Robot control device and robot control system

Abstract

The aim is to efficiently utilize the knowledge of predecessors in the field of robot training. A robot control device according to one aspect of the present disclosure is a computer device that controls a robot equipped with a sensor. The robot control device 1 comprises a memory unit 6 configured to store a parameter for setting an operation of a robot 8 in conjunction with an index value representing an operating state of the robot operating according to the parameter, a search unit 25 configured to search for the parameter based on the index value, and a display device 4 configured to display the searched parameter.

Description

Technical area

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

[0002] Robot teaching is an essential task for inducing the robot to perform a predetermined operation. With the proliferation of robots, not only highly skilled operators but also less skilled operators need to perform robot teaching. On the other hand, as robots become more complex, robot teaching becomes increasingly difficult. For this reason, a robot teaching assistant has been proposed that has a function of assisting operators in teaching robots (Patent Literature 1).

[0003] In particular, it is not an easy task for low-skilled operators who lack a good understanding of the operating parameters to correct the operating parameters to appropriate values ​​to prevent the occurrence of abnormal situations. They do not know which operating parameter influenced the abnormal situation when an abnormal situation occurs, such as an alarm being generated during the robot's operation, the robot's operation being stopped midway, or the like. For example, when abnormalities occurred, operators used manuals to figure out how to solve the abnormality. However, since manuals contain a lot of information, searching for the solution through manuals is time-consuming and reduces the overall efficiency of teaching robots. SUMMARY OF THE INVENTION PROBLEM TO BE SOLVED BY THE INVENTION

[0004] Although it is inefficient, operators can gradually accumulate knowledge by repeatedly setting the operation parameters and referring to manuals. This knowledge is important because it is acquired through time and effort. With this knowledge, even less experienced operators can perform parameter setting smoothly. Therefore, when the operator responsible for teaching robots changes, it is very important to pass on the knowledge accumulated by the responsible operator to the new operator. However, this knowledge covers various cases, and transferring all the knowledge to the new operator was not easy and required a lot of time. Therefore, it is desirable to efficiently utilize the knowledge of predecessors when teaching robots. SOLUTION TO THE PROBLEM

[0005] A robot control device according to one aspect of the present disclosure is a computer device that controls a robot equipped with a sensor. The robot control device includes a storage unit configured to store a parameter for setting an operation of the robot in association with an index value representing an operating state of the robot operating according to the parameter, a search unit configured to search for the parameter based on the index value, and a display device configured to display the searched parameter. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing a robot device including a robot control device according to the present embodiment. Fig. 2 is a functional block diagram of the robot control device according to the present embodiment. Fig. 3 shows an example of a formula stored in a memory unit of Fig. 2 is stored. Fig. 4 shows an example of a table for managing the setting history, which is used in the Fig. 2 shown storage unit. Fig. Figure 5 shows an example of an allocation table related to an abnormality of the operation, in which Fig. 2 shown storage unit. Fig. 6 shows an example of an assignment table that relates to the success or failure of an operation and in which Fig. 2 shown storage unit. Fig. 7 shows an example of a table for managing weighting coefficients used in the Fig. 2 shown storage unit. Fig. Figure 8 shows an example of a search screen displayed on a Fig. 2 shown display unit. Fig. 9 shows an example of a simulation screen that is based on the Fig. 2 shown display unit. DETAILED DESCRIPTION OF THE INVENTION

[0006] A robot control device according to the present embodiment will be described below with reference to the drawings. In the following description, constituent elements having substantially the same function and configuration are denoted by the same reference numerals, and repetitive descriptions are given only where necessary.

[0007] A robot control device according to the present embodiment is a computer device having a function of storing an operation parameter for setting an operation of a robot in association with an index value representing an operation state of the robot (hereinafter sometimes simply referred to as an index value), a function of searching the operation parameter based on the index value, and a function of displaying the searched operation parameter.

[0008] The "index value representing an operating state of the robot" is a numerical value that represents the state of the robot during operation or the operating result of the robot according to a predetermined rule. Typically, the index value representing the operating state of the robot is derived based on the cycle time of the robot, the torque value applied to the robot during operation, the presence or absence of the overheat alarm, and the degree of success or failure of the robot's operation. As described above, the index value representing the operating state of the robot is not only derived from quantitative data obtained as numerical values ​​such as a cycle time and a torque value, but is comprehensively derived from data that also includes qualitative data such as the presence or absence of the overheat alarm and the success or failure of the operation.

[0009] In the present embodiment, the operating speed, which is the setting information of the movement speed of the hand reference point, is taken as an example of the operation parameter; however, the operation parameter is not limited to this. For example, in a robot that operates according to the same operation program, various parameters that cause changes in operation can be adopted as the operation parameter. Specifically, a standby state, an interpolation format, a movement format, or the like can be set as the operation parameter. The standby state is the time during which the device is at rest when a standby command is described in the operation program. The interpolation format is a condition concerning the interpolation format between two teaching points. The interpolation format includes, for example, circular interpolation, linear interpolation, and the like.The motion format is a condition that relates to how the robot should be moved between a plurality of teaching points. For example, the motion format includes a format in which the robot is moved so that it always passes through the teaching points, a format in which the robot does not necessarily have to pass through the teaching points but is moved smoothly so that it passes through or near the teaching points, and the like.

[0010] In the present embodiment, four types of data—cycle time, torque value, presence or absence of the overheat alarm, and the degree of success or failure of the operation—are assumed as the data used to calculate the index value. However, the data used to calculate the index value is not limited to the four types of data described above. For example, the index value can be calculated using at least one of the four types of data. In the present embodiment, the torque value based on the output of the force sensor is used as the sensor data for calculating the index value, but the sensor data is not limited to this.For example, any value based on the output of any sensor attached to the robot, such as acceleration based on the output of an accelerometer attached to the robot or speed based on the output of a speed sensor attached to the robot, can be used to calculate the index value.

[0011] In the present embodiment, overheating is assumed as an example of the operation abnormality used to calculate the index value, but the type of operation abnormality is not limited to this. For example, sudden acceleration, excessive speed, vibration, and the like can be considered as an operation abnormality. Furthermore, the number of operation abnormalities is not limited to one; a plurality of abnormalities can be used.

[0012] In the present embodiment, the degree of success or failure of the operation is of two types: "the operation was successful" and "the operation was unsuccessful," but the degree is not limited to these. For example, "the operation was successful" can be divided into "the operation was successful and stable" and "the operation was successful but unstable." Further, "the operation was unsuccessful" can be divided into "the operation is likely to be successful if the robot's operation is slightly improved" and "the operation will not be successful if the robot's operation is not greatly improved." Further, the degree of success or failure of the operation can be divided into five levels, where "5" represents the state of complete success and "1" represents the state of complete failure.Typically, the degree of success or failure of the operation is input to the robot controller through a user operation. Of course, the degree of success or failure of the operation can also be determined based on the outputs of various sensors mounted on the robot, if there are two types of operations: "the operation was successful" and "the operation was unsuccessful."

[0013] A robot control device 1 according to the present embodiment will be described below.

[0014] As in Fig. 1, the robot control device 1 according to the present embodiment constitutes a robot device 7 together with a robot 8. The robot 8 includes a force sensor 9 for detecting a load applied to an end effector. The output data of the force sensor 9 mounted on the robot 8 is input to the robot control device 1. The sensor 9 mounted on the robot 8 is not limited to the force sensor 9. The robot 8 may include, for example, a vision sensor camera for capturing the image of the workpiece W, an encoder that detects the rotational position of the motor, an infrared sensor that detects the presence or absence of an operator or an obstacle, a contact sensor that detects the presence or absence of contact of an operator, and the like.

[0015] As in Fig. As shown in Figure 2, the robot control device 1 according to the present embodiment is configured by connecting hardware such as an operation unit 3, a display unit 4, a communication unit 5, and a storage unit 6 to a processor 2 (such as a CPU). The robot control device 1 is provided by a general information processing terminal such as a personal computer or a tablet.

[0016] The operation unit 3 includes an input device, such as a keyboard, a mouse, or a jog. The input device may be provided by a touch panel, which also serves as a display unit 4, or by a special operation unit (pendant light) of the robot control device 1. The user can input various types of information into the robot control device 1 via the operation unit 3.

[0017] The display unit 4 includes a display device such as an LCD, and displays a search screen 100, a simulation screen 200, and the like, which are created by a screen creation unit 26. The communication unit 5 controls the transmission and reception of data to and from the robot 8. Through the processing of the communication control unit 5, the robot controller 1 receives output data from the force sensor 9 attached to the robot 8.

[0018] The storage unit 6 includes a storage device such as an HDD or an SSD. The storage unit 6 stores an operation program for searching an operating parameter, data from three-dimensional models displayed on the simulation screen 200, data from various types of formulas, and data from various types of tables.

[0019] The data of the three-dimensional models include data from a three-dimensional model of the robot 8, which includes the force sensor 9, and data from a three-dimensional model of the workpiece. Typically, the data of the three-dimensional models are provided by CAD data.

[0020] The formulas include a cycle time conversion formula, a torque value conversion formula, an index value calculation formula, and the like. The cycle time conversion formula is a calculation formula for converting a cycle time into a value for calculating the index value. As shown in Fig. As shown in Figure 3, the converted value A of a cycle time can be obtained by substituting the cycle time into the variable a of a conversion formula "A = 120 / a." The conversion formula for the converted value B of a torque value is "B = 1 (b < 80), B = 0 (b ≥ 80)." That is, the torque value is binarized. When the value b is 80 or more, the torque value is converted to a numerical value "0," and when the value b is less than 80, the torque value is converted to a numerical value "1." The index value Iv can be determined by inserting numerical values ​​into the variables A, B, C, D and ω1 to ω4 of a calculation formula “Iv = (A × ω1) × (B × ω2) × (C × ω3) × (D × ω4)”.

[0021] The variety of table types includes a setting history management table to manage the operating speeds set in the past, a mapping table to assign a numerical value to the presence or absence of the overheat alarm (as a mapping table related to the abnormality of the operation), a mapping table to assign a numerical value to the degree of success or failure of the operation (as a mapping table related to the success or failure of the operation), and a weighting coefficient management table to manage the weighting coefficients used to calculate the index value.

[0022] Fig. Figure 4 shows an example of a table for managing the setting history.

[0023] As in Fig. As shown in Figure 4, a record in the setting history management table manages an item number, a setting date and time, an operation program name, an operation speed, a cycle time, a torque value, the presence or absence of the overheat alarm, the success or failure of the operation, an index value, and a countermeasure. A record of the setting history management table is called a setting history record. For example, the operation program name, the operating speed, and the countermeasure are registered based on the information entered by the user. The cycle time, the torque value, the presence or absence of the overheat alarm, the success or failure of the operation, and the index value are automatically registered by the internal processing of the robot controller 1.Of course, the cycle time, torque value, presence or absence of overheat alarm, success or failure of the operation and index value can be partially entered by the user.

[0024] The operating speed is an example of the operating parameter and is a parameter for setting the movement speed of the hand reference point. The cycle time corresponds to the actual time required from the start to the end of the operation when the robot 8 performs a series of operations defined by the operation program. The torque value corresponds to the maximum value of the torque exerted on the robot 8 in operation, which is calculated based on the output of the force sensor 9 on the bracket of the robot 8. The overheat alarm is issued when the motor is driven at high speed, when the motor is operated in a severe cycle, or when the actual temperature of the motor or its environment is high. The success or failure of the operation indicates whether the robot 8 was able to normally perform the series of operations defined by the operation program."Normal" here means that the series of operations defined in the operation program can be performed within a specified time. For example, there is a case where the robot 8 is temporarily stopped during the operation and the series of operations specified by the operation program cannot be completed within a specified time. There is a case where an operation defined in the operation program fails. In these cases, the success or failure of the operation is referred to as "unsuccessful."

[0025] Fig. Figure 5 shows an example of a mapping table concerning the abnormality of the operation.

[0026] As in Fig. As shown in Figure 5, in the mapping table related to the abnormal operation, a numerical value is assigned to the presence or absence of the overheat alarm. A numerical value C "1" is assigned to the "absence" of the overheat alarm, and a numerical value C "0" is assigned to the "presence" of the overheat alarm. Although the mapping values ​​are initially determined as described above, the mapping values ​​can be changed accordingly according to the user's operation.

[0027] In the present embodiment, overheating is assumed to be an abnormality of operation, and a numerical value is assigned to its presence or absence. However, the degree of overheating may be divided into three or more levels, and a numerical value may be assigned to each level. Furthermore, a variety of types of abnormalities in operation may be included. The abnormality of operation includes a major abnormality of operation that affects the success or failure of the operation, and a minor abnormality of operation that does not affect the success or failure of the operation. Therefore, the assigned numerical value may vary depending on the type of abnormality of operation.

[0028] Fig. Figure 6 shows an example of an assignment table related to the success or failure of the operation.

[0029] As in Fig. As shown in Figure 6, in the assignment table relating to the success or failure of the operation, a numerical value is assigned to the success and failure of the operation. A numerical value D "1" is assigned to the "success" of the operation, and a numerical value D "0" is assigned to the "failure" of the operation. Although the assignment values ​​are initially determined as described above, the assignment values ​​can be appropriately changed according to a user's operation.

[0030] In the present embodiment, "success" and "unsuccess" are assumed as the degree of success or failure of the operation, and each of them is assigned a numerical value. However, as described above, the degree of success or failure of the operation can be divided into three or more levels, and each level can be assigned a numerical value.

[0031] Fig. Figure 7 shows an example table for managing the weighting coefficient. The weighting coefficient is a parameter for modifying the influence of cycle time, torque value, the presence or absence of the overheating alarm, and the success or failure of the operation on the index value.

[0032] For example, if the user considers the cycle time to be important for the robot's operation, the weighting coefficient corresponding to the cycle time is set to be larger than the other weighting coefficients. As shown in Fig. 6, the weighting coefficient ω1 corresponding to the cycle time is set to "2", the weighting coefficient ω2 corresponding to the torque value is set to "1", the weighting coefficient ω3 corresponding to the presence or absence of the abnormality of the operation is set to "1", and the weighting coefficient ω4 corresponding to the success or failure of the operation is set to "1".

[0033] For example, if the user considers careful movements to be important for the robot's operation, the weighting coefficient corresponding to the torque value is set larger than the other weighting coefficients. As shown in Fig. 6, the weighting coefficient ω1 corresponding to the cycle time is set to "1", the weighting coefficient ω2 corresponding to the torque value is set to "2", the weighting coefficient ω3 corresponding to the presence or absence of the abnormality of the operation is set to "1", and the weighting coefficient ω4 corresponding to the success or failure of the operation is set to "1".

[0034] As in Fig. 2, when the processor 2 executes the search program stored in the storage unit 6, the robot control device 1 functions as a virtual space generation unit 21, a model arrangement unit 22, a simulation execution unit 23, an index value calculation unit 24, a search unit 25, and a screen generation unit 26.

[0035] The virtual space generation unit 21 generates a virtual space using software that three-dimensionally represents an operating space in which the robot operates. The virtual space generated by the virtual space generation unit 21 is displayed on the simulation screen 200 generated by the screen generation unit 26.

[0036] The model arrangement unit 22 arranges a three-dimensional model 8' of the robot 8 (robot model 8') and a three-dimensional model W of the workpiece W (workpiece model W') in the virtual space generated by the virtual space generation unit 21 and displayed on the simulation screen 200. The robot model 8' and the workpiece model W' are arranged in the virtual space to correspond to the positional relationship between the robot 8 and the workpiece W in the actual operation space.

[0037] The simulation execution unit 23 performs a simulation operation to operate the robot model 8' in the virtual space displayed on the simulation screen 200 according to the operation program and the operation speed, or according to a user instruction by the operation unit 3. Through the processing of the simulation execution unit 23, the robot model 8' displayed on the simulation screen 200 can be operated according to the operation speed selected by the user. Accordingly, based on the operation speed associated with the fact that the operation was unsuccessful, the operation of the robot 8 when the operation was unsuccessful can be reproduced on the simulation screen 200 and displayed as a moving image.Furthermore, the setting history record is linked to a time during the operation when an event that is a cause of the unsuccessful operation occurred and whether an overheat alarm was issued. On the simulation screen 200, the user can confirm the event that is the cause of the unsuccessful operation based on the position and posture of the robot 8 at that time and correct the operation of the robot 8 so that the operation is successful.

[0038] The index value calculation unit 24 calculates an index value that represents the operating state of the robot. Typically, the index value calculation unit 24 converts the cycle time a into a converted value A using the Fig. 3, and converts the torque value b into a conversion value B using the torque value conversion formula. In addition, with reference to the Fig. 5, a numerical value C is assigned to the presence or absence of the overheating alarm. In the assignment value table in Fig. 6, a numerical value D is assigned to the success or failure of the operation. In addition, the weighting coefficients ω1, ω2, w3 and ω4 are determined based on the important element entered by the user (see Fig. 7). Then, the index value calculation unit 24 calculates the index value Iv by converting the conversion value A, the conversion value B, the allocation value C, the allocation value D and the weighting coefficients ω1, ω2, w3 and ω4 into the values ​​shown in Fig. 3 uses the formula for calculating the index value Iv. Of course, the method for calculating the index value is not limited to this.

[0039] The search unit 25 searches the setting history management table according to a search condition entered by a user operation on the search screen 100 and extracts an operating speed. Typically, the search unit 25 searches the setting history table and extracts an operating speed associated with the largest index value as the recommended operating speed.

[0040] However, the method of searching the operating speed by the search unit 25 is not limited to this. For example, the search unit 25 may search the setting history table and extract a plurality of operating speeds in descending order of index values ​​as the operating speeds to be presented. Furthermore, an operating speed that has a value close to the recommended operating speed and is associated with the "presence" of the overheat alarm may be extracted as the reference operating speed.

[0041] The screen generation unit 26 generates a search screen 100 that allows the user to search for an operating speed and a simulation screen 200 that allows the operation of the robot to be reproduced based on the operating speed selected by the user.

[0042] The search screen 100 generated by the screen generation unit 26 will be described below with reference to Fig. 8. As described in Fig. 8, the search screen 100 includes a search condition display area 110 in which the search conditions are displayed, a search result display area 120 in which the search results are displayed, and a reproduction button 150 for transitioning from the search screen 100 to the simulation screen 200.

[0043] In the search condition display area 110, a selection menu 112 is arranged in association with the search condition “name of the operation program”, and a selection menu 114 is arranged in association with the search condition “level of importance”.

[0044] The search result display area 120 includes an area 130 for displaying the recommended operating speed and an area 140 for displaying the operating speed associated with the presence of the overheat alarm. Area 130 displays a recommended operating speed for the user-entered search condition, as well as an index value associated with the operating speed, a cycle time, a torque value, the presence or absence of the overheat alarm, and the success or failure of the operation.

[0045] Area 140 displays an operating speed of the setting history associated with the presence of the overheat alarm, as well as an index value, a cycle time, a torque value, the success or failure of the operation, and the countermeasure taken to prevent overheating. Check boxes 135 and 145 for recording an operation to select an operating speed are arranged in areas 130 and 140, respectively.

[0046] As in Fig. 8, when an operation program name “TEST1” and an important item “cycle time” are input by a user operation on the search screen, the robot controller 1 refers to the setting history management table through the processing of the index value calculation unit 24 to extract a setting history record associated with the operation program name “TEST1” and calculates an index value of the extracted setting history record.

[0047] Specifically, the robot control device 1 refers to the Fig. 7 for managing the weighting coefficients and determines the weighting coefficients corresponding to the important element “cycle time” as ω1 = 2, ω2 = 1, ω3 = 1 and ω4 = 1.

[0048] The robot control device 1 converts the cycle time a using the Fig. 3, and converts the torque value b using the torque value conversion formula. For example, the cycle time "10s" of position number "1" is converted to the numerical value A "12", the cycle time "20s" of position number "2" is converted to the numerical value A "6", the cycle time "30s" of position number "3" is converted to the numerical value A "4", and the cycle time "25s" of position number "4" is converted to the numerical value A "4.8".

[0049] The robot control device 1 refers to the mapping table referring to the Fig. 5, to assign a numerical value C for the presence or absence of the overheat alarm. For example, the numerical value B "0" is assigned to the "presence" of the overheat alarm in position numbers "1" and "2", and the numerical value B "1" is assigned to the "absence" of the overheat alarm in position numbers "3" and "4".

[0050] The robot control device 1 refers to the Fig. 6, which relates to the success or failure of the operation, to assign a numerical value D to the success or failure of the operation. For example, the success or failure of the operation of position numbers "1" and "2" is assigned the numerical value "0", and the success or failure of the operation is assigned the numerical value "1".

[0051] The robot controller 1 calculates the index value Iv corresponding to the setting history record by converting the numerical control devices A, B, C and D and the weight coefficients ω1, ω2, w3 and ω4 into the values ​​shown in Fig. 3 is used to calculate the index value Iv. As in Fig. 4, the index value “0” corresponding to the position number “1”, the index value “0” corresponding to the position number “2”, the index value “8” corresponding to the position number “3”, and the index value “9.6” corresponding to the position number “4” are calculated.

[0052] The robot control device 1 extracts the position number “4” having the largest index value through the processing of the search unit 25 to identify the operating speed “400 mm / s” associated with the position number “4” as the recommended operating speed. Accordingly, as shown in Fig. 8, along with the recommended operating speed “400 mm / s”, the index value “9.6” associated with the operating speed “400 mm / s”, the cycle time “25s”, the torque value “72N”, the “absence” of the overheating alarm and the “success” of the success or failure of the operation are displayed.

[0053] The robot control device 1 extracts, through the processing of the search unit 25, from the position numbers "1" and "2" associated with the "presence" of the overheating alarm, the position number "2" having the operation time "500 mm / s" that is closer to the operation time "25 s" of the recommended operating speed "400 mm / s." Then, the operating speed "500 mm / s" associated with the position number "2" is identified as the operating speed associated with the "presence" of the overheating alarm. Accordingly, as shown in Fig. 8, the index value “0”, the cycle time “20s”, the torque value “91N”, the “presence” of the overheat alarm and the “unsuccess” of the success or failure of the operation together with the operating speed “500mm / s” are displayed as a record of the setting history in conjunction with the “presence” of the overheat alarm.

[0054] However, the configuration of the search screen 100 is not limited to the present embodiment.

[0055] In the present embodiment, the index value associated with an operating speed, the torque value, the presence or absence of the overheat alarm, and the success or failure of the operation are displayed together with the operating speed.

[0056] In the present embodiment, in order to assist the user in setting the operation speed, the operation speed associated with the "presence" of the overheat alarm is displayed together with the recommended operation speed, but the user needs to know at least the recommended operation speed, and only the recommended operation speed can be displayed.

[0057] Although only one recommended operating speed is displayed in the present embodiment, a plurality of operating speeds may be displayed in order of recommendation. Furthermore, not just one but a plurality of operating speeds associated with the presence of the overheat alarm may be displayed. Furthermore, the operating speed associated with the success or failure of the operation may be displayed as "unsuccessful."

[0058] In the present embodiment, a search term is selected from the selection menu, but there may also be a search field in which the user can freely enter a search condition.

[0059] The simulation screen 200 generated by the screen generation unit 26 will be described below with reference to Fig. 9. The simulation screen 200 is displayed when an operating speed is selected by a user operation in a check box 135, 145 located on the Fig. 8 is displayed, and the reproduction button 150 is clicked. As shown in Fig.As shown in Figure 9, the simulation screen 200 includes a motion picture display area 210 in which a simulation motion picture is displayed, an operation area 220 in which a play / pause button 221, a rewind button 223, and a fast-forward button 225 for operating the simulation motion picture are displayed, and a rewind button 230 for returning to the search screen 100. The motion picture display area 210 displays a virtual space generated by the virtual space generation unit 21, in which the robot model 8' and the workpiece model W' are arranged by the model arrangement unit 22. The robot model 8' is moved by the processing of the simulation execution unit 23. By selecting the checkbox 145 corresponding to the operating speed associated with the “presence” of the overheat alarm on the search screen 100, the user can confirm by simulation the operation of the robot 8 when the overheat alarm is generated.

[0060] The robot control device 1 according to the present embodiment has the following effects. A feature of the robot control device 1 according to the present embodiment is that the operation speed of the operation program is stored in association with an index value representing the operating state of the robot, which operates in accordance with the operation speed. The index value representing the operating state of the robot is a numerical value representing the state of the robot in operation and the operation result of the robot according to a predetermined rule. The predetermined rule includes whether the cycle time is considered important or the careful operation is considered important.

[0061] For example, the robot controller 1 may calculate an index value where the degree of influence of the cycle time is made large. Accordingly, the robot controller 1 may present the operating speed with the highest calculated index value, that is, the operating speed of the setting history that prioritizes the cycle time, as the recommended operating speed to the user who considers the cycle time important. Similarly, the robot controller 1 may calculate an index value where the degree of influence of the torque value is large. Accordingly, the robot controller 1 may present the operating speed with the highest calculated index value, that is, the operating speed of the setting history that prioritizes the torque value, as the recommended operating speed to the user who considers careful operation important.

[0062] By assigning an index value to an operating speed representing the operating state of the robot 8 operating according to the operating speed, the robot controller 1 can search for the operating speed according to the user's desired item based on the index value. Accordingly, even when there is a huge amount of setting histories, the operating speed desired by the user can be easily extracted by searching, and the time required to find the desired setting history from the past setting histories can be shortened. Therefore, the robot controller 1 can store the operating speed as knowledge when the operation of the robot 8 has failed, for example, due to a malfunction.When the cycle time was too slow, the load applied to the robot 8 was too large, an abnormal operation occurred, or the operation was unsuccessful, this is generally cleared along with the operation speed being set to an appropriate value. As described above, maintaining the operation speed when the robot 8 fails to operate is also one of the important features of the robot control device 1 according to the present embodiment.

[0063] With this function, the robot controller 1 can display to the user not only the operating speed set to an appropriate value, but also the operating speed set to an inappropriate value when the operation of the robot 8 has failed. For example, if the information displayed by the robot controller 1 is only the recommended operating speed, it is difficult for the user to change the operating speed. This is because the user knows the recommended operating speed but does not know how much faster the operation can be. In such a case, the user must experimentally operate the robot 8 while changing the operating speed to grasp how much faster the operating speed can be.

[0064] On the other hand, by displaying not only the recommended operating speed but also the operating speed at which the robot 8 failed as the reference operating speed, along with the cause of the failure and the handling of the failure, as in the present embodiment, the user can understand how much the operating speed can be increased before the operation fails and what to do in the event of a failure. Accordingly, the user can examine the currently set operating speed in detail by referring not only to the recommended operating speed set in the past but also to the operating speed set in the past when the operation of the robot 8 failed to make a decision.

[0065] As described above, according to the robot control device 1 of the present embodiment, the operator can acquire as knowledge a previously tested operating parameter, the cycle time, the torque value, the presence or absence of an abnormal operation, and the success or failure of the operation of the robot 8 operating in accordance with the operating parameter. Accordingly, it is not necessary to test the robot 8 with the same operating parameters, and teaching can be performed efficiently.

[0066] The robot control device 1 according to the present embodiment calculates an index value representing the operating state of the robot as an operation result after the robot 8 operates according to an operation program. However, the robot control device 1 may calculate a plurality of index values ​​corresponding to a plurality of times during the operation of the robot 8 according to the operation program. By determining the change in the index value over time, the time at which the index value is low can be identified as the time at which the operation failed. Accordingly, the operation of the robot 8 and the positional relationship with the peripheral objects such as the workpiece at the time the operation failed can be displayed on the simulation screen 200, and the operator can visually confirm the simulation screen 200 to more intuitively grasp the cause of the failure.

[0067] Although the present embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. These embodiments may be subjected to various additions, substitutions, modifications, partial deletions, etc., without departing from the gist of the invention or the idea and spirit of the present invention as understood from the contents described in the claims and their equivalents. For example, in the present embodiments, the order of operations and the order of processes are illustrated as examples, and the present invention is not limited thereto. The same applies to the case where numerical values ​​or formulas are used in the description of the above-described embodiments. EXPLANATION OF REFERENCE SYMBOLS

[0068] 1: Robot controller, 7: Robot apparatus, 8: Robot, 9: Force sensor, 100: Search screen, 110: Search condition display area, 112, 114: Selection menu, 120: Search result display area, 130: Recommended operating speed display area, 140: Operating speed display area with overheat alarm present, 135, 145: Check box, 150: Reproduction button.

Claims

[1] Robot control device for controlling a robot provided with a sensor, comprising: a storage unit configured to store a parameter for setting an operation of the robot in association with an index value representing an operating state of the robot operating according to the parameter; a search unit configured to search for the parameter based on the index value; and a display unit configured to display the parameter being searched for. [2] A robot control device according to claim 1, wherein the parameter is stored in the storage device in association with a cycle time of the robot, an output value of a sensor attached to the robot or a value derived therefrom, the presence or absence of an abnormality of the operation, and a degree of success or failure of the operation together with the index value. [3] The robot control device according to claim 2, further comprising: a calculation unit configured to calculate the index value based on the cycle time, the output value of the sensor or the value derived therefrom, a value associated with the presence or absence of the abnormality of the operation, and a value associated with the degree of success or failure of the operation. [4] The robot control device according to claim 3, wherein a weighting degree of the cycle time, the output value of the sensor or the value derived therefrom, the value associated with the presence or absence of the abnormality of the operation, and the value associated with the success or failure of the operation is changed according to the index value in accordance with a level of importance input by a user. [5] The robot control device according to claim 2, wherein the display unit displays the index value associated with the searched parameter, the cycle time, the output value of the sensor or the value derived therefrom, the presence or absence of the abnormality of the operation, and the degree of success or failure of the operation together with the searched parameter. [6] A robot control device according to claim 2, wherein the display unit displays a moving image representing an operation of the robot when the operation was unsuccessful based on the parameter associated with a fact that the operation was unsuccessful. [7] The robot control device according to claim 2, wherein the search unit searches for the parameter associated with a fact that the operation was successful and the parameter associated with a fact that the operation was unsuccessful. [8] A robot control device according to claim 7, wherein the display unit displays the parameter associated with the fact that the operation was unsuccessful, together with guidance on how to successfully perform the operation. [9] A robot control device according to claim 2, wherein the degree of success or failure of the operation is input according to an instruction of the user. [10] A robot control system in which a robot control device configured to control a robot provided with a sensor and an information processing device are connected via a network, the robot control device comprising: a storage unit configured to store a parameter for setting an operation of the robot in association with an index value representing an operating state of the robot operating according to the parameter; a search unit configured to search for the parameter based on the index value; and a display unit configured to display the searched parameter, and the parameter and the index value stored in the storage unit are shared with the information processing device.

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