ROBOT CONTROL DEVICE AND ACTION PROGRAM

Abstract

This robot operator device includes: a display unit; a screen control unit that displays a UI screen on the display unit and controls the UI screen; and a command control unit that generates a command based on an operation performed on the UI screen and transmits the command to a robot. The UI screen includes a graphic of the robot and the cargo, as well as an operator screen for receiving an operation performed by the user. The operator screen comprises three screens that are displayed alternately and three tabs.The three screens consist of a first settings screen for adjusting a setting related to a device used in palletizing operations, a second settings screen for adjusting a setting related to the cargo, and an execution screen for issuing instructions related to the execution of palletizing operations. The screen control unit switches between the three screens according to the operation of the tabs and changes the graphics according to the settings made on the first and second settings screens or according to the progress of the palletizing operation.

Description

{Technical field}

[0001] The present disclosure relates to a robot control device and an action program. {State of the art}

[0002] To enable a robot to perform palletizing operations for stacking freight onto pallets, parameters of the robot, the pallets, a conveyor, the freight, etc. are set using a personal computer (see, for example, PTL 1 and PTL 2). {Reference list}{Patent literature} [PTL 1] Japanese unexamined patent application, publication number 2021-151696 [PTL 2] Japanese unexamined patent application, publication number Hei 11-079407 {Summary of the invention}{Technical problem}

[0003] To enable a robot to perform palletizing work, a process for setting all parameters and a process for executing a control program created based on these parameters are required. To simplify these user-performed processes, it is desirable that the entire process, from setting to execution, can be carried out with a single device. {Solution to the problem}

[0004] According to one aspect, the present disclosure provides a robot control device connected to a robot that performs palletizing operations for stacking cargo on a pallet, the robot control device comprising: a display unit; a screen control unit that displays a user interface screen on the display unit and controls the user interface screen; and a command control unit that generates a command for the robot based on an operation performed on the user interface screen and sends the command to the robot, wherein the user interface screen comprises a graphic of the robot and the cargo as well as an operating screen for accepting an operation from a user, wherein the operating screen comprises three alternately displayed screens and three tabs, each corresponding to the three screens.and wherein the three screen images consist of a first settings screen image for setting a setting relating to the equipment used in the palletizing work, a second settings screen image for setting a setting relating to the cargo, and an execution screen image for issuing an instruction relating to the execution of the palletizing work, and wherein the screen image control unit switches the three screen images displayed on the display unit according to an operation of the tabs, and changes the graphic according to the settings set on the first settings screen and the second settings screen or according to the progress of the palletizing work. {Brief description of the drawings} { Fig. 1] Fig. Figure 1 is a top view showing the overall configuration of a system according to one embodiment of the present disclosure. { Fig. 2] Fig. 2 is a block diagram of a robot operator device and a robot in which in Fig. 1 system shown. { Fig. 3] Fig. Figure 3 is a view that shows an example of a menu displayed on a display unit. { Fig. 4] Fig. Figure 4 is a view that shows examples of an UL screenshot and a system settings screenshot. { Fig. 5A} Fig. 5A is a view that shows an example of the system settings screen. { Fig. 5B} Fig. 5B is a view that shows an example of the system settings screen. { Fig. 6A} Fig. 6A is a view that shows an example of a freight settings screen image. { Fig. 6B} Fig. 6B is a view showing an example of a freight settings screen image. { Fig. 6C} Fig. 6C is a view that shows an example of the cargo settings screen image. { Fig. 6D} Fig. 6D is a view that shows an example of the cargo settings screen image. { Fig. 6E} Fig. 6E is a view that shows an example of the freight settings screen image. { Fig. 7A} Fig. 7A is a view that shows an example of an execution screen image. { Fig. 7B} Fig. 7B is a view that shows an example of an editing screen for a tax program. { Fig. 8] Fig. Figure 8 is a flowchart of an action program executed in the robot control system. {Description of the embodiments}

[0005] In the following, a robot control device and an action program according to an embodiment of the present disclosure are described with reference to the drawings.

[0006] Fig. Figure 1 shows a system 100 with a robot operating device 10 according to this embodiment. The system 100 is a palletizing system for stacking box-shaped cargo W, which is delivered by a conveyor 30 onto pallets 40. The system 100 comprises a robot 20 and the robot operating device 10 connected to the robot 20. Furthermore, the system 100 comprises the conveyor 30 and the pallets 40 arranged around the robot 20.

[0007] The robot 20 comprises a mechanical part 21, a gripper 22 for gripping the cargo W and a control device 23.

[0008] The mechanical part 21 is an industrial robot, generally used for palletizing, and is, for example, a vertical articulated robot, a horizontal articulated robot, or a parallel-articulated robot. The gripper 22 is connected to a wrist flange at the distal end of one arm of the mechanical part 21. The mechanical part 21 can be a collaborative robot that works in a space shared with a user. The mechanical part 21 can be a humanoid robot.

[0009] The control device 23 comprises a processor, a memory, and a storage unit, and a control program that instructs the mechanical part 22 to perform palletizing operations is pre-stored in the storage unit. The processor of the control device 23 controls the mechanical part 21 and the gripper 22 according to the control program.

[0010] The robot operator device 10 is a portable training control panel that connects wirelessly or via cable to the control device 23 and consists of a tablet computer. The robot operator device 10 accepts various user-initiated operations, generates commands based on these operations, and sends the commands to the control device 23. The control device 23 controls the mechanical part 21 and the gripper 22 according to the commands. Therefore, the user can operate the mechanical part 21 and the gripper 22 by using the robot operator device 10.

[0011] As in Fig. As shown in Figure 2, the robot operating device 10 comprises a processor 1, a display unit 2, an input unit 3, a memory 4 and a storage unit 5.

[0012] Processor 1 consists of a CPU (central processing unit), a quantum processor, or the like.

[0013] The display unit 2 consists of a liquid crystal display device, an organic EL display device or the like.

[0014] The input unit 3 has a touchscreen integrated into the display unit 2. The user can perform various operations on a screen displayed on the display unit 2 by touching the display unit 2 with a finger, a stylus, etc. It is also possible for the input unit 3 to include input devices such as a keyboard, a mouse, etc., and for operations to be performed on a screen using these input devices.

[0015] Memory 4 consists of a DRAM (Dynamic Random Access Memory) or similar and temporarily stores data that processor 1 needs to perform processing.

[0016] Storage unit 5 consists of a hard drive, an SSD (Solid State Drive), flash memory, or the like. Storage unit 5 stores an action program 5a, which instructs processor 1 to execute an action procedure to be described later, as well as data required for the action procedure.

[0017] The processor 1 comprises a screen display control unit 11 and a command control unit 12 as functional units.

[0018] The screen control unit 11 displays a user interface (UI) screen A on the display unit 2 for performing the setting and execution of the palletizing and controls the UI screen A based on an operation performed on the UI screen A.

[0019] The command control unit 12 generates a command for the robot 20 based on an operation performed on the UI screen A and sends the command to the robot 20. The command includes: setting data based on settings defined on the setting screens D1 and D2 (which are described later); and a task regarding the execution of the control program. The setting data is used by the control device 23 to generate a target position of the mechanical part 21 in the control program.

[0020] As in Fig. As shown in Figure 3, the screen image control unit 11 can display a menu icon (e.g., a hamburger menu) on the display unit 2 to allow selection from a variety of menus, and can display the UI screen image A on the display unit 2 when a predetermined menu (e.g., a palletizing menu) is selected.

[0021] As in Fig. As shown in Figure 4, the UI screen A comprises a graphic B of the robot 20, the cargo W, etc., and an operator screen C to accept user-initiated actions. Graphic B and operator screen C are displayed simultaneously, with graphic B positioned in the upper portion of UI screen A and operator screen C in the lower portion. The arrangement of graphic B and operator screen C can be modified accordingly.

[0022] Graphic B comprises 3D models of the mechanical part 21, the gripper 22, the conveyor 30, the pallet 40, and the cargo W, arranged in a virtual 3D space. As described later, the 3D models in Graphic B change over time according to the settings defined on the operator screen C or according to the progress of the palletizing operation. Therefore, Graphic B is a 4D graphic.

[0023] The operating screen C comprises three screens D1, D2 and D3 (see Fig. 4, Fig. 6A and Fig. 7A) and three tabs E1, E2, and E3, each corresponding to the three screen images D1, D2, and D3. The three tabs E1, E2, and E3 are always displayed, while the three screen images D1, D2, and D3 are displayed alternately. In Fig. 4 displays screen image D1, while screen images D2 and D3 are not displayed.

[0024] The screen control unit 11 switches the screen image D1, D2, or D3 to be displayed on the display unit 2 according to an operation performed on the corresponding tab E1, E2, or E3. For example, the screen control unit 11 displays screen image D1, which corresponds to the tapped tab E1.

[0025] The three screens consist of a system settings screen (first settings screen) D1, a cargo settings screen (second settings screen) D2, and an execution screen D3. Screens D1, D2, and D3 are categorized according to their frequency of use. The user can perform all operations, from configuring system 100 and cargo W to the daily operation of robot 20 at a palletizing workstation, on these three screens D1, D2, and D3.

[0026] Note that, although in Fig. Figure 4 shows the operator screen C, which comprises the three screens D1, D2, and D3 and the three tabs E1, E2, and E3 corresponding to the three screens D1, D2, and D3. The number of screens and their corresponding tabs is not limited to three. For example, it is also possible to provide a tab for a screen that combines the system settings screen and the freight settings screen. Furthermore, settings for the gripper, pallet, conveyor belt, route, etc., can be provided in the system settings screen D1, and an editing screen for the control program contained in the execution screen D3 can be provided in separate screens and tabs.

[0027] The system settings screen D1 is a screen for setting settings related to devices that make up System 100 and are used in palletizing work (see Fig. 5A and Fig. 5B). The equipment includes, for example, the gripper 22, the conveyor 30, and the pallets 40, and may also include peripheral equipment such as a feeder for the pallets 40 and a feeder for interlayers. The system settings screen D1 is used only once unless the configuration of system 100 is changed, and its usage frequency is the lowest.

[0028] The cargo settings screen D2 is a screen for setting settings related to cargo W (see Fig. 6A to 6E). The cargo settings screen D2 is used to change at least one of cargo W, stacking pattern or route, and its usage frequency is the second highest.

[0029] The execution screen D3 is a screen for displaying an instruction regarding the execution of the palletizing work (see Fig. 7A and Fig. 7B). The execution screen D3 is used to make the robot 20 perform the palletizing work, and its usage frequency is the highest.

[0030] The Fig. 5A and Fig. 5B shows examples of the system settings screen D1.

[0031] The system settings screen D1 accepts settings for the starting positions (reference positions) of the gripper 22, the conveyor 30, and the pallet 40, as well as settings for input and output signals. The in Fig. The system settings screen D1 shown in Figure 4 is divided into two areas, a left and a right, with the left area containing a list of settings items (gripper, pallet, conveyor belt and others), and the right area containing a screen D11, D12 or D13 (see Figure 4). Fig. 5B and Fig. 5C) displays the setting that corresponds to the setting selected from the list.

[0032] Fig. Figure 5A shows an example of the settings screen D11 with respect to the gripper 22. The settings screen D11 includes: settings fields where the weight and the initial position and orientation (X, Y, Z, W, P, R) of the gripper 22 are set; and settings fields where the types and indices of the input and output signals are set. The initial position and orientation are, for example, the position and orientation of the gripper 22 at a predetermined point with respect to the wrist flange of the mechanical part 21.

[0033] For example, in each of the settings fields, the user performs an operation to enter a character, such as a numerical value, or an operation to select from a drop-down list. The screen control unit 11 then makes adjustments in each of the settings fields according to the user's actions.

[0034] Fig. Figure 5B shows an example of the setup screen D12 with respect to the conveyor belt 30 and the setup screen D13 with respect to the pallet 40. Setup screens D12 and D13 each have setting fields where the origin position and orientation (X, Y, Z, W, P, R) of the conveyor belt 30 or the pallet 40 are set. The origin of the conveyor belt 30 and the pallet 40 is, for example, a predetermined corner near the mechanical part 21, and the origin position and orientation are the position and orientation in a robot coordinate system fixed with respect to the mechanical part 21.

[0035] For example, the user operates the robot control unit 10 to move the mechanical part 21 to the origin and, for example, presses a teach button (not shown) displayed on the display unit 2 to teach the robot 20 the origin position and orientation. The screen control unit 11 receives the taught position and orientation from the robot 20 and enters the position and orientation into the settings fields to perform a setting.

[0036] In each of the settings screens D12 and D13, in addition to setting the origin, an input / output signal can be set.

[0037] For example, if a sensor is used to detect that the load W has reached a predetermined position on conveyor belt 30, an input signal from the sensor can be set in the settings screen D12. Furthermore, an output signal can be set in settings screen D12 to instruct conveyor belt 30 to feed the load W or to define the orientation of the load W at the time of feeding.

[0038] If a sensor is used to detect that pallet 40 has been installed in a predetermined position, an input signal from the sensor can be set in the settings screen D13.

[0039] There are cases in which several conveyor belts 30 are arranged around the mechanical part 21, and the cargo W fed by the multiple conveyor belts 30 is stacked on the pallet(s) 40. Therefore, several settings for the conveyor belts 30 can be made in the system settings screen D1. In this case, the positions and orientations of several origins and the identifiers (e.g., Conveyor Belt 1, Conveyor Belt 2, ...) corresponding to the respective origins are defined.

[0040] Similarly, there are cases where several pallets 40 are arranged around the mechanical part 21 and the cargo W is stacked on the multiple pallets 40. Therefore, in the system settings screen D1, several settings of the pallets 40 can be defined, and the positions and orientations of a variety of origins and the identifiers (e.g., Pallet 1, Pallet 2, ...) corresponding to the respective origins can be specified.

[0041] The system settings screen D1 may contain a wizard (not shown) that assists the user in setting the origin position and orientation. For example, the screen control unit 11 may launch the wizard in response to tapping a wizard button in the system settings screen D1.

[0042] The system settings screen D1 can be configured to allow the setting of elements other than the origin and the input and output signals. These other elements include, for example, the reference position of the mechanical part 21, a shortcut route from the pallet 40 to the conveyor belt 30, a recovery action for the robot 20 in case cargo falls from the gripper 22, the stacking sequence for cargo when multiple pallets 40 are used, the position of the feeder for the pallets 40, and the position of the feeder for the intermediate layers.

[0043] The Fig. Figures 6A to 6E show examples of the cargo settings screen D2.

[0044] The freight settings screen D2 accepts settings for the dimensions of each freight W and pallet 40, as well as a setting for a stacking pattern of the freight W. The stacking pattern includes: an arrangement pattern of the freight W in each layer; and a layer structure. The freight settings screen D2 can also accept a setting for a route between conveyor belt 30 and pallet 40. The in Fig. 6A shows the cargo settings screen D2, which is divided into two areas, a left and a right, with the left area containing a list of settings elements (the dimensions, the arrangement pattern, the location and the route), and the right area showing a screen D21, D22, D23 or D24 (see Fig. 6B to 6E) according to the setting selected from the list.

[0045] Fig. Figure 6B shows the D21 settings screen with regard to dimensions. The D21 settings screen has a settings field where the identifier (e.g., the name) of the cargo W is set, settings fields where the dimensions (length, width, and height) of both the cargo W and the pallet 40 are set, and settings fields where the dimensions (length and width) of an installation area for the cargo W are set.

[0046] For example, the user performs an operation in each of the settings fields to enter a character, such as a numerical value. The screen control unit 11 then makes a corresponding adjustment in each of the settings fields according to the user's operation.

[0047] Fig. Figure 6C shows the settings screen D22 with respect to the arrangement pattern. Settings screen D22 has one settings field where the arrangement of the cargo W in each shift is set, and another settings field where the number of cargo pieces W in each shift is set.

[0048] For example, in each of the settings fields, the user performs an operation to enter a character, such as a numerical value, or makes a selection from a drop-down list. The screen control unit 11 then makes a corresponding adjustment in each of the settings fields according to the user's action.

[0049] As in the lower part of Fig. As shown in Figure 6C, the screen control unit 11 can generate and display a graphic G1 of the cargo W based on the arrangement and number of cargo pieces W. The number of individual cargo pieces W in graphic G1 indicates the stacking order. The orientation and order of the individual cargo pieces W can be changed. For example, when an "Edit" icon is pressed, the screen control unit 11 displays an editing screen to allow changes to the orientation and stacking order.

[0050] Fig. Figure 6D shows the settings screen D23 in relation to the layer structure. Settings screen D23 has a settings field where the number of layers is set. The user can, for example, make a setting in the settings field by entering a numerical value. The orientation of each layer can also be set in settings screen D23.

[0051] As in the lower area of Fig. As shown in Figure 6D, the screen control unit 11 can generate and display a graphic G2 of a layer structure based on the set number of layers and the set orientation. "Flipped" refers to a mirrored layer.

[0052] The arrangement of interlayers can be set in the settings screen D23. For example, settings screen D23 has a setting field where the thickness of an interlayer is set, and a checkbox next to each layer; the arrangement of an interlayer can be set by activating the checkbox.

[0053] Fig. Figure 6E shows the settings screen D24 in relation to the route. The settings screen D24 contains a graphic of the conveyor 30, the pallet 40, the cargo W, and several icons for setting waypoints for each piece of cargo W. In the example of Fig. 6E shows three symbols arranged on the route from conveyor 30 to pallet 40 and one symbol on the route from pallet 40 to conveyor 30. When the symbol(s) is activated, the screen control unit 11 allows the setting of the waypoint(s).

[0054] For example, the user operates the robot control unit 10 to move the mechanical part 21 to a desired waypoint and, for example, presses a teach button (not shown) to teach the robot 20 the position of the waypoint. The on-screen control unit 11 receives the taught positions from the robot 20 and enters the positions into the settings field to perform the setting. Alternatively, the user can specify the offset distance from the center position of the top of the load W on the conveyor belt 30 or the pallet 40 to a waypoint to define the waypoint.

[0055] For example, if freight W is stacked on several pallets 40, the dimensions and stacking patterns of freight W can differ between the pallets 40. Therefore, multiple settings for freight W can be defined in the freight settings screen D2. In this case, the identifiers (e.g., freight 1, freight 2, ...) are set according to the respective settings.

[0056] The screen control unit 11 modifies a 3D graphic based on parameters such as positions, dimensions, arrangement pattern, and the number of layers, which are defined in the setting screens D1 and D2. The 3D graphic comprises 3D models of the mechanical part 21, the gripper 22, the conveyor 30, the pallet 40, and the cargo W, arranged in a virtual space. For example, the 3D graphic is pre-stored in the memory unit of the control device 23, and the screen control unit 11 retrieves data from the memory unit of the control device 23. The 3D graphic changes according to the settings defined in the setting screens D1 and D2. Therefore, the user can check the current settings of the equipment parts 22, 30, and 40, as well as the cargo W, using graphic B.

[0057] Fig. Figure 7A shows an example of the execution screen D3. The execution screen D3 contains a variety of symbols I for issuing commands, namely "Execute," "Cycle Stop," "Pause," and "Exit," and issues a command based on an operation performed on one of the symbols I. "Execute" denotes the execution or resumption of the control program. The "Cycle Pause" symbol I indicates that after completion of the current cycle of picking up and setting down the load W, the mechanical part 21 returns to the reference position and stops. "Pause" indicates the pause of the mechanical part 21. "Exit" indicates the final termination of the action program.

[0058] The execution screen D3 may also contain a symbol I to issue a further instruction.

[0059] The command control unit 12 generates a command based on a command accepted by the execution screen D3 and sends the command to the control device 23.

[0060] For example, when the “Execute” symbol I is tapped, the command control unit 12 generates setting data containing the content of the settings based on the settings screen images D1 and D2, generates an execution command for the control program and sends the setting data and the execution command to the control device 23.

[0061] When the “Stop Cycle” symbol I, the “Pause” symbol I or the “Exit” symbol I is tapped, the command control unit 12 generates a command corresponding to the tapped symbol I and sends the command to the control device 23.

[0062] The execution screen D3 can contain progress information F about the palletizing work. Fig. 7A represents the progress information F of two pallets 40, namely “pallet 1” and “pallet 2”. During the execution of the control program, the screen control unit 11 receives information about the progress of the control program from the control device 23 and updates the progress information F in accordance with the progress of the control program.

[0063] During the execution of the control program, the screen control unit 11 modifies graphic B according to the progress of the control program. Accordingly, graphic B is updated in real time as the palletizing operation progresses to display the current states of the robot 20 and the cargo W on the pallets 40. Therefore, the user can check the current status of the palletizing operation using graphic B.

[0064] The screen control unit 11 can change the execution screen D3 according to the execution status of the control program. For example, if the control program is not running, the screen control unit 11 activates the "Execution" icon I and deactivates the "Cycle Stop" icon I, "Pause" icon I, and "Stop" icon I. During the execution of the control program, the screen control unit 11 deactivates the "Execution" icon I and activates the "Cycle Stop" icon I, "Pause" icon I, and "Stop" icon I. The deactivated icons I are, for example, grayed out and can be distinguished from the activated icons I. The user can check the current execution status of the control program by observing the status of the icons I.

[0065] Next, the operation of the robot control unit 10 will be described.

[0066] Fig. Figure 8 shows the action procedure performed by the robot control unit 10. The action procedure comprises: Step S1 Displaying the UI screen A; Step S2 Accepting an operation performed on the UI screen A; Steps S31, S32 and S33 Controlling the UI screen A based on the operation; and Step S4 Executing a setting or issuing a command to the robot 20 based on the operation.

[0067] For example, when the robot operator device 10 is started, the screen control unit 11 displays UI screen A, which includes graphic B and operator screen C (step S1). The initially displayed operator screen C includes, for example, the system settings screen D1.

[0068] After the UI screen A has been displayed, the screen control unit 11 controls the UI screen A (steps S31, S32 and S33) based on an operation accepted by the UI screen A (step S2).

[0069] In particular, if the tab E2 or E3 is activated in step S2 (YES in step S31), the screen image control unit 11 switches the screen image D1 displayed on the display unit 2 to the screen image D2 or D3 that corresponds to the activated tab E2 or E3 (step S32).

[0070] When screen image D1 or D2 is activated in step S2, the screen image control unit 11 makes settings relating to system 100 or cargo W according to the activation (step S4) and generates or changes the graphic B according to the settings (step S33).

[0071] For example, if the settings of System 100 or Cargo W are configured on the settings screen D1 or D2, the screen control unit 11 modifies graphic B to display the settings of Conveyor 30, Pallet 40, and Cargo W. Therefore, the user can check the current settings of System 100 and Cargo W in real time using graphic B.

[0072] When the execution screen D3 is operated in step S2, the command control unit 12 generates a command based on the operation and sends the command to the robot 20 (step S4). Additionally, the screen control unit 11 modifies the graphic B based on the operation (step S33).

[0073] For example, when the "Execute" symbol I is activated, the command control unit 12 generates and sends setting data and an execution command. Based on the setting data, the control device 23 generates a target position for the mechanical part 21 and then, in response to the execution command, executes the control program using the target position. Accordingly, the mechanical part 21 and the gripper 22 perform palletizing operations based on the settings defined on the setting screens D1 and D2.

[0074] The screen control unit 11 then changes graphic B according to the progress of the control program. Accordingly, the user can check the current progress of the palletizing work in real time using graphic B.

[0075] For the robot 20 to perform the palletizing operations, processes are required to configure the system 100, set the load W, and generate and send a command to the robot 20. According to this embodiment, the UI screen A includes the operator screen C, which enables all these operations. Therefore, the user can perform the operations from configuring the system 100 to executing the palletizing operations using the single robot operator device 10, thus simplifying the processes for the user.

[0076] For example, if part of the configuration is performed using a different PC (personal computer) than the control panel used for programming, the configuration data must be transferred from the PC to the control device 23. According to this embodiment, the configuration data can be generated by the robot control unit 10 connected to the robot 20, thus eliminating the need to transfer the configuration data from the PC to the control device 23.

[0077] Furthermore, the parameters set on the settings screens D1 and D2 include parameters that can be set offline and parameters that can be set online. For example, some parameters, such as the origin of the gripper 22 and the dimensions of the load W, can be set offline using a PC that is not connected to the robot 20. Other parameters, such as the origin positions and orientations of the conveyor 30 and the pallet(s) 40, as well as the positions of the waypoints, are set online during the actual operation of the robot 20 and cannot be set via the PC. According to this embodiment, all parameters relating to the system 100 and the load W can be set using the robot operator panel 10, which is a training control panel.

[0078] Furthermore, the control screen C comprises three screens D1, D2, and D3, categorized according to their frequency of use, with only one of the three screens D1, D2, or D3 being displayed at any given time, corresponding to an operation on the relevant tab E1, E2, or E3. Therefore, compared to a scenario where all operations are performed on a single screen, for example, the usability of control screen C is improved. Moreover, control screen C can be clearly displayed even on a relatively small display unit, such as the display unit 2 of a tablet computer.

[0079] In the embodiment described above, the execution screen D3 can include an editing screen on which the user edits the control program. The editing screen is a screen that allows the selection of one or more settings defined on the system settings screen D1 and one or more settings defined on the cargo settings screen D2. In this case, the command control unit 12 generates setting data based on the combination of the selected settings.

[0080] For example, the execution screen D3, as shown in Fig. 7A shows an "Edit" icon. When the "Edit" icon is tapped, the screen control unit 11 displays an editing screen D31.

[0081] Fig.Figure 7B shows an example of the editing screen D31. For instance, the user can add palettes ("Palette 1", "Palette 2", ...) sequentially by clicking a "+" symbol I in the left area of ​​the editing screen D31. Palettes can be added whose initial position and orientation were defined in the system settings screen D1. A palette can be deleted using an "x" symbol I.

[0082] In the right-hand section of the editing screen D31, a screen is displayed where settings for pallets 40, conveyor belt 30, and freight W can be selected. For example, with regard to pallets 40, the user can change the added pallet by clicking a drop-down list. With regard to conveyor belt 30, the user can select one or more settings (conveyor belt 1, conveyor belt 2, etc.) from a drop-down list, which are defined on the system settings screen D1. Similarly, with regard to freight W, the user can select one or more settings (freight 1, freight 2, etc.) from a drop-down list, which are defined on the freight settings screen D2.

[0083] In the embodiment described above, the command control unit 12 generates setting data as a command; however, it is also possible for the command control unit 12 to generate a control program based on the settings defined on the setting screen images D1 and D2 and send this control program to the robot 20. In this case, the control device 23 controls the mechanical part 21 and the gripper 22 according to the control program received from the command control unit 12.

[0084] In the embodiment described above, it is also possible for settings relating to the equipment to be made automatically using a plugin.

[0085] For example, if a plug attached to the gripper 22 is installed on the robot control device 10, the screen control unit 11 automatically sets the weight and the initial position and orientation of the gripper 22 in the setting fields based on the plugin.

[0086] This configuration allows the user to reduce and further simplify the operating steps.

[0087] Although the embodiment and modifications of the present disclosure have been described above, the robot arrangement and action program of the present disclosure are not limited to the embodiment and modifications described above, and various changes can be made without deviating from the scope of the present disclosure.

[0088] For example, the robot operator device can be any computer with display unit 2. For example, the robot operator device can be the control device 23 with display unit 2, or a PC connected to the control device 23, or it can be a desktop computer.

[0089] With regard to the embodiment and modifications described above, the following remarks are further disclosed. (Note 1)

[0090] A robotic operating device connected to a robot that performs palletizing operations to stack cargo on a pallet, the robotic operating device comprising: a display unit; a screen display control unit that displays a user interface screen on the display unit and controls the user interface screen; and a command control unit that generates a command for the robot based on an operation performed on the user interface screen and sends the command to the robot, wherein the user interface screen image includes a graphic of the robot and the cargo as well as an operator screen image for accepting an operation by a user, The operator screen comprises three alternately displayed screen images and three tabs, each corresponding to one of the three screen images, and the three screen images consist of a first settings screen image for setting a setting relating to the equipment used in the palletizing work, a second settings screen image for setting a setting relating to the cargo, and an execution screen image for issuing an instruction relating to the execution of the palletizing work. the screen control unit The three screen images displayed on the display unit switch according to the operation of the tabs, and The graphics change according to the settings defined on the first settings screen and the second settings screen, or according to the progress of the palletizing work. (Note 2)

[0091] The robot operator device according to Note 1, wherein the command contains setting data based on the settings defined on the first settings screen and the second settings screen, or a control program that causes the robot to perform the palletizing work, and The command control unit generates the setting data or the control program based on the settings defined on the first settings screen and the second settings screen. (Note 3)

[0092] Robot control device according to Note 1 or 2, wherein the first setting screen screen accepts a setting that includes at least reference positions of a gripper of the robot, a conveyor for feeding the cargo and the pallet, and an input signal or an output signal. (Note 4)

[0093] Robot operator device according to one of Notes 1 to 3, wherein the second setting screen image accepts a setting that includes at least one of the dimensions, stacking pattern or route of the cargo. (Note 5)

[0094] Robot operating device according to Note 4, the second settings screen image shows a graphic of the cargo and The screen control unit changes the graphics of the cargo according to the settings of the cargo dimensions and stacking pattern. (Note 6)

[0095] The robot operator device according to Note 2, wherein the execution screen includes an editing screen to allow a selection from one or more of the settings specified on the first settings screen and one or more of the settings specified on the second settings screen, and The command control unit generates the setting data or control program based on a combination of settings selected on the editing screen. (Note 7)

[0096] The robot operator device according to Note 2, the execution screen contains progress information about the palletizing work and The screen control unit updates the progress information according to the progress of the control program. (Note 8)

[0097] Robot control device according to one of Notes 1 to 7, wherein the robot control device is a portable teaching control panel. (Note 9)

[0098] An action program for a robotic operating device connected to a robot that performs palletizing operations to stack cargo on a pallet, the action program comprising: a step of displaying a user interface screen image on a display unit of the robot operator device, wherein the user interface screen image includes a graphic of the robot and the cargo as well as an operator screen image for accepting an operation by a user; one step controlling the user interface screen based on the operation; and one step is generating a command related to the execution of palletizing operations based on the operator and sending the command to the robot, wherein the operator screen image comprises three alternately displayed screen images and three tabs, each corresponding to one of the three screen images, and the three screen images consist of a first settings screen image for setting a setting relating to the equipment used in the palletizing work, a second settings screen image for setting a setting relating to the cargo, and an execution screen image for issuing an instruction relating to the execution of the palletizing work, and The tax step includes one step to switch between the three screen images corresponding to a tab activation, and One step is to change the graphic according to the settings defined on the first settings screen and the second settings screen, or according to the progress of the palletizing work. {Reference symbol list} 2 Display unit 5a Action Programme 10 Robot operating device 11 Screen image control unit 12 Command control unit 20 robots 22 grippers 30 Conveyor belt 40 pallets A user interface screen B, G1, G2 Graphic C screen view D1 System settings screen (first settings screen) D2 Cargo settings screen image (second settings screen image) D3 execution screen image E1, E2, E3 tab F progress indicator W freight QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2021-151696

[0002] JP 11-079407

[0002]

Claims

[1] Robot operating device connected to a robot performing palletizing operations to stack cargo on a pallet, the robot operating device comprising: a display unit; a screen display control unit that displays a user interface screen on the display unit and controls the user interface screen; and a command control unit that generates a command for the robot based on an operation performed on the user interface screen and sends the command to the robot, wherein the user interface screen image includes a graphic of the robot and the cargo as well as an operating screen image for accepting a user's operation, wherein the operator screen contains three screen images that are displayed alternately, and three tabs, each corresponding to the three screen images, wherein the three screen images consist of a first settings screen image for setting a setting relating to the equipment used in the palletizing work, a second settings screen image for setting a setting relating to the cargo, and an execution screen image for issuing an instruction relating to the execution of the palletizing work, and where the screen image control unit the three screen images displayed on the display unit switch according to the operation of the tabs, and The graphic changes according to the settings defined on the first settings screen and the second settings screen, or according to the progress of the palletizing work. [2] Robot control device according to claim 1, wherein the command contains setting data based on the settings defined on the first setting screen and the second setting screen, or a control program that causes the robot to perform the palletizing work, and wherein the command control unit generates the setting data or the control program based on the settings specified on the first settings screen and the second settings screen. [3] Robot control device according to claim 1 or 2, wherein the first setting screen image accepts a setting comprising at least reference positions of a gripper of the robot, a conveyor for feeding the cargo and the pallet, and an input signal or an output signal. [4] Robot control device according to one of claims 1 to 3, wherein the second settings screen image accepts a setting that includes at least one of the dimensions, a stacking pattern or a route of the cargo. [5] Robot control device according to claim 4, the second settings screen image shows a graphic of the cargo, and the screen control unit changes the graphics of the cargo according to the settings of the cargo's dimensions and stacking pattern. [6] Robot control device according to claim 2, wherein the execution screen contains an editing screen to allow a selection from one or more of the settings specified on the first settings screen and one or more of the settings specified on the second settings screen, and the command control unit generates the setting data or control program based on a combination of settings selected on the editing screen. [7] Robot control device according to claim 2, the execution screen contains progress information about the palletizing work, and the screen control unit updates the progress information according to the progress of the control program. [8] Robot control device according to any one of claims 1 to 7, wherein the robot control device is a portable teaching control panel. [9] Action program for a robot operator device connected to a robot performing palletizing operations to stack cargo on a pallet, the action program comprising: a step of displaying a user interface screen image on a display unit of the robot control device, wherein the user interface screen image includes a graphic of the robot and the cargo as well as an operator screen image for accepting an operation by a user; one step controlling the user interface screen based on the operation; and one step is generating a command related to the execution of the palletizing work based on the operator and sending the command to the robot, wherein the operator screen contains three screen images that are displayed alternately, and three tabs, each corresponding to the three screen images, wherein the three screen images consist of a first settings screen image for setting a setting relating to the equipment used in the palletizing work, a second settings screen image for setting a setting relating to the cargo, and an execution screen image for issuing an instruction relating to the execution of the palletizing work, and where the step includes taxes one step switching between the three screen images according to the operation of the tabs, and One step to change the graphic according to the settings defined on the first settings screen and the second settings screen, or according to the progress of the palletizing work.

Images