Control device and display device

Abstract

To provide a control device that enables a user to promptly grasp chronological change of an actual measured value of operation information relevant to an error occurring thereon.SOLUTION: The control device comprises: an acquisition section that acquires chronological operation information on a robot arm rotatably connected with a plurality of arms; a determination section that when an error occurs in operation of the robot arm, determines a type of the error on the basis of the operation information; and a display control section that controls a display section so that the display section displays information on chronological change of actual measured values in the operation information corresponding to the type of the error determined by the determination section, on the basis of error information in which the operation information is associated with the type of the error.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a control device and a display device. [Background technology]

[0002] In recent years, due to rising labor costs and labor shortages in factories, robots with robotic arms have begun to perform tasks such as transporting, manufacturing, processing, assembling, and inspecting workpieces such as machine parts, and the automation of tasks that were previously performed manually is progressing. However, such robots can sometimes experience errors while operating the robotic arms. There are various types of errors, such as abnormal speeds, positional abnormalities, and output torque abnormalities in various parts of the robot.

[0003] Patent Document 1 discloses a display device that notifies a worker when the above error occurs. This display device displays various graph information related to the electric current value, position, speed, acceleration, position deviation, speed deviation, and acceleration deviation of the electric motors of each part of the robot when the above error occurs. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-091078 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the display device of Patent Document 1 simply displays the various pieces of information described above, and there is a problem in that it is difficult to intuitively grasp what kind of error has occurred. [Means for solving the problem]

[0006] The control device of the present invention includes: an acquisition unit that acquires time-varying operation information of a robot arm having a plurality of rotatably connected arms; a determination unit that, when an error occurs in the operation of the robot arm, determines the type of the error based on the operation information; and a display control unit that controls the display unit to display information on the change over time in the actual measured value of the operation information corresponding to the type of error determined by the determination unit based on error information linking the operation information and the type of error.

[0007] The display device of the present invention is a display device controlled by a control device including: an acquisition unit that acquires time-varying operation information of a robot arm having a plurality of arms rotatably connected; and a determination unit that, when an error occurs in the operation of the robot arm, determines the type of the error based on the operation information; A display unit; and a display control unit that controls the display unit to display information on the change over time in the actual measured value of the operation information corresponding to the type of error determined by the determination unit based on error information linking the operation information and the type of error. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram of a robot system equipped with a control device of the present invention. [Figure 2] FIG. 2 is a block diagram of the robot system shown in FIG. [Figure 3] FIG. 3 is a diagram showing an example of a notification image displayed on the display unit shown in FIG. [Figure 4] FIG. 4 is a diagram showing an example of error information in which operation information and the type of error are linked. [Figure 5] FIG. 5 is a diagram showing an example of data for creating a graph showing information on changes over time in the actual measured values ​​of the operation information. DETAILED DESCRIPTION OF THE INVENTION

[0009] <Embodiment> Fig. 1 is a schematic configuration diagram of a robot system equipped with a control device of the present invention. Fig. 2 is a block diagram of the robot system shown in Fig. 1. Fig. 3 is a diagram showing an example of a notification image displayed on the display unit shown in Fig. 1. Fig. 4 is a diagram showing an example of error information in which operation information and the type of error are linked. Fig. 5 is a diagram showing an example of data for creating a graph showing information on changes over time in actual measurement values ​​of operation information.

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A control device and a display device according to the present invention will be described in detail below based on preferred embodiments shown in the accompanying drawings.

[0011] For ease of explanation, the robot arm will be hereinafter referred to as the "base end" on the side of the base 21 in FIG. 1 and the "tip end" on the opposite side, i.e., the side of the end effector 26.

[0012] As shown in FIG. 1, the robot system 1 includes a robot 2, a robot control device 8 that controls the robot 2, and a control device (display control device) 10 of the present invention.

[0013] First, the robot 2 will be described. The robot system 1 shown in FIG. 1 includes a robot 2, a robot control device 8 that controls the driving of the robot 2, and a control device 10.

[0014] The robot 2 in the illustrated robot system 1 is a SCARA robot that drives a robot arm 22 in a desired manner to perform tasks such as transporting, assembling, and inspecting workpieces such as electronic components, or performing various types of processing and painting on the workpieces using tools (hereinafter, these may be collectively referred to simply as "tasks"). However, the use of the robot 2 is not particularly limited. Furthermore, the robot 2 according to the present invention may be a robot other than a SCARA robot, such as a six-axis articulated robot, a Cartesian robot incorporating a linear slider, or a dual-arm robot.

[0015] 1, the robot 2 has a base 21, which is a base portion, and a robot arm 22 rotatably connected to the base 21. The base 21 is fixed to a floor surface that is parallel to a horizontal plane.

[0016] The robot arm 22 has a first arm 23 whose base end is connected to the base 21 and rotates around a first rotation axis J1 that is vertical to the base 21, and a second arm 24 whose base end is connected to the tip end of the first arm 23 and rotates around a second rotation axis J2 that is vertical to the first arm 23.

[0017] A work head 25 is provided at the tip of the second arm 24. The work head 25 has a spline nut 251 and a ball screw nut 252 that are coaxially arranged at the tip of the second arm 24, and a spline shaft 253 that is inserted through the spline nut 251 and the ball screw nut 252. The spline shaft 253 is rotatable relative to the second arm 24 around a third rotation axis J3 that is its central axis and extends in the vertical direction, and is also movable up and down along the third rotation axis J3.

[0018] An end effector 26 is attached to the lower end of the spline shaft 253. The end effector 26 is detachable and can be selected appropriately for the intended task. Examples of the end effector 26 include those that can hold a workpiece or a tool.

[0019] The robot 2 has a first joint actuator 27 that connects the base 21 and the first arm 23 and rotates the first arm 23 relative to the base 21 around a first rotation axis J1, and a second joint actuator 28 that connects the first arm 23 and the second arm 24 and rotates the second arm 24 relative to the first arm 23 around a second rotation axis J2.

[0020] The robot 2 also has a first drive mechanism 291 that rotates the spline nut 251 to rotate the spline shaft 253 around the third rotation axis J3, and a second drive mechanism 292 that rotates the ball screw nut 252 to raise and lower the spline shaft 253 in a direction along the third rotation axis J3.

[0021] The first joint actuator 27 has a motor 27A as a first motor, and a reducer, encoder, etc. (not shown). The second joint actuator 28 has a motor 28A as a second motor, and a reducer, encoder, etc. (not shown). The first drive mechanism 291 has a motor 291A, and a reducer, encoder, etc. (not shown). The second drive mechanism 292 has a motor 292A, and a reducer, encoder, etc. (not shown).

[0022] 2, motor 27A, motor 28A, motor 291A, and motor 292A are each electrically connected to robot control device 8 via a motor driver (not shown). Robot control device 8 controls the conditions for supplying electricity to motor 27A, motor 28A, motor 291A, and motor 292A from a power source (not shown) via each motor driver, i.e., the amount of electricity, timing of electricity supply, etc. This makes it possible to control the operation of robot arm 22 so as to change each arm to a desired posture.

[0023] Each encoder is electrically connected to the robot control device 8. Each encoder detects rotational position information of the corresponding motor and transmits it to the robot control device 8. The robot control device 8 controls the energization conditions for motor 27A, motor 28A, motor 291A, and motor 292A based on the rotational position information of each motor received from each encoder. By controlling the operation of robot arm 22 while knowing the rotational positions of motors 27A, motor 28A, motor 291A, and motor 292A, the desired operation can be performed accurately.

[0024] As shown in FIG. 1, in this embodiment, the robot control device 8 is built into the base 21. However, this configuration is not limiting, and the robot control device 8 may be installed in a location separate from the robot 2. The robot control device 8 also has a function of controlling the driving of the robot 2, and is electrically connected to each of the above-mentioned components of the robot 2. As shown in FIG. 2, the robot control device 8 has a control unit 81, a storage unit 82, and a communication unit 83. These components are connected to each other so that they can communicate with each other, for example, via a bus.

[0025] The control unit 81 is configured with, for example, a CPU (Central Processing Unit), and reads and executes various programs such as the operation program P stored in the storage unit 82. Signals generated by the control unit 81 are transmitted to each part of the robot 2 via the communication unit 83, and signals from each part of the robot 2 are received by the control unit 81 via the communication unit 83. This allows the robot arm 22 to perform a predetermined task under predetermined conditions.

[0026] The storage unit 82 stores various programs and the like executed by the control unit 81. Examples of the storage unit 82 include a configuration including a volatile memory such as a RAM (Random Access Memory), a non-volatile memory such as a ROM (Read Only Memory), and a removable external storage device.

[0027] The communication unit 83 transmits and receives signals to and from each part of the robot 2 using an external interface such as a wired LAN (Local Area Network) or a wireless LAN. In this case, communication may be performed via a server (not shown), or via a network such as the Internet.

[0028] Next, the control device 10 of the present invention will be described. As shown in FIGS. 1 and 2 , the control device 10 is a display control device that controls the operation of the display device 40. In this embodiment, the control device 10 is a tablet terminal built into a device main body having the display device 40. However, the control device 10 is not limited to this configuration, and may be built into a notebook computer, a desktop computer, a teaching pendant, a smartphone, or the like. The control device 10 may also be built into or integrated with the robot control device 8 described above, or may be configured as a part of the robot control device 8.

[0029] The display unit 40 is a display configured with a touch panel. The worker (user) can input various information by looking at the image displayed on the display unit 40 and performing a desired touch operation (hereinafter simply referred to as "operation") with his / her finger or a touch pen.

[0030] The display unit 40 is configured with, for example, a liquid crystal display, an organic electroluminescence display, or the like, and has an operation function (input function) by touch in addition to the function of displaying information. The display unit 40 can display the display screen and operation screen in color or monochrome. The touch panel type of the display unit 40 may be either a pressure-sensitive type or a capacitance type.

[0031] The control device 10 has a control unit 91, a storage unit 92, and a communication unit 93. These are installed inside the device body.

[0032] The control unit 91 is configured with at least one processor such as a CPU (Central Processing Unit), and reads and executes various programs such as teaching programs stored in the memory unit 92. The control unit 91 also has functions such as determining whether an error has occurred in the robot 2, determining the type of error, and controlling the operation of the display unit 40.

[0033] Among the processors contained in the control unit 91, the processor that determines whether an error has occurred in the robot 2 and determines the type of error is the determination unit 90A. Among the processors contained in the control unit 91, the processor that controls the operation of the display unit 40 is the display control unit 90B. These functions will be described in detail later.

[0034] The storage unit 92 stores various programs and the like that can be executed by the control unit 91. Examples of the storage unit 92 include a configuration that includes a volatile memory such as a RAM (Random Access Memory), a non-volatile memory such as a ROM (Read Only Memory), and a removable external storage device.

[0035] The communication unit 93 transmits and receives signals to and from the display unit 40 and external devices such as the robot control device 8, using an external interface such as a wired or wireless LAN (Local Area Network) or a wireless LAN. In this case, communication may be performed via a server (not shown), or via a network such as the Internet.

[0036] The communication unit 93 functions as an acquisition unit that acquires information indicating multiple types of changes over time regarding the operation of each part of the robot arm 22. That is, the acquisition unit acquires the operation information of the robot arm 22 over time. The communication unit 93 acquires the operation information of the robot arm 22 over time via the robot control device 8. The operation information over time here refers to information that changes over time. In other words, it refers to information in which the numerical values ​​and data acquired by the communication unit 93 change by starting the robot or driving the robot arm 22. This operation information includes, for example, information regarding the speed of each part of the robot arm 22, information regarding the position and orientation of each part of the robot arm 22, and information regarding the torque of each part of the robot arm 22. This operation information may also include other information.

[0037] The information relating to the speed of each part of the robot arm 22 includes at least one of, and in this embodiment, all of, the information relating to the rotational speed of the first arm 23 relative to the base 21, the rotational speed of the second arm 24 relative to the first arm 23, the rotational speed of the working head 25, the lifting and lowering speed of the working head 25, and the information relating to the acceleration of the first arm 23 in the rotational direction relative to the base 21, the acceleration of the second arm 24 relative to the first arm 23, the acceleration of the rotational direction of the working head 25, and the acceleration during lifting and lowering of the working head 25. This information can be obtained, for example, based on the encoder values ​​of the encoders connected to each of the motors 27A, 28A, 291A, and 292A, and the output values ​​of sensors such as speed sensors and acceleration sensors.

[0038] The information relating to the position and orientation of each part of the robot arm 22 is information relating to the rotational position of the first arm 23 relative to the base 21, the rotational position of the second arm 24 relative to the first arm 23, the rotational position of the working head 25, and the elevation position of the working head 25. This position information can be obtained, for example, based on the encoder values ​​of the encoders connected to the motors 27A, 28A, 291A, and 292A, respectively.

[0039] The information about the torque of each part of the robot arm 22 is information about the output torque of the first joint actuator 27, the second joint actuator 28, the first drive mechanism 291, and the second drive mechanism 292. The information about the output torque can be obtained, for example, based on the current values ​​of the motor 27A, the motor 28A, the motor 291A, and the motor 292A, and the output value of a torque sensor (not shown).

[0040] The communication unit 93 acquires this information over time. The acquired information is stored in the storage unit 92 as needed.

[0041] Here, an error may occur in the operation of each part of the robot arm 22 during operation of the robot arm 22. There are various types of errors, for example, speed abnormality, torque abnormality, position / posture abnormality, collision with another object, etc. When such an error occurs in the robot 2, the control device 10 causes the display unit 40 to display a notification screen D as shown in FIG. 3. The notification screen D will be described below.

[0042] In the control device 10, the communication unit 93 as an acquisition unit acquires operation information of the robot arm 22 over time while the robot arm 22 is operating. That is, the communication unit 93 acquires the above-mentioned operation information over time while the robot arm 22 is operating. "Acquiring operation information over time" includes a configuration in which operation information is constantly acquired, a configuration in which operation information is constantly acquired at predetermined intervals (for example, 1 ms), and the like.

[0043] The judgment unit 90A then determines whether an error has occurred in the operation of the robot arm 22 based on the operation information of the robot arm 22 over time, and if an error has occurred in the operation of the robot arm 22, determines the type of error based on the operation information.

[0044] Whether an error has occurred in the operation of the robot arm 22 is determined based on, for example, whether the acquired speed in each piece of information contained in the information regarding the speed of each part of the robot arm 22 deviates by more than a predetermined value (Decision 1), whether the acquired position information in each piece of information regarding the position and posture of each part of the robot arm 22 deviates by more than a predetermined value (Decision 2), or whether the acquired torque in each piece of information contained in the information regarding the torque of each part of the robot arm 22 deviates by more than a predetermined value (Decision 3).

[0045] In this embodiment, these three determinations are made, but the configuration may be such that one or two of these determinations are made, or other determinations may be made.

[0046] When the determination unit 90A determines that an error has occurred in the operation of the robot arm 22, it determines the type of error based on the operation information. That is, the type of error is determined based on which of determinations 1, 2, and 3 resulted in the error. For example, if determination 1 results in an error, it determines that an abnormality has occurred in the speed of each part of the robot arm 22. An error may be determined based on only one of the three determinations, or on two or three of the three determinations.

[0047] The display control unit 90B generates a notification screen D based on the error information shown in FIG.

[0048] 4, the error information is information in which operation information and the type of error are linked, and is stored as a table in the storage unit 82, for example. Note that the error information may be stored in a storage device other than the storage unit 82.

[0049] In the example shown in FIG. 4, the error information is stored in such a way that the type of error ("trajectory generation related," "position related," "speed related," "torque, current related"), the error number, and a message to be displayed are associated with each of the operation information "position," "speed," and "torque."

[0050] The "Trajectory generation related" and "Position related" items are items related to the position of each part of the robot arm 22, the "Speed ​​related" items are items related to the speed information of the robot arm 22, and the "Torque, current related" items are items related to the torque information of the robot arm 22.

[0051] Based on such error information, the display control unit 90B generates a notification screen D as shown below and displays it on the display unit 40.

[0052] 3, the notification screen D has a first area D1 that displays a graph G, a second area D2 that displays a simulation image SG of the robot 2, and a third area D3 that displays an operation program P. The first area D1 is located at the bottom right in FIG. 3, the second area D2 is located above the first area D1 in FIG. 3, and the third area D3 is located to the left of the first area D1 and the second area D2 in FIG. 3.

[0053] In this embodiment, the display positions of the first area D1, the second area D2, and the third area D3 on the notification screen D are such that the first area D1 is at the lower right side in Figure 3, the second area D2 is at the upper right side in Figure 3, and the third area D3 is at the left side in Figure 3, but the present invention is not limited to such an arrangement.

[0054] Furthermore, in the notification screen D, the first area D1, the second area D2 and the third area D3 are displayed simultaneously in one window, but the present invention is not limited to this, and these may be displayed in one window at any time, particularly in a predetermined order, or they may be displayed selectively.

[0055] When the first area D1, the second area D2, and the third area D3 are selectively displayed on the notification screen D, the notification screen D may have a selection button (not shown) for selecting among them.

[0056] Alternatively, the first area D1, the second area D2, and the third area D3 may each be displayed in a separate window. In this case, each window may be operable to be enlarged, reduced, moved, etc.

[0057] 3, graph G is displayed in first area D1. In graph G, the horizontal axis represents time T and the vertical axis represents motion information, and in the illustrated example, the vertical axis represents the actual measured value H1 of the rotation speed of the part where the error occurred. In other words, graph G shows the change over time in the motion information. One type of graph G is displayed in the first area D1, but it is also possible that two or more types of graphs G are displayed separately at the same time, two or more types of graphs G are displayed overlapping each other, or two or more types of graphs G are displayed at any time or selectively.

[0058] In graph G, the actual measurement value at the time when the error occurred is highlighted. That is, the position on graph G where the actual measurement H1 value at the time when the error occurred is plotted is highlighted. In the illustrated example, a vertical line L is displayed on graph G at the position where the error occurred, that is, at time T. This makes it possible to immediately grasp the actual measurement value H1 at the time when the error occurred. Note that instead of using a straight line, the location where the error occurred may be surrounded by a square or circle, or may be colored.

[0059] Furthermore, since it is possible to immediately grasp the change over time in the actual measurement value H1 of the operational information related to the error, it is possible to immediately grasp the degree of abnormality in the operational information.

[0060] Graph G also displays the speed command value, i.e., the ideal value H0, over time in addition to the actual measurement value H1. This makes it possible to clearly see how much the actual measurement value H1 deviated from the ideal value H0 when an error occurred.

[0061] Although not shown, depending on the type of error, the vertical axis may be displayed as the actual measured value of the acceleration or torque of each part of the robot arm 22. Also, various types of errors may be displayed on the graph G all at once or at any time.

[0062] Also displayed in the first area D1 is a switch button B for switching between a mode in which the horizontal axis is displayed as time and a mode in which the horizontal axis is displayed as frequency. That is, by operating the switch button B, it is possible to switch the type and unit of the horizontal and vertical axes of the displayed graph G. This allows the graph G to be appropriately switched to a type that is easy for the operator to understand, a type of graph G that the operator desires, or the like, depending on the type of operation information related to the error.

[0063] In this embodiment, the switching button B is displayed below and to the right of the graph G in the first area D1 in FIG. 3, but the display position of the switching button B is not limited to this.

[0064] In this way, by displaying graph G, which shows the time-dependent change in the actual measured value H1 of the operation information related to the error, depending on the type of error, the worker can immediately grasp the time-dependent change in the actual measured value H1 of the operation information related to the error when the error occurs. Therefore, subsequent measures, such as correcting the operation program P, removing obstacles, and performing maintenance on the robot arm 22, can be carried out appropriately and quickly. In this embodiment, information that is less relevant to the content of the error that has occurred is not displayed on the display unit 40, as in the conventional case. In other words, this embodiment does not display all of the multiple types of operation information acquired by the acquisition unit. Therefore, the worker can prioritize checking information that is likely to have caused the error, and the error can be quickly remedied.

[0065] Graph G is generated based on data such as that shown in FIG. 5. The data shown in FIG. 5 is data in which the type of error, an example of display data, a display interval (the interval between scale marks on the horizontal axis of graph G), and a retroactive display time are stored in association with each other. The display control unit 90B displays a graph corresponding to the type of error in the first area D1. At that time, the graph is displayed at a display interval and a retroactive display time corresponding to the graph to be displayed. Furthermore, if the worker operates the switch button B to select another graph, the graph is displayed at a display interval and a retroactive display time corresponding to the selected graph. Note that the display interval and the retroactive display time are not limited to the values ​​shown in FIG. 5. They may also be set by the worker.

[0066] 3, the second area D2 displays a simulation image SG of the robot 2. In this embodiment, the simulation image SG is a three-dimensional image (3D model) of the robot.

[0067] The robot 2 in the simulation image SG is displayed in the posture it was in when the error occurred, which makes it possible to understand at a glance in what posture the error occurred.

[0068] Although not shown, the simulation image SG may also display the type of error and the location where the error occurred.

[0069] The simulation image SG may be a still image or a moving image, and may be configured to be displayed by switching between a still image and a moving image by an arbitrary operation.

[0070] In the video simulation image SG, the video can be played, stopped, and the playback speed can be set by operating buttons such as "Play," "Stop," and "Speed" displayed at the top of the second area D2 in Figure 3. When the simulation image SG is displayed as a moving image, the posture before and after the error occurs can also be grasped, allowing the error to be grasped more accurately.

[0071] 3, the robot program, i.e., the operation program P, is displayed in the robot language in the third area D3. However, the present invention is not limited to this configuration and the program may be displayed in another language, for example, the C language.

[0072] The operation program P is made up of a collection of unit operation programs P1, and the third area D3 displays the operation program P that includes the unit operation program P1 related to the error. In the configuration shown, the "robot_move_func" item is displayed, and the word "Go P (pos)", which is the location where the error occurred, is displayed in bold and in a different color from the surrounding text. This configuration makes it possible to immediately understand which unit operation program P1 was being executed when the error occurred.

[0073] The third area D3 displays the parameters PA set in the operation program P. Specifically, the word "Parameter" is displayed at the bottom of the operation program P in FIG. 3, and a table is displayed below that. "vel" is set to 50, and "pos" is set to 1. "vel" and "pos" are variables used in the operation program P, and it is possible to understand how these numerical values ​​are set. Furthermore, by understanding the degree of error in graph G and checking the parameters PA, it is possible to easily understand the appropriateness of the parameters PA and how to correct the parameters PA.

[0074] In addition, the word "Event" is displayed at the top of the third area D3 in Fig. 3, and to the right of it, the words "3002 Abnormal speed deviation" are displayed. In other words, the error number and the type of error are displayed.

[0075] As described above, these characters are displayed by the display control unit 40B selecting and displaying them while referring to the error information shown in FIG.

[0076] In the present invention, the second area D2 does not necessarily have to exist. That is, the simulation image SG does not necessarily have to be displayed on the notification screen D. In addition, in the present invention, the third area D3 does not necessarily have to exist. That is, the operation program P and the parameters PA do not necessarily have to be displayed on the notification screen D.

[0077] As described above, the control device 10 includes the communication unit 93 as an acquisition unit that acquires time-dependent operation information of the robot arm 22, which is formed by rotatably connecting multiple arms, namely, the first arm 23, the second arm 24, and the work head 25; the determination unit 90A that, when an error occurs in the operation of the robot arm 22, determines the type of error based on the operation information; and the display control unit 90B that controls the display unit 40 to display information on time-dependent changes in the actual measurement value H1 of the operation information corresponding to the type of error determined by the determination unit 90A based on error information linking the operation information and the error type. This changes the operation information displayed depending on the type of error, allowing the worker to immediately grasp the time-dependent changes in the actual measurement value H1 of the operation information related to the error when the error occurs. Therefore, the display unit 40 reduces the display of data unrelated to the error, allowing the worker to prioritize checking the necessary operation information and take appropriate and prompt action.

[0078] Although the case where graph G is displayed as an example of information on the change over time of the actual measured value H1 of the operational information has been described, the present invention is not limited to this, and the display may be in other formats, such as a bar graph or a pie chart.

[0079] The information on the change over time of the actual measurement value H1 of the operation information is not limited to the graph G, but may be a table or the like that shows the actual measurement value in numbers over time.

[0080] The operation information is at least one of the speed, acceleration, and torque of the first arm 23, the second arm 24, and the work head 25, which are the arms of the robot arm 22. The speed, acceleration, and torque of the arms are important items, and are items in which errors frequently occur. By acquiring and displaying information on the actual measured values ​​H1 of these items over time, the worker can understand the content of the error specifically or in more detail.

[0081] In the present invention, the operation information may include information on items other than the above three types of information or other information. Also, the operation information may be any one or two of the above three types of information.

[0082] The information on the change over time is graph G, where the horizontal axis represents time and the vertical axis represents the actual measured value H1. This allows the user to intuitively grasp the change over time in the actual measured value H1 of the operational information related to the error when the error occurs.

[0083] The display control unit 90B controls the display unit 40 to highlight the actual measurement value H1 at the time when the error occurred in the graph G. This allows the position where the error occurred to be more quickly grasped in the displayed graph G.

[0084] The display control unit 90B controls the display unit 40 to display the operation program P including the unit operation program P1 related to the error. This allows the worker to understand the unit operation program P1 related to the error. As a result, the worker can easily determine the appropriateness of the program and can also modify the program appropriately.

[0085] The display control unit 90B controls the display unit 40 to highlight the unit operation program P1 related to the error. This allows the worker to more accurately understand the unit operation program P1 related to the error. As a result, the worker can easily determine the appropriateness of the unit operation program P1 in the operation program P, and can also appropriately correct the unit operation program P1 or the unit operation programs P1 before and after it.

[0086] The robot system 1 may also include a display device such as a teaching pendant and the control device 10. In this case, the display device is controlled by the control device 10 and includes a display unit 40 and a display control unit 90B that controls the display unit 40 to display information on the change over time in the actual measurement value H1 of the operation information corresponding to the type of error determined by the determination unit 90A based on error information linking the operation information and the type of error. This changes the operation information to be displayed depending on the type of error, allowing the worker to immediately grasp the change over time in the actual measurement value H1 of the operation information related to the error when the error occurs. Furthermore, because the display unit 40 reduces the display of data that is less relevant to the error, the worker can prioritize checking the necessary operation information and take appropriate and prompt action thereafter.

[0087] Thus, the display device is controlled by the control device 10, which includes a communication unit 93 as an acquisition unit that acquires time-dependent operation information of the robot arm 22, which is formed by rotatably connecting multiple arms (first arm 23, second arm 24, and work head 25), and a determination unit 90A that determines the type of error based on the operation information when an error occurs in the operation of the robot arm 22. The display device also includes a display unit 40 and a display control unit 90B that controls the display unit 40 to display information on time-dependent changes in the actual measurement value H1 of the operation information corresponding to the type of error determined by the determination unit 90A based on error information linking the operation information and the type of error. This changes the operation information displayed depending on the type of error, allowing the worker to immediately grasp the time-dependent changes in the actual measurement value H1 of the operation information related to the error when an error occurs. Furthermore, the display unit 40 reduces the display of data unrelated to the error, allowing the worker to prioritize checking the necessary operation information and take appropriate and prompt action.

[0088] The control device 10 of the present invention may be built into a device main body having a display unit 40, or may be equipped with the display unit 40. In these cases, the control device 10 of the present invention can be called a display device. Furthermore, the control device 10 is not limited to being integrated with the display unit 40. The control device 10 and the display unit 40 may be separate entities. In this case, the display unit 40 can be called a display device.

[0089] Although the control device and display device of the present invention have been described above in relation to the illustrated embodiments, the present invention is not limited to these. Furthermore, each part of the control device and display device can be replaced with any component that can perform the same function. Furthermore, any component may be added. [Explanation of symbols]

[0090] 1...Robot system, 2...Robot, 8...Robot control device, 10...Control device, 21...Base, 22...Robot arm, 23...First arm, 24...Second arm, 25...Work head, 26...End effector, 27...First joint actuator, 27A...Motor, 28...Second joint actuator, 28A...Motor, 40...Display unit, 40B...Display control unit, 81...Control unit, 82...Memory unit, 83...Communication unit, 90A...Determination unit, 90B...Display control unit, 91...Control unit, 92...Memory unit, 93...Communication unit, 25 1...Spline nut, 252...Ball screw nut, 253...Spline shaft, 291...First drive mechanism, 291A...Motor, 292...Second drive mechanism, 292A...Motor, B...Switch button, D...Notification screen, D1...First area, D2...Second area, D3...Third area, G...Graph, H0...Ideal value, H1...Actual measurement value, J1...First rotation axis, J2...Second rotation axis, J3...Third rotation axis, L...Vertical line, P...Operation program, P1...Unit operation program, PA...Parameter, SG...Simulation image, T...Time

Claims

1. an acquisition unit that acquires time-varying motion information of a robot arm having a plurality of rotatably connected arms; a determination unit that, when an error occurs in the operation of the robot arm, determines the type of the error based on the operation information; a display control unit that controls the display unit to display information on changes over time in the actual measured value of the operation information corresponding to the type of error determined by the determination unit, based on error information in which the operation information and the type of error are linked.

2. The control device according to claim 1 , wherein the operation information is at least one of a velocity, an acceleration, and a torque of the arm.

3. 3. The control device according to claim 1, wherein the information on the change over time is a graph in which the horizontal axis represents time and the vertical axis represents the actual measured value.

4. The control device according to claim 3 , wherein the display control unit controls the display unit to highlight the actual measured value of the time when the error occurred in the graph.

5. The control device according to claim 1 , wherein the display control unit controls the display unit to display an operation program including a unit operation program related to the error.

6. The control device according to claim 5 , wherein the display control unit controls the display unit to highlight the unit operation program related to the error.

7. A display device controlled by a control device including: an acquisition unit that acquires time-varying operation information of a robot arm in which a plurality of arms are rotatably connected; and a determination unit that, when an error occurs in the operation of the robot arm, determines the type of the error based on the operation information, A display unit; a display control unit that controls the display unit to display information on changes over time in the actual measured value of the operation information corresponding to the type of error determined by the determination unit, based on error information in which the operation information and the type of error are linked.

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