Robot teaching device including icon programming function

Abstract

To improve the convenience of an icon programming function.SOLUTION: A robot teaching device generates an operation program of a robot by arranging command icons representing operation commands of the robot. A processor of the robot teaching device displays at least one of an execution start line displayed on the command icon according to an execution state of the operation program and a mark for associating an identifier of position data of the command icon.SELECTED DRAWING: Figure 17A

Description

[Technical field]

[0001] The present invention relates to a robot teaching device, and more particularly to a robot teaching device having an icon programming function. [Background technology]

[0002] As a method for creating a robot's operation program, icon programming has been proposed in the past, in which various operation commands are replaced with icons and the icons are arranged on a creation screen to visually create a robot's operation program. The following documents are known as technologies related to such programming methods.

[0003] Patent Document 1 describes a method of selecting a functional icon from a first area displaying functional icons having a status window displaying an outline of parameter settings of the function constituting a control program for a robot, arranging a duplicated functional icon in a second area, setting parameters of the function represented by the functional icon arranged in the second area, creating a control program based on the functional icon and the settings, and changing the appearance of the functional icon according to the settings. As an example of a functional icon, a passing point icon equipped with a status window displaying the name of the passing point is disclosed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6498366 Summary of the Invention [Problem to be solved by the invention]

[0005] In a robot operation program, the robot operation command often includes position data. In an icon programming environment, the user can be informed that the operation command includes position data by displaying the position data on an icon representing the robot operation command. However, in the case of a highly functional operation command, one operation command may include multiple position data, and if there is multiple position data, the display of the position data on the icon may become complicated. Therefore, it is desired to visually and concisely express that one operation command includes multiple position data. In addition, in the case of a highly functional operation command, the position data set by the user may be corrected and used inside the robot program. If the user is not informed that the position data is being corrected and used, the user may mistakenly believe that a robot operation different from the intention is being performed. Therefore, it is also necessary to be able to visually and concisely grasp that the position data is being corrected and used.

[0006] On the other hand, in a robot operation program, there are cases where you want to execute the program from a specified intermediate line. In the case of a text-based program, you can specify an intermediate line as the execution start line by placing the cursor on that line. In the case of an icon-based program, you need to select the command icon in order to edit its setting value. Therefore, if you try to change the execution line by selecting an icon as in a text-based program, it may be difficult to determine whether the selection is for editing the program or for specifying the execution start line. Therefore, selecting an icon for editing may involve changing the execution start line, which may lead to an unintended change to the execution start line. Therefore, a method is also needed to be able to set the execution line of a program and the selected line for editing separately.

[0007] Therefore, there is a demand for technology that improves the convenience of the icon programming function. [Means for solving the problem]

[0008] One aspect of the present disclosure provides a robot teaching device that generates a robot operation program by arranging command icons representing the robot's operation commands, and that, when the operation command includes multiple pieces of position data, is equipped with a mark display means for displaying multiple marks associated with identifiers of the position data on a single command icon. Another aspect of the present disclosure provides a robot teaching device that generates a robot operation program by arranging command icons representing operation commands for the robot, the robot teaching device comprising: a mark display means for displaying a mark associated with an identifier of the position data on the command icon when the operation command includes position data; and a shape changing means for changing the shape of the mark when the position data is corrected and used. Another aspect of the present disclosure provides a robot teaching device that generates a robot operation program by arranging command icons representing operation commands for the robot, the robot teaching device including an execution start line display means that displays an execution start line indicating an execution start position in the operation program on the command icon. Effect of the Invention

[0009] According to one aspect of the present disclosure, the convenience of the icon programming function is improved. [Brief description of the drawings]

[0010] [Figure 1] 1 is a block diagram showing a schematic configuration of a robot teaching device according to an embodiment; [Diagram 2] FIG. 1 is a functional block diagram of a robot teaching device according to an embodiment. [Diagram 3] FIG. 13 is a diagram showing an example of a programming screen. [Figure 4] FIG. 13 is a perspective view showing an example of an action command including a plurality of position data. [Diagram 5] 5 is a diagram showing an example of a detailed screen of the operation command of FIG. 4. [Figure 6] FIG. 13 is a diagram showing a state in which the identifier of the position data and the color of the mark are changed. [Figure 7] FIG. 13 is a perspective view showing an example of an operation command for correcting and using position data. [Figure 8] FIG. 8 is a diagram showing an example of a setting screen for an operation command in FIG. 7. [Figure 9] FIG. 13 is a perspective view showing an example of an application command for correcting and using position data. [Figure 10] FIG. 13 is a perspective view showing an example of a stacking pattern and a path pattern of a palletizing command. [Figure 11] 10 is a diagram showing an example of a group of icons representing the palletizing commands in FIG. 9. FIG. [Figure 12] 12 is a diagram showing an example of a detailed screen of the advanced function icon in FIG. 11. [Figure 13] FIG. 13 is a diagram showing how position data of a route pattern is corrected and used; [Figure 14] FIG. 13 is a diagram showing how position data of a route pattern is corrected and used; [Figure 15] FIG. 13 is a diagram showing a virtual screen on which identifiers of position data and marks are arranged. [Figure 16] 4 is a flowchart showing an operation of the robot teaching device according to the embodiment. [Figure 17A] FIG. 13 is a diagram showing an example of an execution start line. [Figure 17B] FIG. 13 is a diagram showing an example of an execution start line. [Figure 17C] FIG. 13 is a diagram showing an example of an execution start line. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In each drawing, the same or similar components are given the same or similar reference numerals. In addition, the embodiments described below do not limit the technical scope and meaning of the terms of the invention described in the claims.

[0012] 1 shows a schematic configuration of a robot teaching device 10 in this embodiment. The robot teaching device 10 is a computer device equipped with a processor 11, a display unit 12, an input unit 13, a storage unit 14, etc. The processor 11 is composed of a CPU (central processing unit), a quantum processor, etc. The display unit 12 is composed of a liquid crystal display, an organic EL (electro-luminescence) display, etc. The input unit 13 is composed of a touch panel device, a keyboard, a mouse, etc., and the storage unit 14 is composed of a semiconductor memory, a magnetic storage device, etc.

[0013] The robot teaching device 10 further includes icon programming software 15 stored in the storage unit 14. The icon programming software 15 is read and executed by the processor 11 in response to information from the input unit 13. The icon programming software 15 is configured as an event-driven program that displays a programming screen on the display unit 12 and generates an operation program 16 for the robot 20 in response to information from the input unit 13.

[0014] The generated operation program 16 is transmitted to the robot control device 30 via wire or wirelessly. The robot control device 30 includes an operation control unit 31 that controls the operation of the robot mechanism unit 21 and the tool 22 in accordance with the operation program 16. The robot mechanism unit 21 may be an industrial robot such as an articulated robot or a parallel link type robot, or may be a humanoid robot. The tool 22 includes a suction hand, a gripping hand, a welding rule, a screw fastening tool, or the like, depending on the work content of the robot 20. The robot 20 may further include a sensor 23. The sensor 23 includes, for example, a visual sensor, a force sensor, a vibration sensor, or the like. The robot control device 30 may correct the position data in the operation program 16 based on information from the sensor 23.

[0015] 2 shows functional blocks of the robot teaching device 10. The icon programming software 15 causes the processor of the robot teaching device 10 to function as a programming screen display means 40, an icon display means 41, an icon selection means 42, and a mark display means 43. The icon programming software 15 may also cause the processor to function as a detailed data setting means 44, a color changing means 45, a shape changing means 46, an operation program generating means 47, a virtual screen display means 48, an execution start line display means 49, and an execution start line moving means 32. Each of the means will be described in detail below.

[0016] 3 shows an example of a programming screen 50. The processor 11 functions as the programming screen display means 40 and displays the programming screen 50 on the display unit 12. The programming screen 50 may include a creation screen 51 on which an operation program 16 can be created by arranging icons representing operation commands for the robot 20 on a time axis 54, a selection screen 52 on which one icon can be selected from various icons 60-67 prepared in advance, and a detail screen 53 on which detailed data of the icons 60-61 arranged on the creation screen 51 is set. Note that the icons only need to be arranged in chronological order, and in this case, the time axis 54 does not need to be displayed.

[0017] The processor 11 also functions as an icon display means 41, and displays various icons 60-67 representing operation commands for the robot 20 on the selection screen 52. Furthermore, the processor 11 functions as an icon selection means 42, and selects one of the icons 60-67 on the selection screen 52, and places a copy of the icon on the time axis 54 of the creation screen 51.

[0018] The icons 60-67 may include a command icon 60-64 representing a low-function operation command and a high-function icon 65-67 representing a high-function operation command. The command icon 60-64 includes, for example, a linear movement command, a circular movement command, a work acquisition command, a hand close command, a hand open command, etc. The high-function icon 65-67 includes, for example, an application command that repeats a predetermined operation pattern, a correction command based on information from the sensor 23, etc. The high-function icon 65-67 has, for example, a U-shape, and one or more command icons 60-64 that teach an operation pattern can be arranged on the time axis 54 in the area surrounded by the high-function icon 65-67. The arranged one or more command icons 60-64 are used by correcting the operation pattern of the application command, or by correcting the correction command. The application instructions include, for example, a palletizing instruction for stacking workpieces one by one on a pallet, a depalletizing instruction for removing workpieces stacked on a pallet one by one, a spot welding instruction for welding one or more welding points, a screw fastening instruction for fastening one or more screws, etc.

[0019] Furthermore, the processor 11 functions as a mark display means 43, and when an operation command includes position data, displays a mark 69 associated with an identifier 68 of the position data on the command icon 60. When an operation command includes multiple pieces of position data, the processor 11 may display multiple marks 69 on one command icon 60. This allows the command icon to visually and concisely display that one operation command includes multiple pieces of position data. The identifier 68 of the position data is, for example, composed of numbers, letters, or combinations thereof, and is identification information of the position data commonly used within the operation program. Since the identifier 68 of the position data is common within the operation program, the same identifier 68 can be specified when the same position is to be used. The mark 69 may be a pin mark stuck into the command icon 61, but may also be in other forms, such as an arrow mark or a speech bubble mark.

[0020] Fig. 4 shows an arc movement command as an example of an operation command including multiple position data. The arc movement command is an operation command for moving the robot 20 in an arc from a starting point, position 1, to position 3 via position 2, and includes two position data for positions 2 and 3. As shown in Fig. 3, when a command icon 61 arranged on the time axis 54 is selected, the processor 11 functions as the detailed data setting means 44 and displays a detailed screen 53 for setting detailed data of the command icon 61.

[0021] FIG. 5 shows an example of the detailed screen of the motion command in FIG. 4. The detailed data of the circular movement command includes two position data 70, position 2 and position 3, a moving speed 71 of the robot, and a positioning format 72 after the movement. The position data 70 may be an automatically input initial value, or may be the current position of the real robot or virtual robot set by pressing a reflection button 73 of the arm position, or may be position data manually input by the user. The position data 70 may be switched between various coordinate systems, such as a user coordinate system and a robot coordinate system, by pressing a switching button 75. When the motion button 74 of the arm position is pressed, the real robot or virtual robot is moved to the set position data 70, and the position of the robot can be confirmed. The positioning format includes a "Ichigime" mode in which the robot pauses after moving, a "Nameraka" mode in which the robot moves continuously to the next motion command, and the like.

[0022] Furthermore, the processor 11 may function as a color change means 45, and may change the color of at least one of the location data identifier 68 and the mark 69 when the location data 70 on the details screen 53 is not entered or is incorrect. Fig. 6 shows a state in which the colors of the location data identifier 68 and the mark 69 have been changed. This makes it possible to individually grasp on the command icon 60 that the location 2 is not entered or is incorrect.

[0023] In addition, the processor 11 may function as a shape changer 46, and may change the shape of the mark 69 when the position data 70 set on the detail screen 53 is corrected for use. FIG. 7 shows a work acquisition command as an example of an operation command for correcting and using position data. The work acquisition command is an operation command for moving the robot from the start point position 1 to the position 2 where the work is acquired via the waiting position position 2'. FIG. 8 shows an example of a setting screen for the operation command of FIG. 7. The detailed data of the work acquisition command includes the correction amount 76 (height) of the position data 70 in addition to the position data 70 of the position 2, the movement speed 71 of the robot, and the positioning format 72 after the movement. When the work acquisition command is executed, the position data 70 of the position 2 is corrected based on the correction amount 76 (height) to calculate the position 2'. When the position data 70 is corrected for use in this way, the shape of the mark 69 may be changed, for example, from a pin mark to a diamond mark. This makes it possible to visually and simply grasp on the command icon 60 that the position data 70 is corrected for use.

[0024] The processor 11 may also change the shape of the mark 69 when the position data 70 is corrected and used according to an application command that corrects the position data 70. Fig. 9 shows a palletizing command as an example of an application command that corrects the position data. As described above, the palletizing command is an application command that causes the robot 20 to acquire the workpieces W and stack them one by one on a pallet. For example, the robot 20 moves from the standby position 1 to the position 2, moves to the position 3 where the workpieces W are acquired, closes the hand, returns to the position 2, moves to the position 4 which is the approach point of the pallet, moves to the position 5 which is the loading point, opens the hand, moves to the escape point position 6, and returns to the standby position position 1 via the position 2.

[0025] FIG. 10 shows an example of a stacking pattern and an example of a path pattern of a palletizing command. With a palletizing command, workpieces are stacked in an orderly manner simply by setting the stacking pattern and path pattern. The stacking pattern is determined based on, for example, the number of rows and columns and the position data of the representative points. The path pattern is determined based on, for example, the position data of the approach point, stacking point, and escape point. The three position data of the path pattern may be relative positions, and are used after being corrected based on the detailed data of the stacking pattern.

[0026] Fig. 11 shows an example of a group of icons representing the palletizing command of Fig. 9. The palletizing command is programmed by placing a high-function icon 65 representing the palletizing command on the time axis 54 of the creation screen 51, and placing a command icon 60 representing a route pattern in the area surrounded by the high-function icon 65. In this example, three command icons 60 for moving in a straight line to an approach point, a loading point, and an escape point, which are part of the route pattern, are placed in the area surrounded by the high-function icon 65. Detailed data of the route pattern can be set on the details screen by selecting the command icon 60, and detailed data of the loading pattern can be set on the details screen by selecting the high-function icon 65.

[0027] Fig. 12 shows an example of the details screen 53 for the advanced function icon 65 in Fig. 11. On the details screen 53 for the advanced function icon 65 representing a palletizing command, detailed data for the stacking pattern is set. The detailed data includes, for example, the number of rows and columns 77, position data 70 of the representative points, etc.

[0028] Figures 13 and 14 show how the position data of the route pattern is corrected and used. For example, in the first execution, the position data 70 of the route pattern is corrected based on the loading pattern so that the loading point is at position [1,1,1] as shown in Figure 13. For example, in the second execution, the position data 70 of the route pattern is corrected based on the loading pattern so that the loading point is at position [2,1,1]. In this way, the route pattern is corrected by applying an offset to the position data 70 of the route pattern in accordance with the loading pattern.

[0029] 11 again. Since the three position data of the route pattern are used after being corrected based on the loading pattern, the processor 11 changes the shape of the marks 69 on the three command icons 60 arranged in the area surrounded by the high-function icons 65, for example, from pin marks to diamond marks. This makes it possible to visually and simply grasp that the position data of the command icons 60 arranged in the area surrounded by the high-function icons 65 are used after being corrected.

[0030] The processor 11 may also change the shape of the mark 69 when the position data is corrected and used in response to a correction command based on information from the sensor 23 shown in Fig. 1. This allows the user to visually and simply grasp that the position data is corrected and used based on information from the sensor 23.

[0031] Referring again to Fig. 2, the processor 11 functions as an operation program generating means 47, and generates an operation program when programming is completed. The processor 11 may also function as a virtual screen display means 48, and display a virtual screen on which an identifier of position data and a mark are arranged at a position in the virtual space indicated by the position data 70. Fig. 15 shows a virtual screen 55 on which an identifier of position data 68 and a mark 69 are arranged. A virtual robot 81 can be further arranged in the virtual space 80, and the generated operation program can be simulated with the virtual robot 81. This makes it possible to grasp the position of the position data 70 used in the operation program by graphic information.

[0032] FIG. 16 shows an example of the operation of the robot teaching device in this embodiment. In step S10, a programming screen including a selection screen, a creation screen, a details screen, etc. is displayed. In step S11, various icons (command icons, high-function icons, etc.) are displayed on the selection screen. In step S12, an icon is selected and a copy of the icon is placed on the creation screen. In step S13, if an operation command includes position data, a mark that associates an identifier of the position data is displayed in association with the command icon. At this time, if one operation command includes multiple position data, it is preferable to display multiple marks in association with one command icon. This makes it possible to visually and concisely display on the command icon that one operation command includes multiple position data.

[0033] In step S14, detailed data of the action command (position data, movement speed, positioning format, etc.) is set on the details screen. In step S15, if the position data has not been entered or is incorrect, the color of at least one of the position data identifier and the mark is changed. This makes it possible to individually tell on the command icon that the position data has not been entered or is incorrect. In step S16, if the position data will be corrected before use, the shape of the mark is changed. This makes it possible to visually and simply tell on the command icon that the position data will be corrected before use.

[0034] In step S17, it is determined whether programming is complete. If programming is not complete (NO in step S17), the process returns to step S12 and repeats the process of arranging icons on the time axis of the creation screen. If programming is complete (YES in step S17), the process generates an operation program in step S18.

[0035] 17A-17C show an example of an execution start line 90. As shown in FIG. 17A, the processor 11 may function as the execution start line display means 49 and display an execution start line 90 indicating the execution start position in the operation program on the command icon 60. For example, the execution start line 90 may take the form of a line perpendicular to the time axis 54. The command icons 60-62 arranged on the time axis 54 are each assigned an execution number indicating the execution position in the operation program. Then, the processor 11 displays the execution start line 90 on the command icon 60 of the execution number (hereinafter referred to as the execution start number) indicating the execution start position in the operation program. In the initial setting, it is preferable to display the execution start line 90 on the first command icon 60.

[0036] As shown in FIG. 17B, the processor 11 may function as the execution start line moving means 32 and move the execution start line 90 onto another command icon 61 in response to a user operation such as dragging. The processor 11 may also move the execution start line 90 onto the command icon closest to the user's position in response to a user operation such as double-clicking (or double-tapping) on ​​the time axis 54 or on the creation screen 51. By moving the execution start line 90 in response to an operation such as double-clicking (or double-tapping), it becomes possible to easily change the execution start position even for a long operation program. At this time, the execution start number is changed to the execution number of the command icon to which the execution start line 90 has been moved.

[0037] When the generated operation program is executed, it starts from the position of the execution start line 90. During execution of the operation program, the processor 11 may move the execution start line 90 in accordance with the execution status of the operation program. By moving the execution start line 90 in this way in accordance with the execution of the operation program, it becomes possible to visually grasp which part of the operation program is being executed. Furthermore, when the operation program ends, the processor 11 stops the execution start line 90 on the command icon that was being executed at that time. The next execution start number is set to the execution number of that command icon.

[0038] When an operation program being executed is paused, the processor 11 pauses the execution start line 90 on the command icon that was being executed at that time. The next execution start number is set to the execution number of that command icon. When the operation program is executed again, the operation command that was being executed is resumed. When the position of the execution start line 90 is changed while the operation program is paused, the processor 11 may display a confirmation screen to confirm whether it is OK to change the execution start number from the paused command icon to another command icon. If "Yes" is selected on the confirmation screen, the next execution start number is changed to the execution number of the command icon to which the execution start line 90 has been moved, and if "No" is selected on the confirmation screen, the next execution start number is not changed. If "No" is selected, the actual execution start number and the position of the execution start line 90 will differ, so when the operation program is started again, it is OK to display a confirmation screen again to confirm whether it is OK to change the execution start number (whether it is OK to start the operation program from the command icon with the current execution start line 90). Furthermore, if "No" is selected and the execution start line 90 is then moved to another command icon, a confirmation screen may be displayed asking whether it is OK to change the execution start number from the paused command icon to the other command icon. Once the execution start number has been changed from the paused command icon to another command icon, it is preferable that the confirmation screen not be displayed thereafter even if the position of the execution start line 90 is changed. This improves user convenience.

[0039] By providing such an execution start line 90, it is possible to set the execution start position in the operation program without selecting the command icon 61. On the other hand, when the command icon 60 is selected as shown in FIG. 17C, it is possible to set detailed data of the operation command without changing the execution start position in the operation program. The command icon 60 can have both an execution status and an editing status at the same time, but in this embodiment, the command icon 60 has an editing status, and the execution start line 90 has an execution status. Since the execution start line 90 can be moved arbitrarily by the user, it is possible to change only the execution status without changing the editing status. Furthermore, if the execution start line 90 is not moved, the contents of the command icon 60 can be edited without changing the execution status. In other words, when a command icon is selected, it is possible to prevent unintended changes to the execution start position.

[0040] According to the above embodiment, the convenience of the icon programming function is improved.

[0041] The program executed by the processor described above may be provided by being recorded on a computer-readable non-transitory recording medium, such as a CD-ROM.

[0042] Although various embodiments have been described herein, it should be recognized that the present invention is not limited to the above-described embodiments, but can be modified in various ways within the scope of the following claims. [Explanation of symbols]

[0043] 1-6 position 2' Standby position 10 Robot teaching device 11 Processors 12 Display section 13 Input section 14 Storage section 15. Icon Programming Software 16 Operation program 20. Robot 21 Robot Mechanism Department 22 Tools 23 Sensors 30 Robot control device 31 Motion control section 32 Means of moving the execution start line 40 Programming screen display means 41 Icon display means 42 Icon Selection Method 43 Marking means 44 Detailed data setting method 45 Color change methods 46 Shape change means 47 Operation program generation means 48 Virtual Screen Display Means 49 Execution start line display means 50 Programming Screen 51 Creation screen 52 Selection Screen 53 Details screen 54 Timeline 55 Virtual Screen 60-64 Command Icon 65-67 Highly functional icon 68 Location data identifier 69 Marks 70 Location Data 71 Movement speed 72 Positioning format 73 Reflect button 74 Action button 75 Switch button 76 Correction amount 77 Number of matrix stages 80 Virtual Space 81 Virtual Robot 90 Execution start line W work

Claims

1. A robot teaching device that generates an operation program for a robot by arranging command icons representing operation commands for the robot, The robot teaching device further comprises a mark display means for displaying, when the operation command includes a plurality of position data, a plurality of marks associated with identifiers of the position data on one of the command icons.

2. The robot teaching device according to claim 1 , wherein the mark is a pin mark inserted into the command icon.

3. 3. The robot teaching device according to claim 1, further comprising a color change unit that changes a color of at least one of the identifier of the position data and the mark when the position data has not been input or is incorrect.

4. The robot teaching device according to claim 1 , further comprising a shape changing means for changing a shape of the mark when the position data is corrected and used.

5. 5. The robot teaching device according to claim 4, further comprising detailed data setting means for setting detailed data including a correction amount for the position data.

6. The robot teaching device according to claim 4 or 5, wherein the shape changing means changes the shape of the mark when the position data is corrected and used in accordance with an application command for correcting the position data or a correction command based on information from a sensor.

7. 7. The robot teaching device according to claim 6, further comprising an icon display means for displaying a high-function icon representing the application command or the correction command.

8. 8. The robot teaching device according to claim 1, further comprising a virtual screen display means for displaying a virtual screen on which an identifier of the position data and the mark are arranged at a position indicated by the position data in a virtual space.

9. 9. The robot teaching device according to claim 1, further comprising an execution start line display means for displaying an execution start line indicating an execution start position in the operation program on the command icon.

Images