Program generation device and program generation program

Abstract

To provide a program generation device which allows even users having neither expert knowledge nor an advanced skill level to generate operation programs of a robot.SOLUTION: A program generation device comprises: an acquisition unit configured to acquire a plurality of movement points corresponding to a position of a destination of a predetermined portion of a robot and a job corresponding to a plurality of movement methods of the predetermined portion; a display control unit configured to display movement point codes representing the plurality of movement points arranged in movement order, and also display icons representing the movement methods in association with the displayed movement point codes; and a generation unit configured to generate an operation program which operates the robot according to contents displayed by the display control unit.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a program generation device and a program generation program. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there is a technique for generating a robot operation program using a programming language such as SLIM (Standard Language for Industrial Manipulators) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-083730 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, to use programming languages ​​such as SLIM, specialized knowledge and a high level of proficiency are required, and such programming languages ​​are difficult for beginners to use. There is a demand for beginners and people with low proficiency to be able to easily generate robot operation programs.

[0005] The present disclosure has been made in consideration of the above points, and aims to provide a program generation device and a program generation program that enable even those without specialized knowledge or high levels of proficiency to generate operation programs for robots. [Means for solving the problem]

[0006] A program generation device according to a first aspect of the present disclosure includes an acquisition unit that acquires a plurality of movement points corresponding to destination positions of a specified part of a robot and jobs corresponding to a plurality of movement methods of the specified part, a display control unit that displays movement point symbols indicating the plurality of movement points in order of movement and associates the displayed movement point symbols with icons indicating the movement methods, and a generation unit that generates an operation program for operating the robot in accordance with the content displayed by the display control unit.

[0007] According to the first aspect of the present disclosure, by generating an operation program that causes a robot to operate according to the content displayed as movement point symbols and icons, even a person without specialized knowledge or high level of proficiency can generate an operation program for a robot.

[0008] A program generation device according to a second aspect of the present disclosure is a program generation device according to the first aspect, wherein the display control unit is capable of displaying a selection unit which allows selection of one icon from among a plurality of icons indicating the plurality of movement methods for each of the displayed movement points.

[0009] According to the second aspect of the present disclosure, it becomes easier to change the movement method of the robot compared to a case where the selection section is not displayed.

[0010] A program generation device according to a third aspect of the present disclosure is a program generation device according to the first or second aspect, wherein the display control unit displays a list of areas in which selectable icons are displayed when a user selects an area in which the icons are displayed or a predetermined symbol contained in the area.

[0011] According to the third aspect of the present disclosure, it becomes easier to change the movement method of the robot compared to a case where selectable icons are not displayed in a list.

[0012] A program generation device according to a fourth aspect of the present disclosure is the program generation device according to the third aspect, wherein the display control unit displays an area in which selectable icons are displayed in the form of a drop-down list.

[0013] According to the fourth aspect of the present disclosure, it becomes easier to change the movement method of the robot compared to a case where selectable icons are not displayed in the form of a drop-down list.

[0014] A program generation device according to a fifth aspect of the present disclosure is a program generation device according to any of the first to fourth aspects, wherein when a section including one of the icons or multiple of the icons displayed by the display control unit is specified, the generation unit generates an operation program for causing the robot to operate based on the specified section including the one of the icons or multiple of the icons.

[0015] According to the fifth aspect of the present disclosure, since it is possible to generate an operation program for operating a robot in a specified section, it is possible to repeatedly operate an actual robot or a virtual robot in a simulation using the operation program for the specified section and check the operation, thereby making it possible to easily and efficiently modify the operation program.

[0016] A program generation device according to a sixth aspect of the present disclosure is a program generation device according to the fifth aspect, wherein the display control unit displays a designation symbol designating a section including one of the icons or multiple of the icons displayed by the display control unit.

[0017] According to the sixth aspect of the present disclosure, the user of the program generation device can be allowed to specify the section to be operated on by displaying the specification symbol.

[0018] A program generation device according to a seventh aspect of the present disclosure is a program generation device according to any of the first to sixth aspects, wherein, when a predetermined input is made while an area in which the moving point symbol is displayed is selected by a user, the display control unit additionally displays an area in which the next moving point symbol is to be displayed based on the movement order.

[0019] According to the seventh aspect of the present disclosure, the area in which the next movement point symbol is displayed is not displayed until input into the area in which the movement point symbol is displayed is completed, thereby improving visibility when generating an operating program compared to when the area in which the next movement point symbol is displayed is displayed.

[0020] A program generation device according to an eighth aspect of the present disclosure is a program generation device according to any of the first to seventh aspects, wherein the display control unit is capable of displaying a stop time setting unit capable of setting a time for stopping the movement of the robot for each of the displayed movement points.

[0021] According to the eighth aspect of the present disclosure, it becomes easier to set the time for the robot to stop operating, compared to a case in which the stop time setting unit is not displayed.

[0022] A program generation device according to a ninth aspect of the present disclosure is a program generation device according to any of the first to eighth aspects, wherein the display control unit is capable of displaying a speed setting unit capable of setting the movement speed, acceleration, and deceleration of the specified part.

[0023] According to the ninth aspect of the present disclosure, it becomes easier to set the movement speed, acceleration, and deceleration of a predetermined part of the robot, compared to a case where the speed setting section is not displayed.

[0024] A program generation device according to a tenth aspect of the present disclosure is a program generation device according to any of the first to ninth aspects, wherein the generation unit generates a reverse playback program that reverses the movements of a robot operated by the operating program.

[0025] According to a tenth aspect of the present disclosure, by generating a reverse playback program, it is possible to easily generate and modify an operating program while operating a virtual robot in a simulation or an actual robot using the generated operating program.

[0026] A program generation program according to an eleventh aspect of the present disclosure causes a computer to execute a process of acquiring a plurality of movement points corresponding to destination positions of a specified part of a robot and jobs corresponding to a plurality of movement methods of the specified part, displaying movement point symbols indicating the plurality of movement points in order of movement, associating the displayed movement point symbols with icons indicating the movement methods, and generating an operating program for operating the robot according to the content of the display.

[0027] According to an eleventh aspect of the present disclosure, by generating an operation program that causes a robot to operate in accordance with the content displayed as moving point symbols and icons, even a person without specialized knowledge or high level of proficiency can generate an operation program for a robot. Effect of the Invention

[0028] According to the present disclosure, it is possible to provide a program generation device and a program generation program that enable even those without specialized knowledge or a high level of proficiency to generate an operation program for a robot. [Brief description of the drawings]

[0029] [Figure 1] 1 is a diagram illustrating a schematic configuration of a system including a program generation device according to an embodiment of the disclosed technology. [Diagram 2] FIG. 2 is a block diagram showing a hardware configuration of the program generating device. [Diagram 3] 2 is a block diagram showing an example of a functional configuration of a program generating device. FIG. [Figure 4] 4 is a flowchart showing the flow of a program generation process performed by the program generation device. [Diagram 5]FIG. 4 is a diagram showing a GUI that the program generating device displays on a display unit. [Figure 6] 13 is a diagram illustrating the contents displayed in an operation setting area in the GUI. FIG. [Figure 7] FIG. 4 is a diagram showing a GUI that the program generating device displays on a display unit. [Figure 8] FIG. 4 is a diagram showing a GUI that the program generating device displays on a display unit. [Figure 9] FIG. 13 is a diagram showing an example of a position editing screen displayed by a display control unit. [Figure 10] FIG. 4 is a diagram showing a GUI that the program generating device displays on a display unit. [Figure 11] FIG. 11 is a diagram showing a submenu displayed by a display control unit. [Figure 12] FIG. 4 is a diagram showing a GUI that the program generating device displays on a display unit. [Figure 13] FIG. 4 is a diagram showing a GUI that the program generating device displays on a display unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] Hereinafter, an example of an embodiment of the present disclosure will be described with reference to the drawings. In each drawing, the same or equivalent components and parts are given the same reference numerals. In addition, the dimensional ratios of the drawings are exaggerated for the convenience of explanation and may differ from the actual ratios.

[0031] 1 is a diagram showing a schematic configuration of a system having a program generating device according to this embodiment. 1 shows a program generating device 10, a controller 20, and a robot 30.

[0032] The program generation device 10 is a device that generates an operation program for operating the robot 30. The program generation device 10 provides a user with a function for generating an operation program through a graphical user interface (GUI). The operation program generated by the program generation device 10 is executed by a controller 20. However, this is not limited thereto, and the program generation device 10 may have a simulation function that allows the operation of a virtual robot corresponding to the robot 30 to be confirmed on a simulation screen, or may be configured to cooperate with a simulation function installed in a separately prepared personal computer or the like. In this case, the operation program generated by the program generation device 10 may be executed by a virtual controller of the simulation function.

[0033] The controller 20 controls the operation of the robot 30. The robot 30 operates according to an operation program executed by the controller 20. In this embodiment, the robot 30 is, for example, an orthogonal robot that operates on three axes, and has an actuator 31A for operation in the X-axis direction, an actuator 31B for operation in the Y-axis direction, and an actuator 31C for operation in the Z-axis direction. Note that the robot 30 is not limited to an orthogonal robot, and may be a scalar robot.

[0034] An operation program for operating the robot 30 is composed of a combination of commands for operating the robot 30. The program generation device 10 according to the present embodiment provides a user with a function for generating an operation program via a GUI, so that even a person without specialized knowledge or a high level of proficiency can generate an operation program for the robot 30.

[0035] FIG. 2 is a block diagram showing a hardware configuration of the program generating device 10. As shown in FIG.

[0036] 2, the program generation device 10 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, a storage 14, an input unit 15, a display unit 16, and a communication interface (I / F) 17. Each component is connected to each other via a bus 19 so as to be able to communicate with each other.

[0037] The CPU 11 is a central processing unit, and executes various programs and controls each part. That is, the CPU 11 reads a program from the ROM 12 or the storage 14, and executes the program using the RAM 13 as a working area. The CPU 11 controls each of the above components and performs various arithmetic processing according to the program recorded in the ROM 12 or the storage 14. In this embodiment, the ROM 12 or the storage 14 stores a program generation program that generates an operation program for operating the robot 30.

[0038] The ROM 12 stores various programs and various data. The RAM 13 temporarily stores programs or data as a working area. The storage 14 is configured with a storage device such as a hard disk drive (HDD), a solid state drive (SSD), or a flash memory, and stores various programs including an operating system, and various data.

[0039] The input unit 15 includes a pointing device such as a mouse, and a keyboard, and is used to perform various input operations.

[0040] The display unit 16 is, for example, a liquid crystal display, and displays various information. The display unit 16 may function as the input unit 15 by adopting a touch panel system.

[0041] The communication interface 17 is an interface for communicating with the controller 20, and a predetermined standard for communication between the program generating device 10 and the controller 20 is used.

[0042] When executing the above program generation program, the program generation device 10 realizes various functions using the above hardware resources. The functional configuration realized by the program generation device 10 will be described.

[0043] Next, the functional configuration of the program generating device 10 will be described.

[0044] FIG. 3 is a block diagram showing an example of a functional configuration of the program generating device 10. As shown in FIG.

[0045] 3, the program generation device 10 has, as functional components, an acquisition unit 101, a display control unit 102, and a generation unit 103. Each functional component is realized by the CPU 11 reading and executing a program generation program stored in the ROM 12 or the storage 14.

[0046] The acquisition unit 101 acquires a plurality of movement points corresponding to the destination positions of the predetermined part of the robot 30 and a job corresponding to a plurality of movement methods of the predetermined part. For example, the plurality of movement points may be generated separately and stored in the ROM 12 or the storage 14. Also, for example, the job may be generated separately in a file format similar to the movement points and stored in the ROM 12 or the storage 14. Then, the acquisition unit 101 may acquire the movement points and the job from the ROM 12 or the storage 14. The acquisition unit 101 acquires the movement points in the form of three-dimensional coordinates in the operating range of the robot 30. In this embodiment, five movement methods are prepared as the movement method of the predetermined part of the robot 30, including non-interpolation movement, linear interpolation movement, path movement, circular interpolation movement, and circular interpolation movement. Non-interpolation movement is movement that does not require a movement path between two points. Linear interpolation movement is linear movement between two points. Path movement is movement from a start point to an end point via an arbitrary number of via points. Circular interpolation movement is movement from a start point to an end point in an arc shape, with one waypoint specified along the way. Circular interpolation movement is movement in a circle, with two waypoints specified along the way. An example of a predetermined part of the robot 30 is a part that comes into contact with a workpiece that is the target of the robot 30, such as the tip of the robot 30 (the so-called tool center point (TCP)).

[0047] The display control unit 102 controls the display of the GUI on the display unit 16. The display control unit 102 displays, as the GUI to be displayed on the display unit 16, a GUI in which movement point symbols indicating a plurality of movement points are arranged in order of movement. The display control unit 102 also displays, as the GUI to be displayed on the display unit 16, a GUI in which icons indicating movement methods are associated with the displayed movement point symbols. Specific examples of the GUI displayed on the display unit 16 by the display control unit 102 will be described in detail later.

[0048] The generation unit 103 generates an operation program for operating the robot 30 in accordance with the display content of the GUI, in response to a user operation on the GUI displayed on the display unit 16 by the display control unit 102. The operation program for the robot 30 generated by the generation unit 103 is transferred from the program generation device 10 to the controller 20 for execution, or is executed by a virtual controller to confirm the operation of the virtual robot displayed on the display unit 16 in a simulation.

[0049] The program generation device 10 having such a configuration allows even a person without specialized knowledge or a high level of proficiency to generate an operation program for the robot 30.

[0050] Next, the operation of the program generating device 10 will be described.

[0051] 4 is a flowchart showing the flow of the program generation process by the program generation device 10. The CPU 11 reads the program generation program from the ROM 12 or the storage 14, expands it in the RAM 13, and executes it, thereby performing the program generation process.

[0052] In step S101, the CPU 11 acquires a plurality of movement points corresponding to positions of destinations of a predetermined part of the robot 30 and jobs corresponding to a plurality of movement methods of the predetermined part.

[0053] Following step S101, in step S102, the CPU 11 displays on the display unit 16 movement point symbols indicating a plurality of movement points in order of movement in response to a user operation on the GUI displayed on the display unit 16.

[0054] Following step S102, in step S103, the CPU 11 displays an icon indicating a movement method on the display unit 16 in association with the displayed movement point symbol in response to a user's operation on the GUI.

[0055] Following step S103, in step S104, the CPU 11 generates an operation program for operating the robot 30 in accordance with the display contents of the GUI, based on the user's operation on the GUI.

[0056] By executing such processing, the program generation device 10 enables even a person without specialized knowledge or a high level of proficiency to generate an operation program for the robot 30.

[0057] Next, the contents of the GUI that the program generating device 10 displays on the display unit 16 will be described.

[0058] 5 is a diagram showing a GUI 110 that the program generation device 10 displays on the display unit 16. The GUI 110 has an execute button 111, an execute one position button 112, a stop button 113, a start interval designation button 114, an end interval designation button 115, a clear button 116, an action setting area 117, a repeat count setting area 118, and a speed setting area 119. The user can operate the GUI 110 using the input unit 15.

[0059] The execute button 111 is a button for generating an operation program for operating the robot 30 in accordance with the contents set by the user in the operation setting area 117. The generation unit 103 generates an operation program for operating the robot 30 in response to the user pressing the execute button 111 (for example, clicking the mouse with the cursor on the execute button 111). The display control unit 102 may highlight which section of the operation setting area 117 is being executed in response to the pressing of the execute button 111. The display control unit 102 may also display a simulation of the operation of the robot 30 according to the operation program generated by pressing the execute button 111 in a window separate from the GUI 110.

[0060] In addition, if the user has set the start interval and end interval using the start interval designation button 114 and end interval designation button 115 described below, the generation unit 103 generates an operation program for operating the robot 30 between the start interval and the end interval when the user presses the execute button 111.

[0061] The 1 position execution button 112 is a button for generating a movement program for moving the robot 30 only for the column selected in the movement setting area 117, in accordance with the contents set by the user in the movement setting area 117. When the user presses the 1 position execution button 112, the generation unit 103 generates a movement program for moving the robot 30 only for the column selected in the movement setting area 117.

[0062] When an operation program is generated in response to a user pressing the execute button 111 or the one-position execute button 112, and the generated operation program is being executed, the display control unit 102 may display an animated image of the robot 30 on the display unit 16, so that the robot 30 appears to be executing in accordance with the operation program. By displaying an animated image of the robot 30 on the display unit 16, the display control unit 102 allows the user to easily grasp the operation of the robot 30 compared to when no animation is displayed.

[0063] The stop button 113 is a button for stopping the operation of an operating program that has been generated by the generation unit 103 in response to the user pressing the execution button 111 or the one-position execution button 112 and is currently being executed.

[0064] The start interval designation button 114 is a button for setting the sequence of actions selected by the user in the action setting area 117 as the execution start interval. The end interval designation button 115 is a button for setting the sequence of actions selected by the user in the action setting area 117 as the execution end interval.

[0065] The clear button 116 is a button for erasing all the contents input in the action setting area 117. However, the action performed when the clear button 116 is pressed is not limited to this, and the user may press the clear button 116 with a predetermined action sequence selected, thereby deleting only the selected action sequence.

[0066] The action setting area 117 is an area for allowing the user to set the content of the action for the robot 30. The settings inputted in the action setting area 117 are executed in order from the left. The content displayed in the action setting area 117 will be described in detail later. However, the execution order of the settings inputted in the action setting area 117 is not limited to this, and the display content of the action setting area 117 may be changed as necessary so that the settings are executed in any direction, either up, down, left, or right.

[0067] The repetition count setting area 118 is an area for allowing the user to set the number of times the content input in the action setting area 117 is to be repeated.

[0068] The speed setting area 119 is an example of a speed setting section of the present disclosure, and is an area for allowing the user to set the movement speed, acceleration, and deceleration of a predetermined part when operating the robot 30 with the contents inputted in the operation setting area 117. Note that the movement speed, acceleration, and deceleration when operating the robot 30 may be set uniformly, may be set for each section, or may be set for each position number.

[0069] Next, a description will be given of the contents displayed in the operation setting area 117. Fig. 6 is a diagram for explaining the contents displayed in the operation setting area 117 in the GUI 110 displayed on the display unit 16 by the program generating device 10.

[0070] The action setting area 117 has a start interval designation symbol 121 , an end interval designation symbol 122 , a movement destination position display line 123 , a movement method display line 124 , and a stop time display line 125 .

[0071] The start interval designation symbol 121 is an example of a designation symbol in the present disclosure, and is a symbol indicating a start interval of an operation program for operating the robot 30. In this embodiment, the letter "S" is used as the start interval designation symbol 121. If the user does not use the start interval designation button 114, the display control unit 102 displays the start interval designation symbol 121 in the first column.

[0072] The end section designation symbol 122 is an example of a designation symbol in the present disclosure, and is a symbol indicating the end section of an operation program for operating the robot 30. In this embodiment, the letter "F" is used as the end section designation symbol 122. If the user does not use the end section designation button 115, the display control unit 102 displays the end section designation symbol 122 in the last column.

[0073] When an action is set in only one column, the display control unit 102 displays the start interval designation symbol 121 and the end interval designation symbol 122 in the same column.

[0074] The destination position display line 123 is a line that displays the destination position number input by the user. The position number is an example of a movement point symbol in the present disclosure. Which position number corresponds to which coordinate is set in advance by the user. In this embodiment, the movement point of the robot 30 is represented by numbers, but the movement point of the robot 30 may also be represented by alphabets instead of numbers. The movement point of the robot 30 may also be represented by a name set by the user. Note that multiple position numbers are displayed in the destination position display line 123 depending on the movement method.

[0075] The movement method display line 124 is a line that displays an icon indicating a movement method input by the user, and is an example of the "area where an icon is displayed" in the present disclosure.

[0076] The stop time display line 125 is an example of a stop time setting section of the present disclosure, and is a line that displays the time input by the user to stop the operation after the set movement method is completed.

[0077] When the user presses the execute button 111, the generation unit 103 generates commands for operating the robot 30 for each section based on the settings entered in the operation setting area 117, and when commands have been generated for all sections, it outputs the series of commands as an operation program for the robot 30.

[0078] Even if a user does not have specialized knowledge or a high level of proficiency, the user can generate an operation program for the robot 30 by inputting settings into the operation setting area 117. The procedure for inputting settings into the operation setting area 117 will be described.

[0079] 7 is a diagram showing the GUI 110 displayed on the display unit 16 by the program generating device 10. In FIG. 7, the GUI 110 is shown in a state where no settings have been input into the operation setting area 117.

[0080] In this state, the user can input settings in the first column of the operation setting area 117. Fig. 8 is a diagram showing the GUI 110 that the program generation device 10 displays on the display unit 16. Fig. 8 shows the GUI 110 in a state in which settings have been input in the first column of the operation setting area 117. As shown in Fig. 8, when the user selects the destination position display row 123 and inputs a position number, the display control unit 102 additionally displays an area in which the next position number is displayed in the operation setting area 117. This enables the user to input destination position numbers one after another.

[0081] The method for additionally displaying an area in which the next position number is displayed is not limited to the input of the position number by the user. For example, in the GUI 110 shown in FIG. 5, when the user right-clicks the mouse while selecting any column of the operation setting area 117, that is, an area in which the position number is displayed, the display control unit 102 may display a submenu including a menu such as insert or add. Then, when the user selects insert or add from the submenu, the display control unit 102 may additionally display an area in which the next position number is displayed for the selected column. This allows the program generating device 10 to insert a column including an area in which the next position number is displayed between the selected column and the next column even if the next column of the selected column already exists. This makes it easy to edit, including correct the operation program. That is, when a predetermined input is made while the area in which the moving point symbol is displayed is selected by the user, the display control unit 102 may additionally display an area in which the next moving point symbol is displayed. The predetermined input here may be, for example, the completion of input of the position number, or the selection of an insert or add function from a submenu displayed by right-clicking the mouse.

[0082] The position number can be input into the operation setting area 117 from a position editing screen that is separately displayed by the display control unit 102. FIG. 9 is a diagram showing an example of a position editing screen 131 displayed by the display control unit 102. In the example of FIG. 9, when the user selects the row with the position number 2 and, for example, right-clicks the mouse, a submenu 132 for inputting settings into the operation setting area 117 is displayed by the display control unit 102. The user can input settings into the operation setting area 117 by selecting a menu displayed in the submenu 132.

[0083] The coordinates of each position on the position editing screen shown in FIG. 9 may be captured from, for example, three-dimensional CAD (Computer Aided Design) data.

[0084] The user can change the movement method for each section by operating the action setting area 117. Fig. 10 is a diagram showing a GUI 110 displayed on the display unit 16 by the program generation device 10. When the user selects a movement method display line 124 for each section, the display control unit 102 displays a submenu 126 for changing the movement method for that section, as shown in Fig. 10.

[0085] FIG. 11 is a diagram showing a submenu 126 displayed by the display control unit 102 when the user selects the movement method display row 124 for each section. The submenu 126 is an example of a selection unit in the present disclosure, and is a menu that displays a list of selectable icons. The submenu 126 displays an icon 126A for setting a movement without interpolation, an icon 126B for setting a linear interpolation movement, an icon 126C for setting a path movement, an icon 126D for setting a circular interpolation movement, and an icon 126E for setting a circular interpolation movement. The icons 126C, 126D, and 126E are each an icon for setting a movement that requires multiple movement points on a trajectory. The user can change the movement method for that section by selecting one of the icons displayed in the submenu 126.

[0086] As described above, the user can set a start section and an end section from the series of actions displayed in the action setting area 117. Fig. 12 is a diagram showing a GUI 110 displayed on the display unit 16 by the program generation device 10. Fig. 12 shows an example in which the user operates the start section designation button 114 and the end section designation button 115 to set the section in the third column from the top as the start section, and the section in the seventh column as the end section.

[0087] In order to make it easier to understand that the section from the start section to the end section will not be executed, the display control unit 102 may gray out the section from the start section to the end section in the operation setting area 117, as shown in Figure 12.

[0088] FIG. 13 is a diagram showing a GUI 110 displayed on the display unit 16 by the program generating device 10. FIG. 13 shows a state in which a drop-down list 142 is displayed by the display control unit 102 when the user selects the list display button 141 in the movement method display row 124 of each section. In the drop-down list 142, an icon for setting a non-interpolated movement, an icon for setting a linear interpolated movement, an icon for setting a path movement, an icon for setting a circular interpolated movement, and an icon for setting a circular interpolated movement are displayed by the display control unit 102, similar to the submenu 126 shown in FIG. 11. The user can change the movement method of the section by selecting one of the icons displayed in the drop-down list 142. The list display button 141 is an example of the "predetermined symbol included in the area where the icon is displayed" of the present disclosure, and is displayed in each column of the movement method display row 124.

[0089] By displaying such a GUI 110 on the display unit 16, the display control unit 102 can easily generate an operation program for the robot 30, even for a user who does not have specialized knowledge or a high level of proficiency, compared to a case in which such a GUI 110 is not provided.

[0090] The generation unit 103 may generate a reverse playback program for playing back the motion of the robot 30 in reverse, based on the content displayed on the GUI 110, in response to a user operation. For example, when the motion of the robot 30 is set as shown in Fig. 5, the generation unit 103 may generate a reverse playback program for executing the motions in sequence starting from the last row. By generating a reverse playback program, the program generation device 10 can easily generate and modify a motion program while operating the robot 30 displayed on the display unit 16 in a simulation or the actual robot 30 using the generated motion program.

[0091] Although the embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that a person having ordinary knowledge in the technical field of the present disclosure can conceive of various modified examples or examples of modifications within the scope of the technical ideas described in the claims, and it is understood that these modified examples or examples of modifications also belong to the technical scope of the present disclosure.

[0092] In addition, the effects described in the above embodiments are explanatory or exemplary, and are not limited to those described in the above embodiments. In other words, the technology according to the present disclosure may achieve other effects that are obvious to a person having ordinary skill in the technical field of the present disclosure from the description in the above embodiments, in addition to or in place of the effects described in the above embodiments.

[0093] In addition, the program generation process executed by the CPU after reading the software (program) in each of the above embodiments may be executed by various processors other than the CPU. In this case, examples of the processor include a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array) whose circuit configuration can be changed after manufacture, and a dedicated electric circuit such as an ASIC (Application Specific Integrated Circuit) which is a processor having a circuit configuration designed exclusively for executing a specific process. In addition, the program generation process may be executed by one of these various processors, or may be executed by a combination of two or more processors of the same or different types (for example, a plurality of FPGAs, and a combination of a CPU and an FPGA). In addition, the hardware structure of these various processors is, more specifically, an electric circuit that combines circuit elements such as semiconductor elements.

[0094] In addition, in each of the above embodiments, the program for the program generation process is described as being pre-stored (installed) in a ROM or storage, but the present invention is not limited to this. The program may be provided in a form recorded on a non-transitory recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), or a USB (Universal Serial Bus) memory. The program may also be downloaded from an external device via a network. [Explanation of symbols]

[0095] 10 Program Generation Device 101 Acquisition Department 102 Display control unit 103 Generation part

Claims

1. an acquisition unit that acquires a plurality of movement points corresponding to positions of destinations of a predetermined part of the robot and jobs corresponding to a plurality of movement methods of the predetermined part; a display control unit that displays movement point symbols indicating the plurality of movement points in order of movement and associates the displayed movement point symbols with icons indicating the movement methods; a generation unit that generates an operation program for operating the robot in accordance with the content displayed by the display control unit; A program generating device comprising:

2. The program generating device according to claim 1 , wherein the display control unit is capable of displaying a selection unit capable of selecting one of the plurality of icons representing the plurality of movement methods for each of the displayed movement points.

3. The program generation device according to claim 1 , wherein the display control unit displays a list of areas in which selectable icons are displayed when the area in which the icon is displayed or a predetermined symbol contained in the area is selected by a user.

4. The program generating device according to claim 3 , wherein the display control unit displays the area in which the selectable icons are displayed in the form of a drop-down list.

5. The program generation device according to claim 1, wherein when a section including one of the icons or a plurality of the icons displayed by the display control unit is specified, the generation unit generates an operation program for causing the robot to operate based on the specified section including the one of the icons or a plurality of the icons.

6. The program generating device according to claim 5 , wherein the display control unit displays a designation symbol designating a section including one of the icons or a plurality of the icons displayed by the display control unit.

7. The program generation device according to claim 1 , wherein when a predetermined input is made while the area in which the moving point symbol is displayed is selected by a user, the display control unit additionally displays an area in which a next moving point symbol is displayed based on the movement order.

8. The program generating device according to claim 1 , wherein the display control unit is capable of displaying a stop time setting unit capable of setting a time for stopping the movement of the robot for each of the displayed movement points.

9. The program generating device according to claim 1 , wherein the display control unit is capable of displaying a speed setting unit that enables setting of a moving speed, an acceleration, and a deceleration of the predetermined part.

10. The program generating device according to any one of claims 1 to 9, wherein the generating unit generates a reverse playback program that reverses the motion of a robot that operates according to the motion program.

11. On the computer, Acquire a plurality of movement points corresponding to positions of destinations of a predetermined part of the robot and a job corresponding to a plurality of movement methods of the predetermined part; displaying movement point symbols indicating the plurality of movement points in order of movement, and displaying icons indicating the movement methods in association with the displayed movement point symbols; A motion program for moving the robot in accordance with the content of the display is generated. A program generator that executes processing.

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