1 of the portion where the error occurred. That is, the graph G shows the temporal changes in motion information.

[0071] One graph G is displayed in the first area D1 , but two or more graphs G may be displayed simultaneously, two or more graphs G may be displayed overlappingly, or two or more graphs G may be displayed at any time or selectively.

[0072] The measured value at the time the error occurred is highlighted on Graph G. Specifically, the location where the measured value H1 at the time the error occurred is highlighted on Graph G. In the example shown, a vertical line L is displayed on Graph G at the location where the error occurred, i.e., at time T. This allows the user to immediately grasp the measured value H1 at the time the error occurred. Note that the area where the error occurred is not limited to a straight line; the area where the error occurred can also be surrounded by a square or circle, or colored.

[0073] Furthermore, since the temporal change of the actual measurement value H1 of the operation information related to the error can be immediately grasped, the degree of abnormality of the operation information can be immediately grasped.

[0074] In addition to the actual value H1, the speed command value, that is, the ideal value H0, is also displayed over time in Graph G. This makes it possible to clearly understand how much the actual value H1 deviates from the ideal value H0 when an error occurs.

[0075] It should be noted that, although not shown, depending on the type of error, the measured values ​​of acceleration or torque of each part of the robot arm 22 may be displayed as the vertical axis.

[0076] Furthermore, a switch button B is displayed in the first area D1. Switch button B switches, for example, between a mode displaying the horizontal axis in time and a mode displaying the horizontal axis in frequency. Specifically, by operating switch button B, the type and unit of the horizontal and vertical axes of the displayed graph G can be switched. This allows the operator to switch to a type of graph G that is easier to understand or a type desired by the operator, depending on the type of error-related action information.

[0077] In this embodiment, the switch button B is displayed in the first area D1 closer to the graph G. Figure 3 The position of the switch button B is in the lower middle right side, but the display position of the switch button B is not limited to this.

[0078] In this way, by displaying a graph G showing the temporal changes in the measured value H1 of the action information related to the error, depending on the type of error, the operator can immediately grasp the temporal changes in the measured value H1 of the action information related to the error at the time the error occurred. Consequently, subsequent processing, such as correction of the action program P, removal of obstacles, and maintenance of the robot arm 22, can be appropriately and quickly performed. This embodiment does not display information with low relevance to the content of the error that has occurred on the display unit 40, as has been the case in the past. That is, this embodiment does not display all of the multiple types of action information acquired by the acquisition unit. Therefore, since the operator can prioritize information that is likely to be the main cause of the error, it is possible to quickly correct the error.

[0079] Chart G is based on Figure 5 Generated by the data shown. Figure 5 The data shown is data that stores the type of error, display data example, display interval (interval of the scale of the horizontal axis of the graph G), and the time of retrospective display in association with each other. The display control unit 90B displays a graph corresponding to the type of error in the first area D1. At this time, the graph is displayed with a display interval corresponding to the displayed graph and a time of retrospective display. In addition, when the operator operates the switching button B and selects another graph, the graph is displayed with a display interval corresponding to the selected graph and a time of retrospective display. It should be noted that the display interval and the time of retrospective display are not limited to Figure 5 The value recorded can also be set by the operator.

[0080] like Figure 3As shown, the second area D2 displays a simulation image SG of the robot 2. In the present embodiment, the simulation image SG is a three-dimensional image (3D Model) of the robot.

[0081] The robot 2 in the simulation image SG is displayed in the posture when the error occurred. This allows the robot 2 to be understood at a glance in what posture the error occurred.

[0082] Although not shown in the figure, the type of error and the location where the error occurred may be displayed in the simulation image SG.

[0083] The simulation image SG may be a still image or a moving image, or may be configured to switch between still images and moving images for display by arbitrary operations.

[0084] In the dynamic image simulation image SG, by showing Figure 3 The "Play", "Stop" and "Speed" buttons at the upper portion of the second area D2 can be used to play back, stop and set the playback speed of the moving image.

[0085] When the simulation image SG is displayed as a moving image, the posture before and after the error occurs can also be grasped, and the error can be grasped more accurately.

[0086] like Figure 3 As shown, the robot program, that is, the motion program P, is displayed in the robot language in the third area D3. However, the present invention is not limited to this configuration, and the program may be displayed in another language, for example, C language.

[0087] The action program P is composed of a collection of unit action programs P1. The third area D3 displays the action program P, including the unit action program P1 associated with the error. In the illustrated structure, the "robot_move_func" item is displayed, and the text "Go P (pos)" indicating the location where the error occurred is displayed in bold and in a different color from the surrounding text. This structure allows users to immediately identify the unit action program P1 executing which error occurred.

[0088] The third area D3 displays the parameters PA set in the action program P. Specifically, Figure 3 Below the action program P, the text "Parameter" is displayed, and below that, a table is displayed. "vel" is set to 50, and "pos" is set to 1. "vel" and "pos" are variables used in the action program P, and you can understand how to set these values. Furthermore, by checking the parameter PA in the chart G and understanding the degree of error, you can easily understand the appropriateness of the parameter PA and how to correct it.

[0089] In addition, Figure 3 The upper portion of the third area D3 displays "Event" and the right side displays "3002 Speed ​​deviation abnormality." That is, the error number and error type are displayed.

[0090] As described above, the display control unit 40B refers to Figure 4 These characters are displayed by selecting and displaying them at the same time as the error message shown.

[0091] It should be noted that, in the present invention, the second area D2 is not necessarily present. That is, the simulation image SG may not be displayed on the notification screen D. Furthermore, in the present invention, the third area D3 is not necessarily present. That is, the action program P and parameters PA may not be displayed on the notification screen D.

[0092] As described above, the control device 10 includes: a communication unit 93 as an acquisition unit that acquires temporal motion information of the robot arm 22, which comprises a plurality of arms, namely, a first arm 23, a second arm 24, and a work head 25, connected in a rotatable manner; a determination unit 90A that, when an error occurs in the operation of the robot arm 22, determines the type of error based on the motion information; and a display control unit 90B that controls the display unit 40 based on error information that associates the motion information with the error type, so that the display unit 40 displays information on temporal changes in the measured value H1 of the motion information corresponding to the error type determined by the determination unit 90A. Thus, since the displayed motion information is changed according to the error type, the operator can immediately grasp the temporal changes in the measured value H1 of the motion information related to the error when the error occurs. Consequently, since the display unit 40 displays less relevant data, the operator can prioritize necessary motion information and perform subsequent processing accurately and quickly.

[0093] Note that, although the graph G is displayed as an example of information on temporal changes in the measured value H1 of the motion information, the present invention is not limited thereto, and other display formats such as a bar graph or a pie chart may also be used.

[0094] Note that the information on the temporal change of the measured value H1 of the motion information is not limited to the graph G, and may be a table or the like that numerically displays the measured value over time.

[0095] The motion information is at least one of the speed, acceleration, and torque of the first arm 23, the second arm 24, and the work head 25, which form the arms of the robot 22. The arm speed, acceleration, and torque are important parameters and are also prone to errors. By acquiring and displaying information on the measured values ​​H1 over time for these parameters, operators can understand the specific or detailed nature of the error.

[0096] In the present invention, the action information may include information related to items other than the above three types, or other information. In addition, the action information may be any one or two of the above three types of information.

[0097] The information on the temporal change is a graph G with time represented on the horizontal axis and the measured value H1 represented on the vertical axis. This allows for more intuitive understanding of the temporal change in the measured value H1 of the operation information related to the error when an error occurs.

[0098] The display control unit 90B controls the display unit 40 so as to highlight the actual measurement value H1 at the time when the error occurred in the graph G. This allows the position where the error occurred to be grasped more quickly in the displayed graph G.

[0099] The display control unit 90B controls the display unit 40 to display the operating program P including the unit operating program P1 related to the error. This allows the operator to understand the unit operating program P1 related to the error. Consequently, the operator can easily determine the appropriateness of the program and can also modify the program appropriately.

[0100] The display control unit 90B controls the display unit 40 to highlight the unit action program P1 associated with the error. This allows the operator to more accurately identify the unit action program P1 associated with the error. Consequently, the operator can easily determine the appropriateness of the unit action program P1 within the action program P and can appropriately modify the unit action program P1 or its preceding and following unit action programs P1.

[0101] Alternatively, the robot system 1 may include a display device such as a teaching pendant and the control device 10. In this case, the display device is controlled by the control device 10 and includes a display unit 40 and a display control unit 90B. Based on error information that associates motion information with error types, the display unit 40 is controlled to display information about the temporal changes in the measured value H1 of the motion information corresponding to the error type determined by the determination unit 90A. This allows the operator to immediately grasp the temporal changes in the measured value H1 of the motion information related to the error when an error occurs. Furthermore, since the display unit 40 displays less relevant data, the operator can prioritize necessary motion information and perform subsequent processing accurately and quickly.

[0102] As described above, the display device is controlled by the control device 10. The control device 10 includes a communication unit 93 as an acquisition unit that acquires temporal motion information of the robot arm 22, which includes a first arm 23, a second arm 24, and a work head 25, which are rotatably connected. A determination unit 90A determines the type of error based on the motion information when an error occurs in the operation of the robot arm 22. The display device includes a display unit 40 and a display control unit 90B that controls the display unit 40 based on error information that associates the motion information with the error type, so that the display unit 40 displays information on the temporal change of the measured value H1 of the motion information corresponding to the error type determined by the determination unit 90A. Thus, since the displayed motion information is changed according to the error type, the operator can immediately grasp the temporal change of the measured value H1 of the motion information related to the error when the error occurs. Furthermore, since the display unit 40 displays less relevant data, the operator can prioritize necessary motion information and perform subsequent processing accurately and quickly.

[0103] The control device 10 of the present invention may be built into a device body having the display unit 40, or may be provided with the display unit 40. In these cases, the control device 10 of the present invention may be referred to as a display device. Furthermore, the control device 10 is not limited to being integral with the display unit 40. The control device 10 and the display unit 40 may be separate. In this case, the display unit 40 may be referred to as a display device.

[0104] While the control device and display device of the present invention have been described above based on the illustrated embodiments, the present invention is not limited thereto. Furthermore, the various components of the control device and display device may be replaced with any other structure or the like that can perform the same function. Furthermore, any other structure or the like may be added.

Claims

1. A control device, characterized in that: The control device comprises: an acquisition unit that acquires temporal motion information of a robot arm formed by rotatably connecting a plurality of arms; a determination unit that, when an error occurs in the operation of the robot arm, determines a type of the error based on the motion information; as well as The display control unit controls the display unit based on the error information associating the operation information with the error type so that the display unit displays information on a temporal change in the actual measurement value of the operation information corresponding to the error type determined by the determination unit.

2. The control device according to claim 1, wherein: The motion information is at least one of a velocity, an acceleration, and a torque of the arm.

3. The control device according to claim 1 or 2, wherein: The information on the change over time is a graph in which the horizontal axis represents time and the vertical axis represents the measured value.

4. The control device according to claim 3, wherein: The display control unit controls the display unit to highlight the measured value at the time when the error occurs in the graph.

5. The control device according to claim 1, wherein: The display control unit controls the display unit to display the operating program including the unit operating program related to the error.

6. The control device according to claim 5, wherein: The display control unit controls the display unit to highlight the unit operation program related to the error.

7. A display device, characterized in that: The display device is controlled by a control device, which includes: an acquisition unit that acquires time-dependent motion information of a robot arm formed by connecting a plurality of arms in a rotatable manner; and a determination unit that, when an error occurs in the operation of the robot arm, determines the type of the error based on the motion information. The display device comprises: Display unit; as well as The display control unit controls the display unit based on error information associating the action information with the error type so that the display unit displays information on a temporal change in the actual measurement value of the action information corresponding to the error type determined by the determination unit.

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