ROBRAM GENERATING DEVICE FOR GENERATING A ROBOT PROGRAM THAT CONTAINS OPERATING SYMBOLS FOR A ROBOT DEVICE

Abstract

Program generation device (6) which generates an operating program (72 to 74, 79) for a robot device (5, 7) which is equipped with a robot (1) and a working tool (2), wherein the program generation device a display unit (33a) that displays information related to the generation of a program; and an input unit (33b) by which an operator performs an operation on an image displayed on the display unit, includes wherein the display unit displays the operating program, wherein the operating program includes operating symbols (72a to 72c, 73a to 73e, 74a to 74c, 79a to 79k) that indicate the operation of the robot or the work tool, and an auxiliary symbol (72p, 73p, 74p, 74q, 79p) that has a shape flanking or surrounding the operating symbol for the purpose of determining at least one operating symbol, where the auxiliary symbol represents a control added to the operation of the robot device, or a control that corrects the operation of the robot device as defined by the operating symbols, wherein the display unit is designed such that, by selecting an operating symbol or an auxiliary symbol by the operator, it displays a screen for setting information (82, 84, 89) in connection with the control or operation of the robot device so that the operator can set the setting information, the display unit shows the operating symbols and the auxiliary symbols side by side in the order of operation of the robot device.

Description

[0001] The present invention relates to a program generation device for generating a robot program containing operating symbols for a robot device.

[0002] Robotic devices equipped with robots and work tools are operated based on an operating program. This operating program can be pre-generated by an operator while the robotic device is offline. Alternatively, the operator can move the robot to a desired position and orientation using a teaching control panel. The operator can then define this position and orientation as a teaching point. A robot controller can then generate an operating program based on these teaching points.

[0003] The operating program can record commands for driving the robot or the tool using command sets. The operating program can be created in text format to contain numerous command sets. For example, the robot device's command sets might include a command set that moves the tip endpoint of a tool in a straight line, a command set that moves the tip endpoint of the tool in an arc, a command set that commands the operation of a working tool, and so on.

[0004] According to the prior art, an operating program is known that expresses the operation of the robot and the work tool using symbols (see, for example, JP 6 498 366 B1 and the description in US 2018 / 0 154 517 A1). Furthermore, an operating program is known that contains a symbol indicating a controller that repeats the operation of the robot (see, for example, JP 2018-149 206 A).

[0005] Also known from the prior art are the publications DE 10 2017 202 439 A1, DE 10 2010 012 598 A1, EP 3 243 607 A1, US 10 471 592 B2, US 2019 / 0 232 493 A1 and JP 2008-158 865 A.

[0006] When an operating program is generated using instruction sets, it takes the form of an arrangement of instruction sets containing the predefined commands in written form. Therefore, the problem arises that it is difficult for the operator to understand the entire sequence of the operating program. For example, several instruction sets may be recorded for the robot to perform a task. If the robot is performing arc welding, it changes its position and orientation while the welding torch continues to operate. The operating program contains an instruction set indicating the start of welding, an instruction set for the robot's operation, and an instruction set indicating the end of welding. In this case, the problem is that the operator struggles to understand to which area the instruction set initiating the welding process applies.

[0007] By expressing the commands of an operating program using symbols, the operator can visually understand the operation of the robot device. This simplifies the tasks of creating and correcting the operating program. However, even with an operating program created using symbols, the problem remains that the section where the operation is executed is difficult to grasp if the command to start the robot device's operation is represented by one symbol and the command to stop the operation by another.

[0008] Furthermore, it sometimes happens that the operation of a robot device is modified according to predefined conditions. If, in this case, the operation of the robot device according to the respective conditions is listed in multiple rows or columns, the screen display becomes difficult to read. Thus, even if the operating program commands are represented by symbols, program generation can still take time, which is why there is room for improvement in the program generation mechanism.

[0009] The invention is therefore based on the objective of providing an improved program generation device.

[0010] According to the invention, the aforementioned problem is solved by the subject matter of claims 1 and 4.

[0011] Specifically, this task is solved by a program generation device that generates an operating program for a robotic device equipped with a robot and a work tool. The program generation device comprises a display unit that shows information related to the program generation and an input unit through which an operator performs operations based on an image displayed on the display unit. The display unit shows the operating program. The operating program contains operating symbols that indicate the operation of the robot or the work tool, and an auxiliary symbol that has a shape flanking or surrounding at least one operating symbol. The auxiliary symbol represents a control that is added to the operation of the robotic device or a control that corrects the operation of the robotic device as defined by the operating symbols.The display unit is designed so that, by selecting an operating symbol or an auxiliary symbol, the operator can display a screen for setting parameters related to the control or operation of the robot device. The display unit shows the operating and auxiliary symbols side-by-side in the order of the robot device's operation.

[0012] A subordinate aspect of the invention relates to a program generation device that generates an operating program for a robot device equipped with a robot and a work tool. The program generation device comprises a display unit that shows information related to the generation of the program and an input unit by which an operator performs operations based on an image displayed on the display unit. The display unit shows the operating program. The operating program contains operating symbols that indicate the operation of the robot or the work tool, and an auxiliary symbol that has a shape flanking or surrounding at least one operating symbol. The auxiliary symbol indicates a predefined control with respect to the operation according to the operating symbols.The display unit is designed so that, by selecting an operating symbol or an auxiliary symbol, the operator can display a screen for setting parameters related to the control or operation of the robot device. The display unit shows all operating and auxiliary symbols side-by-side in a row or column, in the order of the robot device's operation. Fig. Figure 1 is an oblique view of a robot device equipped with a hand. Fig. Figure 2 is a block diagram of the robot device equipped with a hand. Fig. 3 is an image displayed on a portable terminal of the robotic device, which is equipped with a hand. Fig. 4 is another image displayed on the portable terminal of the robotic device, which is equipped with a hand. Fig. 5 is an image displayed on a portable terminal of a robotic device equipped with a welding torch. Fig. 6 is an operating program in text form for performing welding by the robot device. Fig. 7 is another image displayed on the portable terminal of the robot device, which is equipped with a welding torch. Fig. 8 is an operating program for explaining an auxiliary symbol in one embodiment. Fig. 9 is a picture in which the in Fig. The help symbol shown in point 8 has been closed. Fig. 10 is an operating program for performing a welding operation while a pendulum motion is being carried out. Fig. 11 is an image that defines the conditions of the auxiliary symbol for performing the pendulum swing. Fig. 12 is an operating program that contains an auxiliary symbol for repeating the robot's operation. Fig. 13 is an operating program for repeating the operation of the robot in text form. Fig. 14 is an image that defines a condition of the helper symbol for repeating the operation of the robot. Fig. 15 is an operating program that contains an auxiliary symbol for changing the operation of the robot by a predefined condition. Fig. 16 is an operating program for a controller to change the operation of the robot by a predefined condition in text form. Fig. Figure 17 is an image that defines a condition of an auxiliary symbol for changing the operation of the robot by a predefined condition. Fig. 18 is an operating program that contains a control symbol of a reference example for changing the operation of the robot by a predefined condition. Fig. 19 is an operating program that contains two auxiliary symbols for changing the operation of the robot by a predefined condition. Fig. 20 is an operating program in which an auxiliary symbol for changing the operation of the robot by a predefined condition and an auxiliary symbol for repeating the operation of the robot are combined. Fig. Figure 21 is an oblique view of workpieces and a robotic device that performs the palletizing of the workpieces. Fig. Figure 22 is an oblique view to explain the positions of the workpieces arranged by the robot device. Fig. Figure 23 is a first oblique view to explain the position of the robot when the robot device positions a workpiece. Fig. Figure 24 is a second oblique view to explain the position of the robot when the robot device positions a workpiece. Fig. 25 is an operating program that contains an auxiliary symbol for performing palletizing by the robot device. Fig. Figure 26 is an image that specifies the conditions of the auxiliary symbol for performing palletizing by the robot device. Fig. 27 is an operating program that contains an auxiliary symbol to disable part of the operation of the robot device. Fig. 28 is an operating program that contains a helper symbol to add a comment to an operating symbol. Fig. Figure 29 is an image of a portable terminal displaying an operating program in a vertical direction. Fig. 30 is another image of a portable terminal displaying an operating program in the vertical direction.

[0013] With reference to Fig. 1 to Fig. 30 describes a program generation device that generates an operating program for a robot device according to one embodiment.

[0014] Fig. Figure 1 is a schematic view of a robot device in the present embodiment. The robot device 5 comprises a hand 2 as a working tool (end effector) and a robot 1 that moves the hand 2. The robot 1 of the present embodiment is an articulated robot with multiple joint sections.

[0015] Robot 1 has a base section 14 and a rotating base 13 mounted on the base section 14. The base section 14 is fixed to a mounting surface. The rotating base 13 is designed to rotate relative to the base section 14. Robot 1 has an upper arm 11 and a lower arm 12. The lower arm 12 is rotatably mounted on the rotating base 13 via a joint. The upper arm 11 is rotatably mounted on the lower arm 12 via a joint. The upper arm 11 rotates about an axis of rotation that is parallel to the direction of travel of the upper arm 11.

[0016] The robot 1 has a wrist 15 that is coupled to the end of the upper arm 11. The wrist 15 is rotatably held on the upper arm 11 via a joint section. The wrist 15 has a rotatably designed flange 16. The hand 2 is fixed to the flange 16 of the wrist 15. The robot 1 of the present embodiment has six drive axes, but is not limited to this embodiment. Any robot capable of moving the working tool can be used.

[0017] Hand 2 is a work tool that grasps and releases a workpiece. Hand 2 has opposing claw sections 2a. A workpiece is grasped by closing the claw sections 2a. The work tool is not limited to a hand that grasps a workpiece. Any work tool can be attached to the robot, depending on the task performed by the robotic device. For example, if the robotic device performs arc welding, a welding torch can be attached to the robot. Or, if an adhesive is being applied, a work tool that applies the adhesive can be attached to the robot.

[0018] Fig. Figure 2 shows a block diagram of the robot device in the present embodiment. With reference to Fig. 1 and Fig. 2. Robot 1 has a robot drive device that changes its position and orientation. The robot drive device includes robot drive motors 19 that drive components such as the arms and wrist, etc. The orientation of the respective components changes due to the drive provided by the robot drive motors 19. Hand 2 includes a hand drive device that drives hand 2. The hand drive device has valves connected to a compressed air pump for driving the claw sections 2a of hand 2, and similar components.

[0019] The robot device 5 comprises a robot control device 4. The robot control device 4 includes a computing device (a computer) with a CPU (a central processing unit) as its processor. The robot device 5 transports workpieces based on an operating program.

[0020] The computing device of the robot control unit 4 has a memory unit 42 in which predefined information is stored. The memory unit 42 stores information related to the control of the robot 1 and the hand 2. The operating program is stored in the memory unit 42. The memory unit 42 can be a storage medium capable of recording information, such as volatile memory, non-volatile memory, a hard disk, or the like.

[0021] The computing unit of the robot control device 4 includes an operating control unit 43, which issues operating instructions. The operating control unit 43 corresponds to the processor, which operates according to the operating program. The operating control unit 43 is designed to read the information stored in the memory unit 42. The processor acts as the operating control unit 43 by reading the operating program and executing the controls specified in the operating program.

[0022] The operating control unit 43, based on the operating program, issues operating commands to a robot drive unit 45 for the propulsion of robot 1. The robot drive unit 45 has electrical circuits that drive the robot drive motors 19. The robot drive unit 45 supplies the robot drive motors 19 with current based on the operating commands. In addition, the operating control unit 43, based on the operating program, sends operating commands to a hand drive unit 44 for the propulsion of hand 2. The hand drive unit 44 has electrical circuits that drive the hand drive unit 43. The hand drive unit 44 supplies the hand drive device with current based on the operating commands.

[0023] The robot control device 4 has a training control panel 49 for manually operating the robot 1. The training control panel 49 has a display unit 49a, which shows information related to the control of the robot device 5, and an input unit 49b, which consists of an input device such as a keyboard, rotary knobs, or the like. The display unit 49a can be a display panel such as a liquid crystal display panel. The operator can manually regulate the position and orientation of the robot 1 by operating the input unit 49b.

[0024] The robot 1 has position detectors 18 as state detectors for detecting the position and orientation of the robot 1. In the present embodiment, the position detectors 18 are attached to the robot drive motors 19, which correspond to the drive axes of the superstructure elements, such as the arms. For example, the position detectors 18 are designed to detect the angle of rotation when the robot drive motors 19 are driven.

[0025] The robot control device 4 has a state detection unit 46 which detects the position and orientation of the robot 1 based on the output of the position detectors 18. The state detection unit 46 corresponds to the processor, which operates according to the operating program. The processor acts as a state detector 46 by reading the operating program and executing the controls defined in the operating program.

[0026] A global coordinate system 51 is set up for the robot device 5 of the present embodiment. In the example shown in Fig. As shown in Figure 1, the origin of the global coordinate system 51 is located at the base unit 1 of the robot 1. The global coordinate system 51 is also referred to as the base coordinate system of the robot 1. The global coordinate system 51 is a coordinate system in which the position of the origin and the orientation of the coordinate axes are fixed. Additionally, a tool coordinate system is provided for the robot device 5, the origin of which is located at any position of the working tool. In the present embodiment, the origin of the tool coordinate system is located at the tip endpoint of the tool. If the position and orientation of the robot 1 change, the position of the origin of the tool coordinate system and the orientation of the tool coordinate system also change.For example, the position of robot 1 corresponds to the position of the tip endpoint of the tool (the position of the origin point of the tool coordinate system). The position of robot 1 corresponds to the orientation of the tool coordinate system with respect to the global coordinate system 51.

[0027] The robot device 5 comprises a portable terminal 6 as a program generation device, which generates the operating program of the robot device 5. The portable terminal 6 of the present embodiment is a tablet terminal. The portable terminal 6 is connected to the robot control device 4 via a communication device. The portable terminal 6 has a computing device with a CPU as its processor. The computing device has RAM (random access memory), ROM (read-only memory), and the like, which are connected to the CPU via a bus. The portable terminal 6 has a memory unit 31 that stores information related to the generation of the operating program. The memory unit 31 can be a storage medium capable of recording information, such as volatile memory, non-volatile memory, a hard disk, or the like.

[0028] The portable terminal 6 in the present embodiment has a display 33 with a touch-type display panel. Any type of touch-type display panel can be used, such as a touch-sensitive membrane touch panel, a capacitive touch panel, or a surface acoustic wave touch panel. The display 33 has a display unit 33a, which displays information related to the generation of the operating program, and an input unit 33b, through which the operator interacts with images displayed on the display unit 33a and enters information. In the present embodiment, the display 33 functions as both a display unit 33a and an input unit 33b.

[0029] The computing device of the portable terminal 6 includes a display control unit 32 for controlling the images displayed on the display unit 33a. The display control unit 32 has the function of detecting the operator's input of the input unit 33b and controlling the images displayed on the display unit 33a. The display control unit 32 corresponds to the processor, which operates according to predefined rules. The processor acts as the display control unit 32 by controlling the images displayed on the display unit 33a according to the input of the input unit 33b.

[0030] The program generation device is not limited to a portable terminal 6; any device incorporating a computing unit can be used. For example, a personal computer not connected to the robot control device can be used as the program generation device. In this case, the input unit can be an input device such as a keyboard and mouse, or the like. The display unit can be a display panel such as a liquid crystal display panel. Alternatively, the training control panel 49 can also be used as the program generation device. In this case, the display unit 49a of the training control panel 49 acts as the display unit of the program generation device, and the input unit 49a of the training control panel 49 acts as the input unit of the program generation device.

[0031] Fig. Figure 3 shows an image displayed on the display unit of the portable terminal in the present embodiment. First, the specific method for generating an operating program in the present embodiment is explained. The screen display of the display unit 33a of the portable terminal 6 in the present embodiment is divided into a program display area 61a, which displays an operating program 71, and an information display area 61b, which displays detailed information related to the generation of the operating program 71. If not all information can be displayed in the program display area 61a and the information display area 61b, a scroll bar is displayed. The operator can view all the information by moving the scroll bar. For example, if the operating program 71 becomes long, it may happen that the entire operating program cannot be displayed on the display unit 33a.In such a case, the scroll bar is displayed, which moves the operating program 71 laterally. The operator can view any part of the operating program 71 by moving the scroll bar.

[0032] In the present embodiment, the operating program 71 contains operating symbols 71a to 71c, which indicate the operation of the robot 1 or the hand 2. The operating control unit 43 drives the robot 1 and the hand 2 based on the operating symbols 71a to 71c, which are displayed in the program display area 61a. The operating control unit 43 executes the operation determined by the operating symbols 71a to 71c, as shown by arrow 151, from operating symbol 71a on the left side of the image 61 to the right side. The operator can set the operation of the robot device 5 in the time series in the program display area 61a.

[0033] Operating symbols 71a and 71c depict an operation in which the position of robot 1 (the tip endpoint of the tool) moves in a straight line. Operating symbol 71b depicts an operation in which hand 2 grasps a workpiece. In this example, the robot device 5 grasps a workpiece by the claw sections 2a of the hand closing, as shown by operating symbol 71b, after the position of robot 1 has moved in a straight line, as shown by operating symbol 71a. Subsequently, the position of robot 1 moves in a straight line, as shown by operating symbol 71c.

[0034] In the information display area 61b, a "Programming" tab 111 and a "Details" tab 112 are arranged for the detailed configuration of the operation of operating symbols 71a to 71c. The operator can select tab 111 by pressing the "Programming" tab 111. The display control unit 32 shows basic operating symbols 101a to 101d in the information display area 61b as the basis for generating operating symbols 71a to 71c. The basic operating symbols 101a to 101d show the basic operation for the drive of the robot device 5. No operating conditions, such as setting values ​​or the like, are defined for the basic operating symbols 101a to 101d.

[0035] Basic operating symbol 101a shows an operation in which hand 2 grasps a workpiece. Basic operating symbol 101b shows an operation in which hand 2 releases the workpiece. Basic operating symbol 101c shows an operation in which the position of robot 1 moves in a straight line. Basic operating symbol 101d shows an operation of robot 1 in which each drive axis of robot 1 is driven by the robot drive motors 19 and the position of robot 1 does not move in a straight line.

[0036] The operator can first define the basic operation of the robot device 5. For example, the operator can move the basic operating symbol 101c into the program display area 61a by pressing it with a finger as shown by arrow 152, thereby generating the operating symbol 71a. In the same way, the operator can move their finger while pressing the basic operating symbol 101a as shown by arrow 153, thereby generating the operating symbol 71b. And the operator can move their finger while pressing the basic operating symbol 101c as shown by arrow 154, thereby generating the operating symbol 71c.

[0037] Fig. Figure 4 shows an image depicting the settings screen for the operating symbols. Next, the operator defines the settings for operating the robot device 5 for each of the respective operating symbols 71a to 71c. The settings include the conditions for performing each operation.

[0038] In the example that is in Fig. As shown in Figure 4, the operator selects operating symbol 71a by pressing operating symbol 71a. The color of operating symbol 71a changes. The display control unit 32 automatically selects the "Details" tab 112 in the information display area 61b. The display control unit 32 shows a settings screen in the information display area 61b for setting numerical values ​​related to the operation of operating symbol 71a. The settings screen displays setting information 81, which includes conditions such as setting values ​​for robot 1 for operating symbol 71a. In the example shown in Fig. Figure 4 shows a first position and orientation of robot 1 as the first target position for executing the operation of operating symbol 71a. In this example, the position and orientation of robot 1 are defined in the global coordinate system 51.

[0039] Furthermore, setting information 81 includes a movement speed for the robot's position. Setting information 81 also includes the positioning method, specifying whether robot 1's position reaches the target position precisely or not. In this example, it is specified that robot 1's position reaches the target position precisely. Thus, the conditions for robot 1's linear movement are defined in the settings screen.

[0040] The operator can set or change the configuration information by operating the input unit 33b. For example, if the operator presses the area displaying the target position with a finger, the display unit 33a shows an image for changing the target position. The operator can manually enter the coordinate values ​​of the X-axis, Y-axis, and Z-axis of the target position, or similar values. Alternatively, the operator can change the position and orientation of robot 1 by operating the training control panel 49. When the position and orientation of robot 1 have reached the desired position and orientation, the operator presses a button 113, which is located to the side of the target position. This action causes the state detection unit 46 of the robot control device 4 to detect the position and orientation of robot 1.Then the display control unit 32 can obtain the position and orientation of the robot 1 from the state detection unit 46 and define it as the target position of the setting information 81.

[0041] By performing a similar action, the operator can also define setting information for operating symbols 71b and 71c in connection with the operation of robot 1 or hand 2. In this way, the operator can generate operating program 71 by repeating the generation of operating symbols 71a to 71c and the setting information for operating symbols 71a to 71c.

[0042] By expressing the operating program 71 using the operating symbols 71a to 71c, the operator can visually monitor the operation of the robot device 5. This simplifies the tasks for generating and correcting the operating program 71 for the operator.

[0043] Fig. Figure 5 shows an image displayed on the portable terminal of a robotic device performing arc welding. A welding torch for arc welding is attached to the robot 1 as a working tool. A program display area 62a of Figure 62 shows an operating program 72 of the robotic device.

[0044] The operating program 72 contains, in addition to operating symbols 72a to 72c, an auxiliary symbol 72p that defines at least one operating symbol. The auxiliary symbol has a shape for defining at least one operating symbol. The auxiliary symbol of the present embodiment has a first line 72pa, which runs in the direction of arrangement of the operating symbols shown by arrow 151, and second lines 72pb, which extend from the first line 72pa between operating symbols. The auxiliary symbol of the present embodiment is U-shaped such that it flanks operating symbols and other auxiliary symbols. The auxiliary symbol can also have a shape that surrounds at least one operating symbol.

[0045] The auxiliary symbol of the present embodiment represents a predefined control for operation according to the operating symbol, a control added to the operation of the robot device, or a control that corrects the operation of the robot device as defined by the operating symbol. In the example shown in Fig. As shown in Figure 5, the auxiliary symbol 72p indicates a control added to the operation of the robot device, specifically a control that adds a welding operation via the welding torch. In the auxiliary symbol of the present embodiment, an image of the type of operation or the type of control is provided. The type of operation or the type of control can also be indicated by characters within the auxiliary symbol. The auxiliary symbol 72p shows the start and end of the welding process by means of lines 72pb.

[0046] Fig. Figure 6 shows an operating program in which the in Fig. The operating program shown in section 5 is presented in text form.

[0047] In operating program 92, the first instruction set, L, specifies that the robot 1 moves in a straight line. P[1] specifies a movement to the first target position. It is also specified that the robot 1 moves at a speed of 100 mm / s. FINE indicates that the robot moves (is positioned) precisely to the target position.

[0048] The second line of the command set specifies that the welding torch begins welding. This example shows that welding starts according to the initial welding data, with a voltage of 18 volts and a current of 200 amperes. The welding data contains several welding conditions recorded during arc welding. For example, the welding data includes conditions at the start of the arc welding process and conditions at the end of the arc welding process. By determining the welding data number, the conditions recorded during arc welding can be retrieved from memory unit 42.

[0049] In operating program 92, the position of robot 1 moves in a straight line during the welding process, as defined by the third and fourth line command sets. These command sets specify that robot 1 moves in a straight line to position P[2] and position P[3], respectively, as the target position. The CNT100 parameter in the third line command set indicates that robot 1 continues to move in a straight line to ensure a smooth motion path at position P[2].

[0050] The fifth line of the command specifies that the welding torch terminates the welding process. In this example, the welding ends according to the first welding parameters. Additionally, a finishing process is performed at the end of the welding to suppress the formation of an end crater due to a sudden voltage drop. The fifth command specifies the following conditions for performing the end crater finishing: the voltage is 18 volts, the current is 200 amperes, and the treatment time is 0.5 seconds.

[0051] With reference to Fig. 5 and Fig. In section 6, operating symbol 72a corresponds to the instruction set of the first line of operating program 92 in text form. Operating symbol 72b corresponds to the instruction set of the third line of operating program 92. Operating symbol 72c corresponds to the instruction set of the fourth line of operating program 92. The instruction sets of the second and fifth lines in operating program 92, which relate to welding, correspond to auxiliary symbol 72p. Auxiliary symbol 72p determines the duration of the welding process. The two lines 72pb of auxiliary symbol 72p indicate the start and end of the welding process.

[0052] In image 62, which is in Fig. As shown in Figure 5, the "Programming" tab 111 is selected. The basic operating symbols 101c and 101d are displayed in the information display area 62b. A basic auxiliary symbol 101p is also displayed. The operator can press and hold the basic auxiliary symbol 101p and move their finger as shown by arrow 155, thereby creating the auxiliary symbol 72p in the program display area 62a. The operator can then press and hold the basic operating symbol 101c and move their finger as shown by arrow 156, thereby positioning the operating symbol 72b in the area flanked by the auxiliary symbol 72p. The operator can then define the basic operation of the operating program 72.

[0053] Fig. Figure 7 shows an image for setting the configuration information for the auxiliary symbol that performs the welding. As with the configuration of the operating symbols, the operator defines conditions for the operation of the robot device in the configuration screen display for the auxiliary symbol. The operator selects auxiliary symbol 72p on the display unit 33a, which changes the color of auxiliary symbol 72p. The display control unit 32 also automatically selects the "Details" tab 112 in the information display area 62b and displays the corresponding screen information. The display control unit 32 shows configuration information 82 related to welding in the information display area 62b. The operator can define configuration information 82, such as conditions at the beginning and end of the welding process, by pressing the input unit 33a.The setting information 82 allows the same conditions to be defined as those contained in the operating program 92, such as the welding data number, voltage, current, end crater machining time, etc. In the present embodiment, the auxiliary symbol adds the operation of the working tool, but this is not the only possible configuration. The auxiliary symbol can also be used to add robot operation.

[0054] In this embodiment, the program generation device can generate the operating program by adding an auxiliary symbol to the operating symbols. Using this auxiliary symbol, the operator can visually understand the control or operation of the robot device defined by the auxiliary symbol. In particular, the operator can easily grasp the section in which the robot device performs a specific task. As a result, the efficiency of the operating program generation process is improved.

[0055] The auxiliary symbol 72p represents a control added to the robot device's operation. Using this symbol allows for the separate definition of multiple robot device operations. For example, an action performed by the work tool and a change in the robot's position and orientation can be defined separately. Furthermore, the auxiliary symbol can be added to the operating program that defines the robot device's operation. This simplifies program creation and improves the efficiency of the program generation process. The operation added via the auxiliary symbol is not limited to the work tool; it can be any operation of any device equipped with the robot device.For example, if the robot device has an auxiliary device such as a positioning device that rotates the workpiece, an auxiliary symbol showing the operation of the auxiliary device can be used.

[0056] Fig. Figure 8 shows an operating program to explain the auxiliary symbol. In operating program 73, an auxiliary symbol 73p is defined in conjunction with several operating symbols 73c to 73e. All operating symbols 73a to 73e and the auxiliary symbol 73p are arranged side by side in a row in the order of operation of the robot device. In the present embodiment, the row in which the operating symbols 73a to 73e and the auxiliary symbol 73p are arranged runs along the transverse direction of the screen display of the display unit 33a. That is, the operating symbols 73a to 73e and the auxiliary symbol 73p are displayed side by side in the transverse direction of the display unit 33a without any sequence along the vertical direction of the display unit 33a. Within the auxiliary symbol 73p, the operating symbols 73c to 73e are also displayed along the direction of the row.

[0057] In this way, all operating and auxiliary symbols can be displayed along a single line. By controlling this display, the operator can monitor the robot's operation by moving the operating program image along the line's direction of travel in the time series. This also prevents the operating program from becoming elongated in the direction perpendicular to the line's direction of travel, ensuring that the operating program and information display area are not visible simultaneously. Because the operator can see both the operating program and the information display area at the same time, the efficiency of generating the operating program is improved.

[0058] Fig. Figure 9 displays the operating program when the auxiliary symbol is closed. The auxiliary symbol 73p can be closed by the operator. For example, the operator can close the auxiliary symbol 73p by pressing it twice in succession. The operator can also close the auxiliary symbol 73p as shown in the diagram. Fig. 8. Return to the original state shown by pressing the closed auxiliary symbol 73p twice in succession.

[0059] If the auxiliary symbol 73p is flanked by many operating symbols 73c to 73e, the auxiliary symbol 73p extends over a long distance along the transverse direction of the display unit 33a. In this case, several operations of the robot device can be summarized by closing the auxiliary symbol. By closing the auxiliary symbol, the operating symbols in the section defined by the auxiliary symbol can be displayed as a single auxiliary symbol. The operating program can be displayed concisely and simply. Furthermore, the operator can easily identify the operations before and after the operation of the robot device 5 defined by the auxiliary symbol.

[0060] Fig. Figure 10 shows another operating program for performing a welding operation by the robot device according to the present embodiment. In operating program 74, oscillation is performed during part of the welding process. Oscillation is a method in which the welding torch is moved back and forth along its path of travel in a direction perpendicular to the path of travel during the welding torch's movement. Oscillation is ideal, for example, for forming a large weld bead. An auxiliary symbol 74q, indicating oscillation, flanks an operating symbol 74c. Furthermore, an auxiliary symbol 74p, indicating welding, flanks an operating symbol 74b and the auxiliary symbol 74q. In operating program 74, the multiple auxiliary symbols 74p, 74q, and operating symbols 74a to 74c are shown side by side in a single line.

[0061] Fig. Figure 11 shows the settings screen for the auxiliary symbol that controls the start and end of the pendulum movement. In Figure 64, the auxiliary symbol 74q is selected to initiate the pendulum movement, and the "Details" tab 112 is selected. The information display area of ​​Figure 64 shows settings information 84.

[0062] Setting information 84 contains conditions that include setting values ​​for performing the pendulum motion. In this example, a sinusoidal waveform is defined for the welding torch's movement pattern in relation to the direction of travel. Additionally, the frequency at which the welding torch oscillates and the oscillation width, which is the distance from the weld line to the end of the oscillation during the pendulum motion, are defined. The right timer indicates the time the welding torch is stopped at the right end during the pendulum motion. The left timer indicates the time the welding torch is stopped at the left end during the pendulum motion.

[0063] With reference to Fig. In operating program 74, welding is initiated by the auxiliary symbol 74p after the position of robot 1 has been changed by the operating symbol 74a. Then, during welding, the position of robot 1 is moved in a straight line according to the operating symbol 74b. Next, the oscillation is initiated by the auxiliary symbol 74q, which indicates the start and end of the oscillation. During the oscillation, the position of robot 1 moves to a position determined by the operating symbol 74c. The oscillation ends when the position of robot 1 has reached the position determined by operating symbol 74c. The welding is then terminated by the auxiliary symbol 74p.

[0064] In this way, one auxiliary symbol can be inserted into another. In other words, in an operating program containing multiple auxiliary symbols, a first auxiliary symbol can determine at least one operating symbol, and a second auxiliary symbol can determine the first auxiliary symbol. Furthermore, the operator can also define operating conditions for the first auxiliary symbol flanked by the second. By applying this design, control can be executed using a combination of multiple auxiliary symbols. During the period in which one control operation is being performed, another control operation can be performed or another operation can be added.

[0065] Next, an auxiliary symbol is explained, which shows how to control an operation according to an operating symbol. With this control, for example, an operation corresponding to the operating symbol is repeated, or an operation is selected according to a predefined condition, without changing the operation according to the operating symbol. Fig. Figure 12 shows an operating program that includes an auxiliary symbol which shows a control that repeats the operation of the robot device. Fig. Figure 13 shows an operating program in which the in Fig. The operating program shown in section 12 is presented in text form. With reference to Fig. 12 and Fig. In operating programs 75 and 95, three types of rectilinear movements are repeated until a variable R[1] reaches 1 R[2].

[0066] Operating program 75 contains operating symbols 75a to 75c and an auxiliary symbol 75p. Operating symbols 75a to 75c indicate linear motion. Auxiliary symbol 75p represents a control that repeats a predefined operation of the robot device. The instruction sets of the first and fifth lines of operating program 95 correspond to auxiliary symbol 75p. The instruction sets of the second to fourth lines of operating program 95 correspond to operating symbols 75a to 75c.

[0067] Fig. Figure 14 shows the settings screen for the auxiliary symbol that repeats the operation of the robot device. In Figure 65, the auxiliary symbol 75g is selected and the "Details" tab 112 is selected. The information display area shows setting information 85, which contains the condition for repeating the operation of the robot device. The operator can define setting information 85 in the settings screen.

[0068] In this way, the operation of the robot device can be repeated under a predefined condition by using the auxiliary symbol 75p. The condition for repeating the operation can be set in the settings screen of the auxiliary symbol 75p.

[0069] Fig. Figure 15 shows an operating program for selecting the operation of the robot device according to a predefined condition. Fig. 16 shows an operating program in which the in Fig. The operating program shown in section 15 is described in text form. With reference to Fig. 15 and Fig. In operating programs 76 and 96, a linear movement is performed, which differs depending on a predefined condition.

[0070] Operating program 76 contains an auxiliary symbol 76p. Auxiliary symbol 76p has a dividing line to separate one group of operating symbols 76a to 76c from another group of operating symbols 76d to 76f. Auxiliary symbol 76p has a shape that runs along the direction of a line in the transverse direction of the screen display of the display unit 33a. That is, auxiliary symbol 76p has a shape in which one group and the other group are displayed side by side in a line.

[0071] Auxiliary symbol 76p shows a control that determines whether or not a predefined condition is met. If the condition specified by auxiliary symbol 76p is met, the robot performs the operation indicated by operating symbols 76a to 76c located in the front section. If the condition specified by auxiliary symbol 76p is not met, the robot performs the operation indicated by operating symbols 76d to 76f located in the rear section.

[0072] Operating program 96, in text form, contains instruction sets from the first to the ninth line. The instruction set of the first line, the instruction set of the fifth line, and the instruction set of the ninth line correspond to the auxiliary symbol 76p in operating program 76. The instruction sets from the second to the fourth line correspond to operating symbols 76a to 76c. The instruction sets from the sixth to the eighth line correspond to operating symbols 76d to 76f.

[0073] Fig. Figure 17 shows the settings screen display of the auxiliary symbol that determines the operating mode. In Figure 66, the auxiliary symbol 76p is selected and the "Details" tab 112 is selected. A settings screen display for defining the setting information 86 is shown in the information input area. The setting information contains the conditions for making the determination.

[0074] With reference to Fig. 15 to Fig. 17. The operation defined by operating symbols 76a to 76c is executed when a variable DI [1], representing a digital input, is set to ON. If the variable DI [1] is NOT ON, the operation defined by operating symbols 76d to 76f is executed.

[0075] In this way, the operation of the robot device can be selected according to a specific condition by using the auxiliary symbol 76p.

[0076] Fig. Figure 18 shows an operating program of a reference example that changes the robot's operation depending on a predefined condition. The operating program 176 of the reference example contains branch symbols 176s and 176t as control symbols that control the robot's operation. The branch symbols 176s and 176t perform the same control as the control by the [unclear text]. Fig. Figure 15 shows auxiliary symbol 76p. Branch symbol 176s indicates the beginning of a branch in the robot's operating sequence, and branch symbol 176t indicates the end of the branch. If branch symbol 176s matches a predefined condition, the operation specified by operating symbols 76a to 76c is executed. If there is no match with the predefined condition, the operation specified by operating symbols 76d to 76f is executed.

[0077] In operating program 176 of the reference example, the command to start the control with regard to the operation of the robot device is indicated by a symbol, and the command to end the control is indicated by a symbol. The lines in which the operation of the robot device is listed are branched. The operation of the robot device is represented by two lines. In operating program 176 of the reference example, the operating symbols that show the operation of the robot device are displayed in several lines.

[0078] Since the operating program 176 in the reference example is represented by several lines, the information display area, which provides detailed information, becomes small. And because, for example, the area showing the basic operating symbols or the area for specifying detailed information about the operating symbols becomes small, the operator has to use a scroll bar or similar to see the information displayed in the information display area. Therefore, generating the operating program becomes difficult for the operator. In contrast, with operating program 76, which is described in Fig. Since the auxiliary symbol 76p shown contains all operating symbols 76a to 76f and the auxiliary symbol 76p are displayed side by side in one line, the information display area can be kept from becoming too small. As a result, the efficiency of the activity for generating the operating program is improved.

[0079] Fig. Figure 19 shows an operating program containing several auxiliary symbols for selecting the operating mode of the robot device. Operating program 77 contains operating symbols 77a to 77c and auxiliary symbols 77p and 77q. These auxiliary symbols 77p and 77q represent a control mechanism for selecting an operating mode of the robot device under a predefined condition. In operating program 77, the auxiliary symbols 77p and 77q and operating symbols 77a to 77c are shown side by side in a single line.

[0080] In this control system, if a condition specified by auxiliary symbol 77p is met, the system proceeds to the setting specified by auxiliary symbol 77q. If the condition specified by auxiliary symbol 77q is met, operation is carried out according to operating symbols 77a and 77b. The system then proceeds to the operation following auxiliary symbol 77p. If there is no match with the condition specified by operating symbol 77q, the system proceeds to the operation following auxiliary symbol 77p without executing the operation according to operating symbols 77a and 77b. Conversely, if there is no match with the condition specified by auxiliary symbol 76p, operation is carried out according to auxiliary symbol 77c.

[0081] The auxiliary symbol 77q, as the first auxiliary symbol, determines the operating symbols 77a and 77b. The auxiliary symbol 77p, as the second auxiliary symbol, determines the auxiliary symbol 77q. In operating program 77, another auxiliary symbol 77q is arranged within an auxiliary symbol 77p. In this way, several auxiliary symbols that perform a control function can be combined.

[0082] Fig. Figure 20 shows an operating program in which different types of auxiliary symbols are combined. Operating program 78 contains operating symbols 78a to 78c and operating symbols 78d to 78f. Furthermore, operating program 78 contains an auxiliary symbol 78p, which selects an operation of the robot device based on a predefined condition, and an auxiliary symbol 78q, which performs a control action to repeat the operation of the robot device. In operating program 78, another auxiliary symbol 78q is also located within an auxiliary symbol 78p. The multiple auxiliary symbols 78p and 78q and operating symbols 78a to 78f are shown side by side in a single line.

[0083] In operating program 78, if the condition specified by auxiliary symbol 78p is met, the operation is repeated according to operating symbols 78a to 78c using auxiliary symbol 78q. If there is no match with the condition specified by auxiliary symbol 78p, the operation is carried out according to operating symbols 78d to 78f.

[0084] Next, an auxiliary symbol that corrects the operation of a robot device as defined by operating symbols will be explained. Fig. Figure 21 shows an oblique view of another robot device in the present embodiment. In the robot device 7, a hand 3 is attached to the robot 1. The hand 3 grasps a workpiece 91 by suction. The further structure of the robot device corresponds to the structure of the robot device shown in Figure 21. Fig. 1 and Fig. 2 is shown.

[0085] The robot device 7 performs palletizing by stacking workpieces 91, which are transported by a conveyor or the like, in a predefined area. In the area where the workpieces 91 are stacked, an arrow 161 indicates the direction of the columns of workpieces 91, an arrow 162 the direction of the rows of workpieces 91, and an arrow 163 the direction of the steps of workpieces 91. The robot device 7 of the present embodiment performs the operation of stacking the workpieces 91 in four columns, three rows, and four steps.

[0086] Fig. Figure 22 shows an oblique view to explain the area where the workpieces are stacked. Fig. Figure 22 shows a workpiece 91 positioned at a position at the end, with respect to the column, row, and step in which a workpiece 91 is stacked. For example, the position of workpiece 91 in the first column, first row, and first step can be expressed by [1,1,1]. The position of workpiece 91 in the fourth column, first row, and first step can be expressed by [4,1,1].

[0087] With reference to Fig. 21 and Fig. 22 The tip endpoint of the tool (the position of the robot 1) is initially positioned at a point of motion 131 by a drive of the robot 1. Then the tip endpoint of the tool moves from point of motion 131 via point of motion 132 to point of motion 133. The robot device 7 grasps a workpiece 91 at point of motion 133. Subsequently, the tip endpoint of the tool moves via point of motion 132 to point of motion 134.

[0088] Fig. Figure 23 shows an oblique view to explain the operation of the robot device when stacking a workpiece. With reference to Fig. 21 to Fig. 23, where point 134 corresponds to an approach point, the robot device 7 moves the tip endpoint of the tool, as shown by arrow 164, to a point 135, which serves as a stacking point for stacking the workpiece 91. At point 135, the robot device 7 positions the workpiece 91 at the stacking point by releasing it.

[0089] The robot device 7 then moves the tip endpoint of the tool, as indicated by arrow 165, to a movement point 136 as a return point. Afterwards, the tip endpoint of the tool of the robot device 7 returns via movement point 132 to movement point 131. The robot device 7 can stack the workpieces 91 individually in the specified area by repeating this operation.

[0090] In the control system, which is in Fig. As shown in Figure 23, the workpiece 91 is positioned at the stacking point of the first column, the first row, and the first step. In the present embodiment, the movement point 134 is adjusted as the approach point, the movement point 135 as the stacking point, and the movement point 136 as the retraction point, depending on the position at which a workpiece 91 is to be positioned. When the positions of the four ends, which are shown in Figure 23, are adjusted as follows: Fig. Figure 22 shows that (positions [1,1,1], [4,1,1], [1,3,1] and [1,1,4]) are fixed. The robot control device 4 can calculate all positions for arranging workpieces 91 by interpolating these four positions. The robot control device 4 corrects the position of the robot 1 so that the calculated positions become the positions of the stacking points of the workpieces 91.

[0091] Fig. Figure 24 shows an oblique view to explain the operation of the robot device when stacking another workpiece 91. Fig. Figure 24 shows the operation for positioning a workpiece at a stacking point in the second column, the first row, and the first step. As a control for correcting the position at which the robot device 7 positions the workpiece 91, the robot control device 4 can position the workpiece 91 while correcting its position in the direction of the columns, rows, and steps. For example, the robot control device 4 can correct the position in the column direction from the Fig. Make the position shown in 23 of the first column and the in Fig. Calculate the position of the second column shown in column 24.

[0092] The robot control device 7 of the present embodiment can correct the position of the robot 1 and arrange the workpieces of the first row. Once the arrangement of the workpieces of the first row is complete, the robot control device 7 can arrange the workpieces of the second and third rows using the same control. Once the arrangement of the workpieces of the first stage is complete, the robot control device 7 can arrange the workpieces from the second stage to the fourth stage. Any desired stacking sequence can be defined for the workpieces. Likewise, any desired number of workpieces can be defined.

[0093] Fig. Figure 25 shows an operating program for performing palletizing. Operating program 79 contains operating symbols 79a to 79k. Operating symbol 79a indicates a linear movement to movement point 131. Operating symbols 79b and 79c indicate a movement from movement point 131 to movement point 133. Operating symbol 79d indicates an operation for gripping a workpiece 91 by hand 3. Operating symbol 79e indicates a movement from movement point 133 to movement point 132.

[0094] Subsequently, a control process is implemented to correct the position of robot 1 for palletizing. Operating program 79 contains an auxiliary symbol 79p for correcting the position of robot 1. Auxiliary symbol 79p determines operating symbols 79f to 79i. Operating symbol 79f indicates a movement to movement point 134 as the approach point. Operating symbol 79g indicates a movement to movement point 135 as the stacking point. Operating symbol 79h specifies an operation to release workpiece 91 from hand 3. Operating symbol 79i indicates a movement to movement point 136 as the retraction point.

[0095] The settings screen for operating symbols 79f, 79g, and 79i defines the position and orientation of robot 1 so that motion point 134, motion point 135, and motion point 136 reach predefined relative positions. For example, in the settings screen for operating symbols 79f, 79g, and 79i, coordinates are set so that the approach point, the stacking point, and the retraction point correspond to the positions shown in the diagram. Fig. Reach the 23 relative positions shown.

[0096] Fig. Figure 26 shows a settings screen display for the helper symbol that corrects the operation of the robot device. Fig. Figure 26 shows an overall view, which can be viewed by scrolling. The operator selects the "Details" tab 112 by selecting the help icon 79p. The settings screen displayed in Figure 69 shows setting information 89. This setting information 89 contains details related to correcting the operation of the robot device 7. With reference to Fig. 22 to Fig. The positions of the motion points representing the ends of the area in which workpieces 91 are arranged are contained in the setting information 89. The setting information 89 contains position information 89a to 89d. The respective position information 89a to 89d contains the coordinate values ​​of position [1,1,1], the coordinate values ​​of position [4,1,1], the coordinate values ​​of position [1,3,1], and the coordinate values ​​of position [1,1,4]. The robot control device 4 calculates the positions at which the workpieces 91 are arranged by interpolating the positions representing the ends for arranging the workpieces.

[0097] The robot control device 4 selects a position for positioning a workpiece 91. The robot control device 4 corrects the positions of the motion points representing the targets defined by the operating symbols 79f, 79g, and 79i. The robot control device corrects the positions of the retraction point, the approach point, and the stacking point so that the position at which the workpiece 91 is positioned coincides with the motion point 135, which represents the stacking point.

[0098] The robot control device 4 positions the workpiece 91 while changing the position of the robot 1 so that it passes through the calculated retraction point, the calculated approach point, and the calculated stacking point. In this way, the auxiliary symbol 79p can define the function for correcting the position of the robot 1. The auxiliary symbol can also define a function for correcting the robot's orientation.

[0099] With reference to Fig. The operating program contains the operating symbols 79j and 79k. After the positioning of the workpiece 91 has been completed by the auxiliary symbol 79p, the tip endpoint of the tool of the robot device 7 moves by the operating symbols 79j and 79k from the movement point 136 as the retraction point via the movement point 132 to the movement point 131.

[0100] The robot control device 4 can repeat the operating program 79 after the placement of a workpiece 91 is complete. In the present embodiment, the operating program 79 can be repeated forty-eight times to place forty-eight workpieces 91. To execute this control, an auxiliary symbol can be included in the operating program that repeats the operation of the robot device. Alternatively, another operating program can specify that the operating program 79 is called and executed multiple times.

[0101] The auxiliary symbol 79p indicates a control for correcting the robot's operation. By using this auxiliary symbol, the operator can define the basic operation of the robot device using operating symbols. The robot's operation can then be corrected using this basic operation as a basis. If the entire operation of the robot device were defined using operating symbols, a large number of these symbols would need to be generated. However, by using an auxiliary symbol that indicates a control for correcting the robot's operation, the number of operating symbols can be reduced. Furthermore, generating the operating program becomes easier for the operator, and the efficiency of this process can be improved.

[0102] The auxiliary symbol 79p described above indicates a control for correcting the robot's operation, but it is not limited to this form. The auxiliary symbol can also indicate a control for correcting the operation of the work tool. Furthermore, any control can be implemented to correct the robot's operation as defined by the operating symbols. For example, a control can be implemented to correct the robot's position and orientation based on information obtained from sensors. Optical sensors, vibration sensors, force sensors, or similar devices can be used. For instance, an optical sensor detects the degree of deviation in the position of a workpiece grasped by the robot. Based on this degree of deviation, the robot control device can then implement a control to correct the robot's position and orientation.An auxiliary symbol for making such a correction to the robot's operation can be included in the operating program.

[0103] Fig. Figure 27 shows an operating program that contains an auxiliary symbol which deactivates operation according to an operating symbol. Operating program 171 contains operating symbols 171a to 171c. Operating program 171 contains an auxiliary symbol 171p that deactivates an operating command according to an operating symbol. The auxiliary symbol 171p can deactivate the defined operation of operating symbol 171b. In the example shown in Fig. As shown in Figure 27, when operating program 171 is executed, robot 1 is operated according to operating symbol 171a. Then, robot 1 is operated according to operating symbol 171c, without operating robot 1 according to operating symbol 171b. In this way, an auxiliary symbol can be defined which, as a predefined control with regard to operation by operating symbols, deactivates a command to operate according to a specific operating symbol.

[0104] Fig. Figure 28 shows an operating program that contains an auxiliary symbol which adds a comment to an operating symbol. Operating program 172 contains operating symbols 172a to 172c and an auxiliary symbol 172p. The auxiliary symbol 172p has a function for displaying explanatory text relating to the operation of the robot device. The operation of the robot device is not changed by placing the auxiliary symbol 172p. In the example shown in Fig. As shown in Figure 28, the auxiliary symbol 172p indicates the start and end of the movement of robot 1's position. In this way, an operating program can also contain an auxiliary symbol that displays explanatory text.

[0105] In the above embodiment, the operating symbols and auxiliary symbols are displayed along the transverse direction of the display unit's screen. That is, the operating symbols and auxiliary symbols are displayed side by side in a single line, and the operating program is formed by a single line, although this format is not mandatory. The operating symbols and auxiliary symbols can also be displayed along a column. An example is then explained in which the operating symbols and auxiliary symbols are displayed side by side in a column.

[0106] Fig. Figure 29 shows an image of a portable terminal where the operating program is displayed vertically. Figure 67 shows the same content as in Fig. Figure 7 shows the operating program 72, which includes an auxiliary symbol 72p for adding an operation of the robot device. In Figure 67, all operating symbols 72a to 72c and the auxiliary symbol 72p are shown in the order of the robot device's operation along a column. The program display area 67a is located at the left end of the display unit 33a. In program display area 67a, the operating program 72 is displayed such that the operating symbols 72a to 72c and the auxiliary symbol 72p are arranged vertically. The information display area 67b, which shows detailed information related to the generation of operating program 72, is located on the right side of program display area 67a.

[0107] Fig. Figure 30 shows another image of the portable terminal, in which the operating program is displayed vertically. Figure 68 corresponds to the image shown in Fig. 15 and Fig. Figure 17 is shown. Figure 68 depicts the operating program 76. The operating program 76 contains the auxiliary symbol 76p as an aid to perform a predefined control with regard to operation according to the operating symbols. The operator can view any part of the operating program 76 by moving the scroll bar 68. The auxiliary symbol 76p has such a form that one group of operating symbols 76a to 76c and another group of operating symbols 76d to 76f are displayed consecutively in a column.

[0108] Figure 68 also shows all operating symbols 76a to 76f and the auxiliary symbol 76p arranged along a column in the order of operation of the robot device. In the program display area 68a, the operating program 76 is displayed such that the operating symbols 76a to 76d and the auxiliary symbol 76p are arranged vertically. The information display area 68b, which shows detailed information related to the generation of the operating program 76, is located on the right side of the program display area 68a.

[0109] In this way, even with a program generation device where the operating symbols and auxiliary symbols are displayed side-by-side in a single column, the operator can easily understand the area defined by an auxiliary symbol. Furthermore, the operator can view the operating program and the information display area simultaneously. Therefore, the efficiency of operating program generation is improved. Since the other forms, effects, and results are the same as in the control system described above, where the operating symbols and auxiliary symbols are displayed side-by-side in a single column, the explanation will not be repeated here.

[0110] The operating program can also be used like the one in Fig.The reference example 18 shown contains control symbols for branching to multiple rows. Alternatively, the operating program may contain control symbols for branching to multiple columns. An operating program containing such control symbols may also include an auxiliary symbol indicating control for adding an operation of the robot device. Furthermore, the operating program may contain an auxiliary symbol indicating control for correcting the operation of the robot device defined by the operating symbols.

[0111] In the embodiment described above, the explanation refers to a method that generates an operating program from scratch, but there is no limitation to this embodiment. The present embodiment can also be applied to a program generation device that creates a new operating program by correcting a previously generated one.

[0112] The form of the present disclosure can provide a program generation device in which the efficiency of the activity for generating an operating program is improved.

Claims

[1] Program generation device (6) which generates an operating program (72 to 74, 79) for a robot device (5, 7) which is equipped with a robot (1) and a working tool (2), wherein the program generation device a display unit (33a) that displays information related to the generation of a program; and an input unit (33b) by which an operator performs an operation on an image displayed on the display unit, includes wherein the display unit displays the operating program, wherein the operating program includes operating symbols (72a to 72c, 73a to 73e, 74a to 74c, 79a to 79k) that indicate the operation of the robot or the work tool, and an auxiliary symbol (72p, 73p, 74p, 74q, 79p) that has a shape flanking or surrounding the operating symbol for the purpose of determining at least one operating symbol, where the auxiliary symbol represents a control added to the operation of the robot device, or a control that corrects the operation of the robot device as defined by the operating symbols, wherein the display unit is designed such that, by selecting an operating symbol or an auxiliary symbol by the operator, it displays a screen for setting information (82, 84, 89) in connection with the control or operation of the robot device so that the operator can set the setting information, the display unit shows the operating symbols and the auxiliary symbols side by side in the order of operation of the robot device. [2] Program generation device according to claim 1, wherein the operating program (72, 74) contains an auxiliary symbol (72p, 74p, 74q) that adds an operation of the robot device and indicates the start and end of the added operation of the robot device, wherein the setting information (82, 84) of the auxiliary symbol contains conditions for the operation of the robot device. [3] Program generation device according to claim 1, wherein the operating program (79) contains an auxiliary symbol (79p) indicating a control that corrects the operation of the robot device determined by the operating symbols (79f to 79i), wherein the setting information (89) of the auxiliary symbol contains conditions related to the correction of the operation of the robot device. [4] Program generation device (6) which generates an operating program (75 to 78, 171) for a robot device (5, 7) which is equipped with a robot (1) and a working tool (2), wherein the program generation device a display unit (33a) that displays information related to the generation of the program; and an input unit (33b) by which an operator performs an operation on an image displayed on the display unit, includes wherein the display unit displays the operating program, wherein the operating program includes operating symbols (75a to 75c, 76a to 76f, 77a to 77c, 78a to 78f, 171a to 171c) that indicate the operation of the robot or the working tool, and an auxiliary symbol (75p, 76p, 77p, 77q, 78p, 78q, 171p) that has a shape flanking or surrounding the operating symbol for the purpose of determining at least one operating symbol, where the auxiliary symbol indicates a predefined control in relation to the operation according to the operating symbols, wherein the display unit is designed such that, by selecting an operating symbol or an auxiliary symbol by the operator, it displays a screen representation for setting setting information (85, 86) related to the control or operation of the robot device, so that the operator can set the setting information, the display unit shows all operating symbols and auxiliary symbols side by side in a row or column in the order of operation of the robot device. [5] Program generation device according to claim 4, wherein the operating program (75, 78) contains an auxiliary symbol (75p, 78p) indicating a control that repeats a predefined operation of the robot device, wherein the setting information (85) of the auxiliary symbol contains conditions for the repetition of the operation of the robot device. [6] Program generation device according to claim 4, wherein the operating program (76 to 78) contains an auxiliary symbol (76p, 77p, 77q, 78p) indicating a controller that selects an operation of the robot device according to a predefined condition, wherein the auxiliary symbol has a shape that defines one group of operating symbols and another group of operating symbols, the one group and the other group being displayed side by side along a row or a column, wherein the setting information (86) of the auxiliary symbol contains conditions for the selection of the operation of the robot device. [7] Program generation device according to claim 4, wherein the operating program (171) contains an auxiliary symbol (171p) that deactivates operation according to an operating symbol (171b). [8] Program generation device according to any one of claims 1 to 7, wherein the operating program (74, 77, 78) contains several auxiliary symbols (74p, 74q, 77p, 77q, 78p, 78q), wherein the first auxiliary symbol (74q, 77q, 78q) determines at least one operating symbol (74c, 77a, 77b, 78a to 78c), where the second auxiliary symbol (74p, 77p, 78p) determines the first auxiliary symbol. [9] Program generation device according to any one of claims 1 to 8, wherein the auxiliary symbol has a U-shape so that it flanks at least one operating symbol.

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