Teaching operation board and output method

Abstract

The invention provides a teaching operation board and an output method. The teaching operation board comprises a picture; a prescribed operation detection unit that detects a prescribed operation when the screen cannot be updated; an error detection unit that, when the predetermined operation is detected, detects an error relating to the screen on which the update cannot be performed; a determination unit that determines the content of an output pattern on the basis of the type of error detected by the error detection unit; and an external output unit that outputs the output pattern determined by the determination unit to the outside.

Description

Technical Field

[0001] This disclosure relates to a teaching operation panel and an output method. Background Technology

[0002] A robot system is known, comprising: a robot; a robot control unit that controls the robot; and a teach pendant connected to the robot control unit via a wired or wireless means for inputting operational instructions (e.g., teach operations) for the robot to the robot control unit. See, for example, Japanese Patent Application Publication No. 2018-043307.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-043307 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] Additionally, sometimes the teaching pendant screen fails to update when the user performs teaching operations on the robot. However, the user cannot determine whether the reason for the screen not updating lies with the teaching pendant itself, the robot control device, or the communication equipment. Therefore, investigating the cause of the teaching pendant screen not updating will take time.

[0008] Furthermore, because the teach pendant screen cannot be updated, it is sometimes determined that the user is unable to operate the teach pendant and the teach pendant is restarted. However, in such cases, it is also possible that the teach pendant's storage unit has not stored the situation where the teach pendant screen could not be updated. Therefore, after the teach pendant is restarted, there may be a situation where the user wants to investigate the reason why the screen cannot be updated but is unable to do so.

[0009] Therefore, a teaching control panel and output method are desired that can convey the reason why the screen cannot be updated to the user through means other than the screen, even if the screen cannot be updated.

[0010] Solution for solving the problem

[0011] According to a first aspect of this disclosure, a teaching operation panel is provided, comprising: a screen; a specified operation detection unit that detects a specified operation when the screen cannot be updated; an error detection unit that detects an error related to the screen that cannot be updated when the specified operation is detected; a decision unit that determines the content of an output mode based on the type of error detected by the error detection unit; and an external output unit that outputs the output mode determined by the decision unit to an external source.

[0012] According to other aspects of this disclosure, an output method is provided in which, when the screen of a teach pendant cannot be updated, a predetermined operation is detected; when the predetermined operation is detected, an error related to the screen that cannot be updated is detected; the content of an output mode is determined based on the type of the detected error; and the determined output mode is output to the outside.

[0013] The objectives, features, and advantages of this disclosure will become clearer from the following description of embodiments associated with the accompanying drawings. Attached Figure Description

[0014] Figure 1 It is a block diagram of a system including a teaching operation panel based on the first embodiment.

[0015] Figure 2A It means Figure 1 The first flowchart of the operation of the teaching control panel is shown.

[0016] Figure 2B It means Figure 1 The second flowchart of the operation of the teaching control panel is shown.

[0017] Figure 3 It is a graph that represents the relationship between errors and output modes.

[0018] Figure 4 It is a block diagram of a system including a teaching operation panel based on the second embodiment.

[0019] Figure 5 It means Figure 4 The flowchart shows the actions of the teaching control panel. Detailed Implementation

[0020] Embodiments of this disclosure will now be described with reference to the accompanying drawings. In all the drawings, corresponding components are labeled with common reference numerals.

[0021] Figure 1 This is a block diagram of a system including a teach pendant based on the first embodiment. For example... Figure 1As shown, the robot system 1a based on the first embodiment mainly includes: a robot 10; a robot control device 20, which controls the robot 10 and has a second communication unit 29; and a teaching operation panel 30, which has a first communication unit 39 that can communicate wirelessly or wiredly with the second communication unit 29.

[0022] The second communication unit 29 can be built into the robot control device 20 or externally placed on the robot control device 20. Similarly, the first communication unit 39 can be built into the teach pendant 30 or externally placed on the teach pendant 30.

[0023] Robot 10 can be a vertical jointed robot equipped with multiple drive units M1 to Mn, such as motors. Each drive unit M1 to Mn has a detection unit E1 to En, such as an encoder, for detecting the position and / or speed of the corresponding sensing unit axis. Additionally, although not shown in the accompanying drawings, various sensors, such as temperature sensors, may be included in the drive units M1 to Mn.

[0024] The robot 10, equipped with multiple drive units M1 to Mn, is controlled by a robot control unit 20. As is known, the robot control unit 20 uses the detection results from multiple detection units E1 to En to control the multiple drive units M1 to Mn. The robot control unit 20 is a computer equipped with a CPU (Central Processing Unit), storage unit, etc., interconnected via a bus. The storage unit can be volatile memory or non-volatile memory. Furthermore, the storage unit stores the motion programs used to move the robot 10, as well as various data.

[0025] The robot control device 20 is connected to the teaching pendant 30 via a second communication unit 29 and a first communication unit 39. The second communication unit 29 and the first communication unit 39 communicate wirelessly or via wired means to send and receive data and instructions. The second communication unit 29 and the first communication unit 39 can also be identical devices.

[0026] Typically, the user uses the teach pendant 30 to output commands to the robot control device 20, and the teach pendant 30 causes the robot 10 to move based on the commands. For example... Figure 1 As shown, the teach pendant 30 is a computer equipped with a CPU (Central Processing Unit), a first storage unit 41, a second storage unit 42, etc., interconnected via a bus. The teach pendant 30 can also be a smartphone or a tablet computer. Each storage unit of the first storage unit 41 and the second storage unit 42 can be either volatile memory or non-volatile memory.

[0027] The first storage unit 41 temporarily stores signals and / or data provided from the robot control device 20 through the communication units 29 and 39, and temporarily stores signals and / or data to be provided from the teach pendant 30 to the robot control device 20 through the communication units 29 and 39.

[0028] The second storage unit 42 will be described later. Figure 3 As shown, a table T is stored representing the relationship between errors e and output modes P and P'. Since there are multiple errors e1~en ("n" is a natural number), the second storage unit 42 stores multiple output modes P1~Pn and output modes P'1~P'n, each corresponding to a different error e1~en. The errors e1~en and the output modes P1~Pn and P'1~P'n will be described later.

[0029] The teach pendant 30 has multiple keys 48 for user operation and a screen 49 that updates appropriately based on the operation content of the multiple keys 48 and data sent from the first storage unit 41. The screen 49 can be a liquid crystal panel or an organic display. Alternatively, the multiple keys 48 can be superimposed on the screen 49 in the form of a touch panel.

[0030] like Figure 1 As shown, the CPU of the teach pendant 30 includes a screen output unit 31, which provides content to be output to the screen 49 based on the operation content of multiple keys 48 and data sent from the first storage unit 41. The screen output unit 31 is a controller for the screen 49, and may also be installed separately from the CPU in the teach pendant 30.

[0031] The CPU of the teach pendant 30 also includes a specified operation detection unit 32, which detects specified operations when the screen 49 cannot be updated. The specified operation detection unit 32 determines the type of specified operations A and A'. As a result, as described later, the type of output mode P and P' is determined based on the type of specified operations A and A'.

[0032] In this application specification, "prescribed operation" refers to a specific operation predetermined by the user or manufacturer, and there may be multiple prescribed operations. For example, if the user presses or simultaneously presses the first set of keys 48 in a prescribed order, the prescribed operation detection unit 32 determines that "prescribed operation A" has been performed.

[0033] Similarly, if the user presses the second set of keys 48 in the prescribed order or simultaneously, the prescribed operation detection unit 32 determines that a "prescribed operation A'" different from the prescribed operation A has been performed.

[0034] Alternatively, when the user presses the designated operation key 47a on the teach pendant 30, it is determined that a designated operation A has been performed; when the user presses other designated operation keys 47b on the teach pendant 30, it is determined that a designated operation A' has been performed.

[0035] The CPU of the teach pendant 30 also includes: an error detection unit 33, which detects errors related to the inability to update the screen 49 when a specified operation is detected; and a decision unit 34, which determines the content of the output mode based on the type of error detected by the error detection unit 33. Here, "error" in this application specification refers to "the reason why the screen 49 cannot be updated".

[0036] The CPU of the teach pendant 30 also includes an external output unit 35, which outputs an output mode determined by the decision unit 34 to the outside. The external output unit 35 is connected to a first output unit 45 and / or a second output unit 46. The first output unit 45 and the second output unit 46 output the output mode to the user without using the screen 49 of the teach pendant 30.

[0037] Preferably, the first output unit 45 and the second output unit 46 have different structures. Typically, the first output unit 45 can be a speaker that outputs sound or speech, and the second output unit 46 can be a vibrator that causes the entire teaching pendant 30 to vibrate.

[0038] The screen output unit 31, specified operation detection unit 32, error detection unit 33, decision unit 34, and external output unit 35 of the CPU of the teach pendant 30 are functional modules implemented, for example, by a computer program executed on the CPU. The computer program for performing the processing of the screen output unit 31, specified operation detection unit 32, error detection unit 33, decision unit 34, and external output unit 35 of the CPU of the teach pendant 30 may also be provided in the form of a computer-readable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.

[0039] Figure 2A and Figure 2B It means Figure 1 The flowchart shows the actions of the teach pendant. When the screen 49 of the teach pendant 30 cannot be updated, the CPU of the teach pendant 30 automatically performs... Figure 2A and Figure 2B The content shown. Alternatively, it can be implemented based on the user's actions. Figure 2A and Figure 2B The content shown.

[0040] In step S1, the specified operation detection unit 32 detects whether the user has performed a specified operation using key 48 or specified operation keys 47a and 47b. Then, if the specified operation is detected in step S2a, the process proceeds to step S2b. If no specified operation is detected, the process returns to step S1.

[0041] In step S2b, the operation detection unit 32 determines the type of the prescribed operation. Specifically, if the user presses or simultaneously presses a predetermined first group of keys 48 out of a set of keys 48 in a predetermined order, it is determined that the prescribed operation A has been performed, and the process proceeds to step S3a. Similarly, if the user presses or simultaneously presses a predetermined second group of keys 48 out of a set of keys 48 in a predetermined order, it is determined that the prescribed operation A' has been performed, and the process proceeds to step S3b.

[0042] Alternatively, if the user presses the designated operation key 47a, it is determined that designated operation A has been executed; and if the user presses another designated operation key 47b, it is determined that designated operation A' has been executed. In short, if designated operation A is determined to have been executed, step S3a is executed; if designated operation A' is determined to have been executed, step S3b is executed. Furthermore, the same process is performed if other types of designated operations exist.

[0043] In step S3a, the error detection unit 33 detects at least one error e from a variety of errors e1 to en ("n" is a natural number). For example, error e1 means that the screen output unit 31 has not properly output the content that should be displayed on the screen 49 due to a problem with the associated software. The error detection unit 33 accesses the screen output unit 31 and determines that it is error e1 based on the output content from the screen output unit 31.

[0044] Furthermore, error e2 indicates that the screen output unit 31 failed to properly output the content that should be displayed on the screen 49 due to a problem with the associated hardware, such as a malfunction of the screen 49 itself. The error detection unit 33 accesses the screen output unit 31 and determines that it is error e2 based on the output content from the screen output unit 31.

[0045] Additionally, error e3 refers to a situation where the screen 49 is not updated because the robot control device 20 is unable to generate data and instructions. The error detection unit 33 accesses the first storage unit 41, and if no data and instructions are sent from the robot control device 20 and such data and instructions do not exist in the first storage unit 41, it determines that it is error e3.

[0046] Furthermore, error e4 indicates a malfunction in the communication units 29 and 39 themselves. The error detection unit 33 accesses the first communication unit 39 and determines it to be error e4 based on the output from the first communication unit 39.

[0047] In other words, in step S3a, the error detection unit 33 accesses all departments capable of identifying errors e1 to en (e.g., the screen output unit 31, the first storage unit 41, and the first communication unit 39) to detect the presence or absence of each type of error e1 to en. Furthermore, other types of errors e may exist, and the error detection unit 33 can access the departments corresponding to those other types of errors e to determine their presence or absence. However, for the sake of brevity, this specification primarily describes errors e1 to e3.

[0048] Next, in step S4a, the decision unit 34 confirms the types of errors e1~en detected by the error detection unit 33. Furthermore, the decision unit 34 determines the content of the output mode P based on the confirmed types of errors e1~en.

[0049] Here, Figure 3 This is a graph representing the relationship between errors and output patterns. For example... Figure 3 As shown, the relationship between the types of errors e and the types and contents of output modes is summarized in the form of a corresponding diagram or table T. Table T shows various errors e1~en and various output modes P, P'.

[0050] Each type of error e1~en is associated with an output pattern P1~Pn containing multiple contents in an output pattern P, and an output pattern P'1~P'n containing multiple contents in other types of output patterns P'.

[0051] In other words, in Table T, one type of error e1 is associated with output modes P1 and P'1, while other types of errors e2 are associated with output modes P2 and P'2. Furthermore, other types of errors e3 and e4 are associated with output modes P3, P'3, P4, and P'4, respectively. Additionally, although not shown in the accompanying drawings, operations A and A' are specified to be associated with output modes P and P', respectively.

[0052] Here, the output mode P to be output from the first output unit 45 is different from other types of output modes P' to be output from the second output unit 46. For example, the content of output modes P1 to Pn is a sound or speech with different scales or melodies depending on the type of error e1 to en, and can be output from the first output unit 45, such as a loudspeaker. Moreover, the content of output modes P'1 to P'n is a vibration with different periods, amplitudes or vibration frequencies depending on the type of error e1 to en, and can be output from the second output unit 46, such as a vibration generator.

[0053] Alternatively, one of the output modes P1~Pn and P'1~P'n can be light that flashes at different periods according to the type of error e1~en, or light that illuminates with different colors according to the type of error e1~en. In this case, at least one of the first output unit 45 and the second output unit 46 can be a light output unit that outputs such light, such as an LED or a lamp.

[0054] When the determination unit 34 determines the error type to be error e1 in step S4a, the process proceeds to step S5a, and output mode P1 is output from the first output unit 45. Similarly, when the determination unit 34 determines the error type to be error e2, the process proceeds to step S6a, and output mode P2 is output from the first output unit 45. Likewise, when the determination unit 34 determines the error type to be error e3 or error e4, output mode P3 or output mode P4 is output from the first output unit 45 (for convenience, output mode Pn is shown in step S7a).

[0055] Similar to step S3a, in step S3b, the error detection unit 33 detects at least one error en as described above. Then, in step S4b, the determination unit 34 confirms the type of errors e1~en detected by the error detection unit 33, and determines the content of output modes P'1~P'n based on the type of error e1~en. As mentioned above, the content of each output mode P'1~P'n is different from the content of output modes P1~Pn.

[0056] When the determination unit 34 determines that the error type is error e1, it proceeds to step S5b and outputs output mode P'1 from the second output unit 46. Similarly, when the determination unit 34 determines that the error type is error e2, it proceeds to step S6b and outputs output mode P'2 from the second output unit 46. Likewise, when the determination unit 34 determines that the error type is error e3 or error e4, it outputs output mode P'3 or output mode P'4 from the second output unit 46 (for convenience, output mode P'n is shown in step S7b).

[0057] Thus, in this disclosure, the types of output modes P and P' are determined according to the types of specified operations A and A', and the contents of output modes P1~Pn and P'1~P'n are determined according to the type of error e. In other words, it can be seen that multiple output modes P and P' are associated with multiple specified operations A and A' respectively.

[0058] For example, when the user is in an environment with high vibration but low noise, the user performs a predefined operation A to output the sound or speech patterns P1 to Pn. Similarly, when the user is in a noisy environment, the user performs a predefined operation A' to output the vibration patterns P'1 to P'n or the flashing light patterns P'1 to P'n.

[0059] In other words, in this disclosure, the user can select an output mode P or P' suitable for the surrounding environment by performing a specified operation A or a specified operation A'. Furthermore, in the case of identifying multiple errors among errors e1 to en, multiple output modes P or P' are output according to the identified multiple errors.

[0060] Because of this structure, even if screen 49 fails to update, the user can appropriately ascertain the reason why screen 49 cannot update through means other than screen 49 itself. Therefore, the time required to investigate the reason why screen 49 of the teach pendant 30 cannot update is short. Furthermore, since the user can ascertain the reason why screen 49 cannot update before restarting the teach pendant 30, adjustments and repairs to the teach pendant 30, etc., can be performed quickly after restarting.

[0061] Figure 4 This is a block diagram of a system including a teaching operation panel based on the second embodiment. (For comparison with reference...) Figure 1 Elements that have been described before will not be described again. The CPU of the teaching pendant 30 of the robot system 1b in the second embodiment includes a selection unit 36 ​​for selecting the type of output mode to be output through the external output unit 35. The selection unit 36 ​​is selected by the user via a key 48 or the like. Specifically, when the selection unit 36 ​​is used, it switches between the output action of the first output unit 45 and the output action of the second output unit 46.

[0062] Since the output action of the first output unit 45 is set in the initial state, when the selection operation of the selection unit 36 ​​is performed, the output action of the first output unit 45 is switched to the output action of the second output unit 46. If the selection operation of the selection unit 36 ​​is performed when the output action of the second output unit 46 is selected, the output action of the second output unit 46 is switched back to the output action of the first output unit 45.

[0063] The selection unit 36 ​​of the CPU in the teach pendant 30 is a functional module implemented, for example, by a computer program executed on the CPU. The computer program for performing the processing of the selection unit 36 ​​of the CPU in the teach pendant 30 may also be provided in the form of a computer-readable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. Furthermore, in the second embodiment, the designated operation key 47b is removed.

[0064] Figure 5 It means Figure 4 The flowchart shows the operation of the teach pendant. Similarly, when the screen 49 of the teach pendant 30 cannot be updated, the CPU of the teach pendant 30 automatically performs... Figure 5 The content shown. Alternatively, it can be implemented based on the user's actions. Figure 5 The content shown.

[0065] Figure 5 Steps S1 to S7a and Figure 2A Steps S1 to S7a are the same, therefore further explanation is omitted. Additionally, in Figure 5 In the second embodiment, step S2b has been removed. In other words, as the initial state, it is set to first output output modes P1~Pn.

[0066] exist Figure 5 In step S8, it is determined whether a selection operation by the selection unit 36 ​​has been performed. If a selection operation is determined to have been performed, the process proceeds to step S9. In step S9, the determination unit 34 determines the content of output modes P'1 to P'n from table T based on the types of errors e1 to en confirmed in step S4a. Then, the second output unit 46 outputs the determined output mode P'.

[0067] As described above, the type of output mode P is different from the type of output mode P'. For example, if the first output unit 45 outputs an output mode P as sound or speech in at least one of steps S5a to S7a, then in step S9, the second output unit 46 outputs an output mode P' as vibration corresponding to the output mode P.

[0068] For example, sometimes due to a sudden increase in ambient noise, users cannot perceive the surrounding noise level. Figure 5 The output mode P, which is the sound or speech output in steps S5a to S7a, is then used to select the selection unit 36 ​​to output the vibration output mode P' in step S9. This allows the user to reliably identify the content of error e.

[0069] As an effect of at least one of the embodiments described above, the reason why the screen of the teach pendant cannot be updated can be conveyed to the user by means other than the screen.

[0070] The embodiments of this disclosure have been described in detail, but this disclosure is not limited to the various embodiments described above. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the spirit and essence of the invention, or from the concept and spirit derived from the claims and their equivalents. For example, in the embodiments described above, the order of each action and each process is shown as an example, and is not limited to that order. The same applies to cases where numerical values ​​or formulas are used in the description of the embodiments described above. Furthermore, embodiments obtained by appropriately combining several embodiments described above are included within the scope of this disclosure.

[0071] The following notes are also disclosed regarding the above-described embodiments and variations.

[0072] (Postscript 1)

[0073] A teach pendant control panel, comprising:

[0074] picture;

[0075] The specified operation detection unit detects a specified operation when the screen cannot be updated.

[0076] The error detection unit detects errors related to the screen that cannot be updated when the specified operation is detected.

[0077] The decision unit determines the content of the output mode based on the type of error detected by the error detection unit; and

[0078] An external output unit that outputs the output mode determined by the decision unit to the outside.

[0079] (Postscript 2)

[0080] According to the teaching control panel described in Appendix 1, the output mode consists of sound, speech, vibration, or flashing light.

[0081] (Note 3)

[0082] According to the teaching operation panel described in Appendix 1 or 2, the decision unit determines the content of the output mode based on the relationship between the type of error and the content of the output mode.

[0083] (Postscript 4)

[0084] According to any one of the appendices 1 to 3, the prescribed operation is performed by inputting several keys of a plurality of keys on the teaching operation panel in a prescribed order.

[0085] (Note 5)

[0086] The teaching operation panel according to any one of Appendices 1 to 4 further includes a specified operation key for performing the specified operation.

[0087] (Note 6)

[0088] An output method, comprising:

[0089] If the screen on the teaching control panel cannot be updated, perform the prescribed operations.

[0090] If the specified operation is detected, an error related to the screen that cannot be updated is detected;

[0091] The content of the output mode is determined based on the type of error detected; and

[0092] The output mode determined by the output to the outside.

[0093] (Note 7)

[0094] According to the output method described in Appendix 6, the output mode consists of sound, speech, vibration, or flashing light.

[0095] (Note 8)

[0096] According to the determination method described in Appendix 6 or 7, the content of the output mode is determined based on the relationship between the type of error and the content of the output mode.

[0097] (Note 9)

[0098] According to any one of the appendices 6 to 8, the output method is wherein the prescribed operation is performed by inputting several keys of a plurality of keys on the teaching operation panel in a prescribed order.

[0099] (Postscript 10)

[0100] The output method according to any one of Appendix 6 to 9, wherein the teaching operation panel further comprises a predetermined operation key for performing the predetermined operation.

[0101] Explanation of reference numerals in the attached figures

[0102] 1a, 1b: Robot system; 10: Robot; 20: Robot control device; 29: Second communication unit; 30: Teach pendant; 31: Screen output unit; 32: Prescribed operation detection unit; 33: Error detection unit; 34: Decision unit; 35: External output unit; 36: Selection unit; 39: First communication unit; 41: First storage unit; 42: Second storage unit; 45: First output unit; 46: Second output unit; 47a, 47b: Prescribed operation keys; 48: Key; 49: Screen.

Claims

1. A teach pendant control panel, comprising: picture; The specified operation detection unit detects a specified operation when the screen cannot be updated. The error detection unit detects errors related to the screen that cannot be updated when the specified operation is detected. The decision unit determines the content of the output mode based on the type of error detected by the error detection unit; as well as An external output unit that outputs the output mode determined by the decision unit to the outside.

2. The teaching operation panel according to claim 1, wherein, The output mode consists of sound, speech, vibration, or flashing light.

3. The teaching operation panel according to claim 1, wherein, The decision unit determines the content of the output mode based on the relationship between the type of error and the content of the output mode.

4. The teaching operation panel according to claim 1, wherein, The prescribed operation is performed by inputting several keys from the multiple keys on the teaching control panel in a prescribed order.

5. The teaching operation panel according to claim 1, wherein, It also has a set of operation keys for performing the specified operations.

6. An output method, comprising: If the screen on the teaching control panel cannot be updated, perform the prescribed operations. If the specified operation is detected, an error related to the screen that cannot be updated is detected; The content of the output mode is determined based on the type of error detected. as well as The output mode determined by the output to the outside.

7. The output method according to claim 6, wherein, The output mode consists of sound, speech, vibration, or flashing light.

8. The determination method according to claim 6, wherein, The content of the output mode is determined based on the relationship between the type of error and the content of the output mode.

9. The output method according to claim 6, wherein, The prescribed operation is performed by inputting several keys from the multiple keys on the teaching control panel in a prescribed order.

10. The output method according to claim 6, wherein, The teaching control panel also has designated operation keys for performing the specified operations.

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