Teaching device, teaching program and program retrieval method

Abstract

To provide a teaching device, teaching program and program retrieval method capable of performing efficient retrieval.SOLUTION: The teaching device includes: a display unit for displaying an image including a first display area for displaying program sentences of an operation program for operating a robot, and a second display area for displaying character strings to be retrieved from the program sentences; a reception unit for receiving the character strings and attributes of the character strings; and a control unit for retrieving portions each corresponding to a combination of the character string and the attribute received by the reception unit from the program statement, and displays, on the image, a result of the retrieval search result. Therein the attributes received by the receiving unit include at least one of the number of lines in the program statement and a function name.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a teaching device, a teaching program, and a program search method. [Background technology]

[0002] For example, Patent Document 1 describes a numerical control device equipped with a function for fuzzy search within a program. This numerical control device can display on a display a screen having a program display area located on the right side for displaying a machining program, and a search result display area located on the left side for displaying "fuzzy keywords" to be searched and the search results. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-189128 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, various attributes are included in the robot's operation program. In such a case, the numerical control device described in Patent Document 1 cannot select the attribute to be searched, and therefore cannot perform an efficient search. Specifically, for example, when "10" indicating the number of lines and "10" indicating the name of a function are mixed in a program, if one wants to search for the number of lines "10," the numerical control device in Patent Document 1 cannot search for just "10" included in the number of lines. [Means for solving the problem]

[0005] The teaching device of the present invention includes a display unit that displays an image including a first area that displays a program statement of an operation program for operating a robot, and a second area that displays a character string to be searched for from the program statement; a receiving unit that receives the character string and an attribute of the character string; a control unit that searches the program statements for a portion that corresponds to the combination of the character string and the attribute accepted by the accepting unit, and displays a search result on the image; The attributes received by the receiving unit include at least one of a line number in the program statement and a function name.

[0006] The teaching program of the present invention displays an image including a first area displaying program statements of an operation program for operating a robot, and a second area displaying a character string to be searched for from the program statements; accepting the string and an attribute of the string; causing the computer to execute an operation of searching the program statements for a portion corresponding to the combination of the received character string and the received attribute, and displaying a search result on the image; The received attributes include at least one of a line number in the program statement and a function name.

[0007] The program search method of the present invention includes a display step of displaying an image including a first area displaying a program statement of an operation program for operating a robot, and a second area displaying a character string to be searched for from the program statement; a receiving step of receiving the character string and an attribute of the character string; a search step of searching the program text for a portion corresponding to the combination of the received character string and the attribute, and displaying a search result on the image, The attributes received in the receiving step include at least one of a line number in the program statement and a function name. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram showing an overall configuration of a robot system according to a first embodiment. [Diagram 2] FIG. 13 is a diagram showing an example of an image. [Diagram 3]1 is a flowchart showing steps of a program search method. [Figure 4] FIG. 13 is a diagram showing an example of an image. [Diagram 5] FIG. 13 is a diagram showing an example of an image. [Figure 6] 13A and 13B are diagrams showing an example of an image displayed by the teaching device according to the second embodiment. [Figure 7] 13A and 13B are diagrams showing an example of an image displayed by the teaching device according to the second embodiment. [Figure 8] 13A and 13B are diagrams showing examples of images displayed by the teaching device according to the third embodiment. [Figure 9] 13A and 13B are diagrams showing examples of images displayed by the teaching device according to the third embodiment. [Figure 10] 13A and 13B are diagrams showing examples of images displayed by the teaching device according to the fourth embodiment. [Figure 11] 13A and 13B are diagrams showing examples of images displayed by the teaching device according to the fifth embodiment. [Figure 12] 13A and 13B are diagrams showing an example of an image displayed by the teaching device according to the sixth embodiment. [Figure 13] 13A and 13B are diagrams showing an example of an image displayed by the teaching device according to the sixth embodiment. [Figure 14] FIG. 13 is a diagram showing a modified example of an image. [Figure 15] FIG. 23 is a diagram showing an example of an image displayed by the teaching device according to the seventh embodiment. [Figure 16] FIG. 23 is a diagram showing an example of an image displayed by the teaching device according to the seventh embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A teaching device, a teaching program, and a program retrieval method of the present invention will be described in detail below with reference to preferred embodiments shown in the accompanying drawings.

[0010] Fig. 1 is a diagram showing an overall configuration of a robot system according to a first embodiment. Fig. 2 is a diagram showing an example of an image. Fig. 3 is a flowchart showing steps of a program search method. Fig. 4 is a diagram showing an example of an image. Fig. 5 is a diagram showing an example of an image.

[0011] Prior to describing the teaching device 4, we will briefly describe the robot system 1. As shown in Fig. 1, the robot system 1 includes a robot 2, a robot control device 3 that controls the driving of the robot 2, and a teaching device 4 that teaches the robot 2 how to operate.

[0012] The robot 2 is a six-axis robot having six drive axes. The robot 2 has a base 21, a robot arm 22 rotatably connected to the base 21, and an end effector 23 attached to the tip of the robot arm 22.

[0013] The robot arm 22 is a robotic arm in which six arms 221, 222, 223, 224, 225, and 226 are rotatably connected, and includes six joints J1 to J6. Among these, the joints J2, J3, and J5 are bending joints, and the joints J1, J4, and J6 are torsion joints. In addition, the joints J1, J2, J3, J4, J5, and J6 are each provided with a driving mechanism including a motor as a driving source for moving the joint, a reducer that reduces the rotation of the motor and outputs it, and an encoder that detects the amount of rotation of the joint. In addition, a TCP (Tool Center Point) that is a control point is set at the tip of the robot arm 22. In the robot system 1, for example, the driving of each of the joints J1 to J6 is controlled so that the position and posture of the TCP are desired. The end effector 23 is attached to the arm 226. The end effector 23 is detachable from the arm 226, and an end effector suitable for the work to be performed by the robot 2 can be selected and attached.

[0014] Although the robot 2 has been described above, the configuration of the robot 2 is not particularly limited. For example, the robot 2 may be a SCARA robot (horizontal articulated robot), a dual-arm robot, etc. In addition, the robot 2 may be fixed to a floor or the like and immobile, or may be fixed to a moving device such as an automated guided vehicle (AGV) and mobile.

[0015] The robot control device 3 controls the driving of the robot 2 based on, for example, commands from a host computer (not shown). The robot control device 3 is composed of, for example, a computer, and has a processor for processing information, a memory communicatively connected to the processor, and an external interface for connecting to an external device. Various programs executable by the processor are stored in the memory, and the processor can read and execute the various programs stored in the memory.

[0016] The teaching device 4 is connected to the robot control device 3 when teaching the robot 2. The teaching device 4 is, for example, a terminal such as a teaching pendant, a notebook PC, a desktop PC, or a tablet terminal, and has a display unit 41, a reception unit 42, and a control unit 43, as shown in Fig. 1. Of these, the display unit 41 is a display capable of displaying images, and the reception unit 42 is a keyboard and a mouse.

[0017] Furthermore, the control unit 43 displays a desired image on the display unit 41 and performs calculation processing in response to input received by the reception unit 42. The control unit 43 is, for example, composed of a computer, and has a processor that processes information, a memory communicatively connected to the processor, and an external interface that connects to an external device. A teaching program Pt executable by the processor is stored in the memory, and the processor can read and execute the teaching program Pt stored in the memory. In other words, the processor reads and executes the teaching program Pt, thereby executing the program search method described below.

[0018] However, the configurations of the display unit 41, the reception unit 42, and the control unit 43 are not particularly limited as long as they can perform the functions described in detail below. For example, if the teaching device 4 is a tablet terminal or the like, the reception unit 42 can be a touch panel. Also, if the teaching device 4 supports voice input, the reception unit 42 can be a microphone.

[0019] In response to an instruction from the control unit 43, the display unit 41 displays an image G for program search as shown in Fig. 2 on the screen. The image G is a graphic interface, and has a program display area G1 which is an area for displaying program statements of an operation program Pd for operating the robot 2, a search string display area G2 which is an area for allowing the user to input a string to be searched from the program statements, an attribute display area G3 which is an area for allowing the user to select an attribute to be searched, a search command area G5 which is an area for receiving an instruction to start a search, and a search result display area G4 which is an area for displaying the search results. The program display area G1 is an example of a first area, the search string display area G2 is an example of a second area, the attribute display area G3 is an example of a third area, and the search result display area G4 is an example of a fourth area.

[0020] In the illustrated example, the program display area G1 is arranged in the right half of the image G, the search string display area G2, the attribute display area G3, and the search command area G5 are arranged side by side in the upper left part of the image G, and the search result display area G4 is arranged below them. The search string display area G2 is an input field for inputting a string to be searched, and the attribute display area G3 is a selection field for selecting an attribute of the string to be searched. By arranging them in this way, each area G1 to G5 can be arranged in a balanced manner in the image G, resulting in an easy-to-view and easy-to-use graphic interface. In particular, in the illustrated example, the attribute display area G3 is arranged in the search string display area G2. This allows the search string display area G2 and the attribute display area G3 to be displayed compactly together, so that other parts, especially the search result display area G4, can be secured larger. In addition, it is also possible to suppress forgetting to select an attribute. Therefore, the graphic interface is easier to view and easier to use.

[0021] However, the arrangement of the regions G1 to G5 in the image G is not particularly limited. The image G only needs to have at least the program display region G1 and the search string display region G2, and for example, at least one of the attribute display region G3, the search result display region G4, and the search command region G5 may be omitted, or other regions may be added. An example in which the attribute display region G3 is omitted will be described separately in the fourth and fifth embodiments described later, and an example in which the search command region G5 is omitted will be described separately in the fifth embodiment described later.

[0022] Each of the areas G1 to G5 in the image G will be described in detail below. As shown in Fig. 2, the program display area G1 displays the program statements of the operation program Pd. If the program statements do not fit on one screen, the user can view up to the final paragraph by operating the reception unit 42 to scroll the program display area G1. Note that the program statements displayed in Fig. 2 are for the convenience of explanation and are not necessarily correct program statements.

[0023] Here, the program statements of the operation program Pd contain various attributes, including those specific to robots. Representative attributes include the "number of lines" indicated by the dashed line Q1 in Fig. 2, the "function name" indicated by the dashed line Q2, the "command" indicated by the dashed line Q3, and the "point" indicated by the dashed line Q4. Of these, the number of lines indicates the number of lines in the program statements. The function name indicates the name of the function included in the program statements. The command is the name of the operation command included in the program statements. The point is the coordinates indicating the destination.

[0024] Here, the command includes various instructions, such as "Moter" for switching ON / OFF of the motors provided in each joint J1 to J6, "Power" for setting the torque of each motor, "Speed" for setting the movement speed of the TCP, "Accel" for setting the acceleration of the TCP, "Move" for moving the TCP from the current location to the destination regardless of the movement path, and "Go" for moving the TCP from the current location to the destination along a specified movement path. In FIG. 2, "Moter", "Power", "Speed", "Accel", and "Go" are illustrated. However, the type of instructions included in the command is not particularly limited, and may change as appropriate depending on, for example, the work and operation performed by the robot 2.

[0025] Although the attributes have been described above, they are not limited to this. In addition, it is sufficient if at least one of the number of lines and the function name is included, and for example, at least one of "command" and "point" may be omitted, or other attributes may be added.

[0026] In the attribute display area G3, icons corresponding to each attribute are displayed separately. In FIG. 2, a line number icon M1 indicating the number of lines, a function name icon M2 indicating the function name, a command icon M3 indicating a command, and a point icon M4 indicating a point are displayed separately and side by side. The user can specify an attribute to be searched for by simply selecting any icon from the icons M1 to M4. That is, in the attribute display area G3, a plurality of attributes are displayed for the user to select as search targets. The displayed plurality of attributes are candidates for attributes to be selected as search targets. This makes it easy to select an attribute. However, the method of displaying the attributes is not particularly limited.

[0027] Next, a program search method in which the processor reads and executes the teaching program Pt will be described. As shown in Fig. 3, the program search method includes a display step S1, a receiving step S2, and a search step S3.

[0028] <Display step S1> In a display step S1, the control unit 43 displays an image G on the display unit 41. In this state, the program statements of the operation program Pd are displayed in a program display area G1 as shown in Fig. 2. The control unit 43 is also in a state where it can receive a character string and attributes to be searched for from the user.

[0029] <Reception step S2> In the reception step S2, as shown in FIG. 4, the user inputs a character string to be searched for in the search character string display area G2 via the reception unit 42, selects an attribute to be searched for, and finally presses the search command area G5. This causes the control unit 43 to receive the character string to be searched for and its attribute from the user. As described above, since the attribute display area G3 is displayed in the search character string display area G2, it is possible to effectively prevent the user from forgetting to select an attribute. In the illustrated example, "100" is input as the character string to be searched for, and "function name" is selected as the attribute to be searched for. Note that the control unit 43 can also receive the character string to be searched for and its attribute by pressing a specific key, for example, "Enter", on the keyboard provided in the reception unit 42 instead of the search command area G5. The user can also select two or more attributes. If the search command area G5 is pressed in a state where the attribute to be searched for has not been selected, the control unit 43 may prompt the user to select an attribute, or may set all attributes as the search range.

[0030] <<Search step S3>> In search step S3, the control unit 43 searches the program statements of the operation program Pd for a portion that matches the combination of the character string and attribute accepted in the search character string display area G2 and the attribute display area G3, that is, a portion whose function name includes "100". Then, as shown in Fig. 5, the control unit 43 displays the search results in the search result display area G4 in the image G, and also displays them in the program statements in the program display area G1.

[0031] In the illustrated example, functions including "100" are extracted from the program statements and displayed in the search result display area G4. This allows only the searched portion to be notified to the user, making the search results clear. In addition, in the illustrated example, the search results are highlighted in the program statements in the program display area G1. This makes the searched portion stand out, making it easy to know which part the search results are written in. In this way, the search results are extracted and displayed in the search result display area G4, and are also highlighted in the program statements in the program display area G1, making it possible to notify the user of the search results in a more understandable manner. However, the method of displaying the search results is not particularly limited, and for example, display in the search result display area G4 may be omitted.

[0032] As another method of displaying the search results within the program statements in the program display area G1, for example, the search results may be displayed in a different color from the rest of the program statements in the program display area G1. For example, if the program statements are displayed in black, the search results are displayed in red. This makes the searched portion stand out, just like when it is highlighted, and the user can easily see in which part of the program statements the function containing "100" is written.

[0033] According to this program search method, since the attributes of the search target can be specified, unnecessary search results are unlikely to be displayed. In the illustrated example, since only functions containing "100" can be searched, unnecessary "100" such as "100" in "Speed", "100" in "Accel", "100" in "Points", etc. are not searched. Therefore, an efficient search can be performed.

[0034] The robot system 1 has been described above. The teaching device 4 provided in such a robot system 1 has a display unit 41 that displays an image G including a program display area G1 as a first area that displays program statements of an operation program Pd that causes the robot 2 to operate as described above, a search string display area G2 as a second area that displays a string to be searched for from the program statements, a reception unit 42 that receives a string and an attribute of the string, and a control unit 43 that searches the program statements for a portion that corresponds to the combination of the string and the attribute received by the reception unit 42, and displays the search result in the image G. The attributes received by the reception unit 42 include at least one of the number of lines in the program statements and the function name. According to such a teaching device 4, the attributes of the search target can be specified, so that unnecessary search results are unlikely to be displayed. Therefore, an efficient search can be performed.

[0035] As described above, the image G further includes an attribute display area G3 as a third area that displays a plurality of attributes to be selected by the user, thereby making it easier for the user to select an attribute.

[0036] As described above, the attribute display area G3 is displayed within the search character string display area G2, which effectively prevents the user from forgetting to select an attribute.

[0037] As described above, the attribute display area G3 displays a line number icon M1 indicating the number of lines and a function name icon M2 indicating the function name separately. With this configuration, the user can specify the attribute to be searched for simply by selecting the icon. This makes it easy to select an attribute.

[0038] As described above, the image G further includes a search result display area G4 for displaying the search results, which allows the user to be notified of only the searched portion, making the search results clear.

[0039] As described above, the control unit 43 also displays the search results in a highlighted manner in the program text, making the searched portion stand out and allowing the user to easily know in which part of the program text the search target is written.

[0040] As described above, the control unit 43 may display the search results in a different color in the program text, so that the searched portion stands out and the user can easily know in which part of the program text the search target is written.

[0041] As described above, the teaching program Pt causes the control unit 43, which is a computer, to execute the operation of displaying an image G including a program display area G1 as a first area for displaying program statements of the operation program Pd for operating the robot 2, and a search string display area G2 as a second area for displaying a string to be searched for from the program statements, receiving a string and an attribute of the string, searching for a portion corresponding to the combination of the received string and attribute from the program statements, and displaying the search results in the image G. The received attributes include at least one of the number of lines in the program statements and the function name. According to such a teaching program Pt, the attributes of the search target can be specified, so that unnecessary search results are unlikely to be displayed. Therefore, an efficient search can be performed.

[0042] As described above, the program search method includes a display step S1 for displaying an image G including a program display area G1 as a first area for displaying program statements of an operation program Pd for operating the robot 2 and a search string display area G2 as a second area for displaying a string to be searched for from the program statements, a reception step S2 for receiving a string and an attribute of the string, and a search step S3 for searching for a portion corresponding to the combination of the received string and attribute from the program statements and displaying the search results in the image G. The attributes received in the reception step S2 include at least one of the number of lines in the program statements and the function name. According to such a program search method, since the attributes to be searched for can be specified, unnecessary search results are unlikely to be displayed. Therefore, an efficient search can be performed.

[0043] <Second embodiment> 6 and 7 are diagrams showing examples of images displayed by the teaching device according to the second embodiment.

[0044] The teaching device 4 according to this embodiment is similar to the teaching device 4 according to the first embodiment, except that the method of specifying attributes is different. In the following description, the teaching device 4 according to this embodiment will be described with a focus on the differences from the first embodiment, and descriptions of similar matters will be omitted. In addition, in each drawing of this embodiment, the same reference numerals are used for configurations similar to those of the above-mentioned embodiment.

[0045] In the teaching device 4 of this embodiment, as shown in Fig. 6, a "▽" mark for opening a pull-down list is displayed in the attribute display area G3. Each attribute is stored in the pull-down list, and as shown in Fig. 7, by selecting "▽" to display the pull-down list, the attribute to be searched for can be specified. With this configuration, for example, the attribute display area G3 can be made smaller than in the first embodiment described above, and the area in the image G can be allocated to the other areas G1, G2, G4, and G5 accordingly.

[0046] The second embodiment as described above can also achieve the same effects as the first embodiment.

[0047] <Third embodiment> 8 and 9 are diagrams showing examples of images displayed by the teaching device according to the third embodiment.

[0048] The teaching device 4 according to this embodiment is similar to the teaching device 4 according to the first embodiment, except that the method of specifying attributes is different. In the following description, the teaching device 4 according to this embodiment will be described with a focus on the differences from the first embodiment, and descriptions of similar matters will be omitted. In addition, in each drawing of this embodiment, the same reference numerals are used for configurations similar to those of the above-mentioned embodiment.

[0049] In the teaching device 4 of this embodiment, as shown in FIG. 8, the search string display area G2 and the attribute display area G3 are displayed side by side. In addition, in the attribute display area G3, each attribute is displayed side by side, and the search string display area G2 is displayed next to each attribute. That is, the search string display area G21 for the attribute "number of lines", the search string display area G22 for the attribute "function name", the search string display area G23 for the attribute "command", and the search string display area G24 for the attribute "point" are displayed. For example, as shown in FIG. 8, when the search command area G5 is pressed with "100" input in the search string display area G22, the control unit 43 searches the program statements for function names containing "100" and displays the search results on the image G. According to such a configuration, the attribute is always specified, so that it is possible to prevent forgetting to specify the attribute.

[0050] According to this embodiment, as shown in Fig. 9, different character strings can be input into two or more search character string display areas G2. This allows different character strings to be searched for simultaneously, thereby shortening the search time. In the illustrated example, the control unit 43 simultaneously searches the program statements for function names containing "100" and line numbers containing "10".

[0051] The third embodiment as described above can also achieve the same effects as the first embodiment described above.

[0052] <Fourth embodiment> FIG. 10 is a diagram showing an example of an image displayed by the teaching device according to the fourth embodiment.

[0053] The teaching device 4 according to this embodiment is similar to the teaching device 4 according to the first embodiment, except that the method of specifying attributes is different. In the following description, the teaching device 4 according to this embodiment will be described with a focus on the differences from the first embodiment, and descriptions of similar points will be omitted. In the drawings of this embodiment, the same reference numerals are used for configurations similar to those of the above-mentioned embodiment.

[0054] In the teaching device 4 of this embodiment, as shown in FIG. 10, the attribute display area G3 is omitted from the image G. Instead, the teaching device 4 is provided with keys for specifying each attribute. For example, in this embodiment, the control unit 43 sets the attribute of the search target to "number of lines" if ":" is entered before the character string in the search string display area G2, sets the attribute of the search target to "function name" if "f" is entered, sets the attribute of the search target to "command" if "♯" is entered, and sets the attribute of the search target to "point" if "?" is entered. In the illustrated configuration, since "f100" is entered in the search string display area G2, the control unit 43 searches for function names containing "100" from the program statements and displays the search results in the image G. Note that the key for specifying the attribute is not particularly limited.

[0055] With this configuration, the attribute display area G3 can be omitted, and the other areas G1, G2, and G4 can be enlarged accordingly.

[0056] The fourth embodiment as described above can also achieve the same effects as the first embodiment.

[0057] <Fifth embodiment> FIG. 11 is a diagram showing an example of an image displayed by the teaching device according to the fifth embodiment.

[0058] The teaching device 4 according to this embodiment is similar to the teaching device 4 according to the first embodiment, except that the method of specifying attributes is different. In the following description, the teaching device 4 according to this embodiment will be described with a focus on the differences from the first embodiment, and descriptions of similar points will be omitted. In the drawings of this embodiment, the same reference numerals are used for configurations similar to those of the above-mentioned embodiment.

[0059] In the teaching device 4 of this embodiment, as shown in FIG. 11, the attribute display area G3 and the search command area G5 are omitted from the image G. Instead, the teaching device 4 is provided with a key for starting a search by specifying each attribute. In other words, a search start key is set for each attribute. In this embodiment, when ":" is pressed on the keyboard provided in the reception unit 42 with a character string input in the search character string display area G2, the control unit 43 searches for the attribute of the search target as "number of lines", when "f" is pressed, searches for the attribute of the search target as "function name", when "♯" is pressed, searches for the attribute of the search target as "command", and when "?" is pressed, searches for the attribute of the search target as "point". As shown in the figure, when "f" is pressed with "100" input in the search character string display area G2, the control unit 43 searches for a function name including "100" from the program statements, and displays the search result in the image G. Note that the key for starting a search by specifying an attribute is not particularly limited.

[0060] With this configuration, the attribute display area G3 and the search command area G5 can be omitted, and the other areas G1, G2, and G4 can be enlarged accordingly.

[0061] The fifth embodiment can also achieve the same effects as the first embodiment described above.

[0062] Sixth Embodiment Fig. 12 and Fig. 13 are diagrams showing examples of images displayed by the teaching device according to the sixth embodiment, and Fig. 14 is a diagram showing a modified example of the image.

[0063] The teaching device 4 according to this embodiment is similar to the teaching device 4 according to the first embodiment, except that attributes that can be selected as search targets differ depending on the operation mode of the robot 2. In the following description, the teaching device 4 according to this embodiment will be described with a focus on differences from the first embodiment, and descriptions of similar points will be omitted. In addition, in each drawing of this embodiment, the same reference numerals are used for configurations similar to those of the above-mentioned embodiment.

[0064] The operation modes of the robot 2 include a teach mode used when teaching the operation program Pd to the robot 2, and an auto mode used when driving the robot 2 based on the operation program Pd at a production site, etc. For example, in the teach mode, the maximum movement speed of the robot 2 is kept lower than in the auto mode to ensure safety.

[0065] In the teaching work, since the operation program Pd is created from scratch while moving the robot 2, it is necessary to correct various parts of the operation program Pd regardless of the attributes. Therefore, as shown in FIG. 12, when the teach mode is selected as the operation mode of the robot 2, all attributes are displayed in the attribute display area G3 in the image G, as in the first embodiment described above. In contrast, in production sites, etc., it is often the case that only specific attributes of the operation program Pd are corrected, such as fine-tuning the TCP. Therefore, as shown in FIG. 13, when the auto mode is selected, only attributes that are expected to be corrected in the auto mode, that is, in this embodiment, only "function name" and "point" are displayed in the image G.

[0066] As described above, in the teaching device 4 of this embodiment, the attributes that can be selected as search targets differ depending on the operation mode of the robot 2. In other words, the display manner of the attribute display area G3 differs depending on the operation mode. This prevents unnecessary attributes from being displayed, allowing the user to easily select attributes.

[0067] In this embodiment, only "function name" and "point" are displayed in the auto mode, but the present invention is not limited to this. For example, as shown in FIG. 14, all attributes may be displayed, but attributes other than "function name" and "point" may not be selectable. With this configuration, the user can check what attributes are available even in the auto mode. In the illustrated example, attributes that cannot be selected are marked with an "X", but the present invention is not limited to this. For example, selectable attributes may be displayed in a lighter color.

[0068] In the present embodiment as described above, the operation modes of the robot 2 include a teach mode in which the operation program Pd is taught to the robot, and an auto mode in which the robot 2 is driven based on the operation program Pd, and the display manner of the attribute display area G3 is made different between the teach mode and the auto mode. With this configuration, unnecessary attributes are not displayed, so the user can easily select attributes.

[0069] The sixth embodiment as described above can also achieve the same effects as the first embodiment.

[0070] Here, as long as the display mode of the attribute display area G3 differs depending on the operation mode, it is not limited to this embodiment, and for example, the order of the icons M1 to M4 may be different. Specifically, in the teach mode, as shown in the figure, the number of lines icon M1, the function name icon M2, the command icon M3, and the point icon M4 are displayed in this order from the left side of the attribute display area G3, whereas in the auto mode, the function name icon M2, the point icon M4, the number of lines icon M1, and the command icon M3 may be displayed in this order from the left side of the attribute display area G3. With such an arrangement, the number of lines icon M1 and the command icon M3 are difficult to select in the auto mode.

[0071] Seventh embodiment 15 and 16 are diagrams showing examples of images displayed by the teaching device according to the seventh embodiment.

[0072] The teaching device 4 according to this embodiment is similar to the teaching device 4 according to the first embodiment, except that attributes that can be selected as search targets differ depending on the type of character string (character type) to be searched. In the following description, the teaching device 4 according to this embodiment will be described with a focus on differences from the first embodiment, and descriptions of similar points will be omitted. In each drawing of this embodiment, the same reference numerals are used for configurations similar to those of the above-mentioned embodiment.

[0073] A program statement is mainly composed of three types of characters: Japanese, numbers, and English (alphabetical characters). Of these, Japanese and English characters are not used, at least not for the number of lines. In contrast, numbers can be used for all attributes. As such, since it is clear that some character types cannot be used for specific attributes, the teaching device 4 of this embodiment differentiates the attributes that can be selected as search targets depending on the character type entered in the search string display area G2.

[0074] For example, as shown in Fig. 15, when a number is entered in the search string display area G2, all attributes are displayed and all attributes can be selected. In contrast, as shown in Fig. 16, when English is entered in the search string display area G2, attributes other than the number of lines are displayed and attributes other than the number of lines can be selected. Although not shown, when Japanese is entered in the search string display area G2, attributes other than the number of lines are displayed and attributes other than the number of lines can be selected, just like in the case of English.

[0075] As described above, in the teaching device 4 of this embodiment, the attributes that can be selected as search targets differ depending on the character type entered in the search character string display area G2. In other words, the display mode of the attribute display area G3 differs depending on the character type. This prevents unnecessary attributes from being displayed, allowing the user to easily select attributes.

[0076] In the present embodiment described above, the display mode of the attribute display area G3 is changed depending on the type of characters entered in the search string display area G2. With this configuration, unnecessary attributes are not displayed, so that the user can easily select attributes.

[0077] The seventh embodiment as described above can also achieve the same effects as the first embodiment.

[0078] As long as the display mode of the attribute display area G3 differs according to the character type, the present invention is not limited to this embodiment, and for example, the order of the icons M1 to M4 may be different. Specifically, when the character type is numbers, the icons M1, M2, M3, and M4 are displayed in this order from the left side of the attribute display area G3 as shown in the figure, whereas when the character type is English or Japanese, the icons M2, M4, M3, and M1 are displayed in this order from the left side of the attribute display area G3. With this arrangement, when the character type is English or Japanese, the icons M1 are difficult to select.

[0079] Although the teaching device, teaching program, and program search method of the present invention have been described above based on the illustrated embodiments, the present invention is not limited to these, and the configuration of each part can be replaced with any configuration or process having a similar function. In addition, any other configuration or process may be added to the present invention. [Explanation of symbols]

[0080] 1...robot system, 2...robot, 3...robot control device, 4...teaching device, 21...base, 22...robot arm, 23...end effector, 41...display unit, 42...reception unit, 43...control unit, 221...arm, 222...arm, 223...arm, 224...arm, 225...arm, 226...arm, G...image, G1...program display area, G2...search string display area, G21...search string display area, G22...search string display area, G23...search string display area, G24...search string display area, G3...attribute display area, G4...search result display area, G5...search command area, J1...joint, J2...joint, J3...joint, J4...joint, J5...joint, J6...joint, M1...number of lines icon, M2...function name icon, M3...command icon, M4...point icon, Pd...motion program, Pt...teaching program, Q1...dashed line, Q2...dashed line, Q3...dashed line, Q4...dashed line, S1...display step, S2...reception step, S3...search step

Claims

1. a display unit that displays an image including a first area that displays a program statement of an operation program for operating a robot, and a second area that displays a character string to be searched for from the program statement; a receiving unit that receives the character string and an attribute of the character string; a control unit that searches the program statements for a portion that corresponds to the combination of the character string and the attribute accepted by the accepting unit, and displays a search result on the image; The teaching device according to claim 1, wherein the attributes received by the receiving unit include at least one of a line number in the program statement and a function name.

2. The teaching device according to claim 1 , wherein the image further includes a third area displaying a plurality of the attributes to be selected by the user.

3. 3. The teaching device according to claim 2, wherein the third area is displayed within the second area.

4. The teaching device according to claim 2 , wherein an icon indicating the number of lines and an icon indicating the name of the function are displayed separately in the third area.

5. The robot has, as operation modes thereof, a teach mode in which the operation program is taught to the robot, and an auto mode in which the robot is driven based on the operation program, 5. The teaching device according to claim 2, wherein a display mode of the third area is made different between the teach mode and the auto mode.

6. 5. The teaching device according to claim 2, wherein a display mode of the third area is changed depending on a type of character input into the second area.

7. The teaching device of claim 1 , wherein the image further comprises a fourth area for displaying the search results.

8. The teaching device according to claim 1 , wherein the control unit displays the search results in the program text by highlighting the search results.

9. The teaching device according to claim 1 , wherein the control unit displays the search results in different colors in the program statements.

10. displaying an image including a first area for displaying a program statement of an operation program for operating a robot, and a second area for displaying a character string to be searched for from the program statement; accepting the string and an attribute of the string; causing the computer to execute an operation of searching the program statements for a portion corresponding to the combination of the received character string and the received attribute, and displaying a search result on the image; The teaching program, wherein the received attributes include at least one of a line number in the program statement and a function name.

11. a display step of displaying an image including a first area for displaying a program statement of an operation program for operating a robot, and a second area for displaying a character string to be searched for from the program statement; a receiving step of receiving the character string and an attribute of the character string; a search step of searching the program text for a portion corresponding to the combination of the received character string and the attribute, and displaying a search result on the image, The program search method according to claim 1, wherein the attributes received in the receiving step include at least one of a line number in the program statement and a function name.

Images