Program generation device, method, and computer program

Abstract

To provide a program generation device capable of improving efficiency of work of generating an operation program.SOLUTION: A program generation device displays an operation program including operation icons 72a to 72c indicating operation or control of a robot device in a display part 33. The program generation device displays an operation program including an auxiliary icon 72p indicating control for adding specific work to operation of the robot device defined by the operation icons 72a to 72c or control for correcting an operation position and a posture of the robot device defined by the operation icons 72a to 72c in the display part 33.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a program generation device that generates an operation program including operation symbols for a robot device. [Background technology]

[0002] A robotic device equipped with a robot and a work tool is driven based on an operation program. The operation program can be created in advance by an operator while the robotic device is offline. Alternatively, the operator can set the robot to a desired position and posture using a teaching operation panel. The operator can teach this robot position and posture as teaching points. The robot control device can generate an operation program based on the teaching points.

[0003] An operation program can contain commands for driving a robot or a work tool. The operation program can be generated in text format so as to include multiple command statements. Command statements for a robot device include, for example, a command statement for moving the tool tip point in a straight line, a command statement for moving the tool tip point in a curved line, and a command statement for operating the work tool.

[0004] In the prior art, operation programs that represent the operations of a robot and a work tool using icons are known (for example, Japanese Patent No. 6498366 and U.S. Patent Application Publication No. 2018 / 0154517A1). Also known is an operation program that includes icons that indicate control of repeating a robot operation (for example, Japanese Patent Laid-Open Publication No. 2018-149206). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6498366 [Patent Document 2] US Patent Application Publication No. 2018 / 0154517A1 [Patent Document 3] Japanese Patent Application Publication No. 2018-149206 Summary of the Invention [Problem to be solved by the invention]

[0006] When an operation program is generated using command statements, the command statements, including predetermined command characters, are arranged in a row, making it difficult for workers to understand the overall flow of the operation program. For example, multiple command statements may be written for a robot device to perform a single task. When a robot device performs arc welding, the robot changes its position and posture while continuing to drive the welding torch. The operation program includes a command statement indicating the start of welding, a command statement for the robot's operation, and a command statement indicating the end of welding. In this case, it is difficult for workers to understand the scope to which the command statements for performing welding apply.

[0007] By representing the commands of an operation program with icons, workers can visually understand the operations of the robot device. This makes it easier to create and modify operation programs. However, even in operation programs created with icons, if a command to start an operation of the robot device is displayed with one icon and a command to end the operation is displayed with another icon, it is difficult to understand the section in which the operation is being performed.

[0008] In addition, in a robot device, the operation of the robot device may be changed according to predetermined conditions. In this case, if the operations of the robot device according to each condition are arranged in multiple rows or columns, the screen becomes difficult to read. As such, even if the commands of the operation program are represented by icons, it may take time to generate the operation program, and there is room for improvement in the program generation device. [Means for solving the problem]

[0009] The program generation device of the present disclosure includes at least one memory that stores action symbols indicating actions of a robotic device and auxiliary symbols indicating controls for adding actions related to a specific task of the robotic device or controls for correcting the actions of the robotic device defined by the action symbols. The program generation device also includes at least one processor. The at least one processor acquires settings for the action symbols and auxiliary symbols and information related to operations. The at least one processor displays the action symbols and auxiliary symbols on a display unit based on the settings and information related to operations.

[0010] The computer program of the present disclosure generates an operation program for operating a robotic device. The computer program causes at least one processor of the computer to execute the steps of: retrieving settings of operation symbols and auxiliary symbols and information related to operation from a memory; and displaying the operation symbols and auxiliary symbols on a display unit based on the settings and information related to operation. The operation symbols indicate operations of the robotic device. The auxiliary symbols indicate controls for adding operations related to a specific task of the robotic device or controls for correcting the operations of the robotic device defined by the operation symbols. [Effects of the Invention]

[0011] According to aspects of the present disclosure, it is possible to provide a program generation device and a computer program that improve the efficiency of the work of generating an operation program. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a perspective view of a robot device equipped with a hand. [Figure 2] FIG. 1 is a block diagram of a robot device equipped with a hand. [Figure 3] 10 is an image displayed on a mobile terminal of a robot device equipped with a hand. [Figure 4] 10 is another image displayed on the mobile terminal of the robot device equipped with a hand. [Figure 5] 10 is an image displayed on a mobile terminal of a robot device equipped with a welding torch. [Figure 6] This is a text-format operating program for welding using a robot device. [Figure 7] 10 is another image displayed on a mobile terminal of a robotic device equipped with a welding torch. [Figure 8] 10 is an operating program illustrating auxiliary icons according to an embodiment. [Figure 9] This is an image of the auxiliary icon shown in Figure 8 when it is closed. [Figure 10] This is an operating program for performing welding while weaving. [Figure 11] This is a screen for setting the conditions for the auxiliary icon for which weaving is to be performed. [Figure 12] This is an operating program that includes auxiliary icons that repeat the robot's movements. [Figure 13] It is a text-based operating program that controls the robot's repeated movements. [Figure 14] This is the screen for setting the conditions for the auxiliary icon that repeats the robot's actions. [Figure 15] This is an operating program that includes auxiliary icons that change the robot's operation under predetermined conditions. [Figure 16] It is a text-format operating program that controls how the robot behaves under predetermined conditions. [Figure 17] This is a screen for setting conditions for auxiliary icons that change the robot's behavior under predetermined conditions. [Figure 18] 10 is an operation program including a control icon of a reference example that changes the operation of a robot under predetermined conditions. [Figure 19] This is an operating program that includes two auxiliary icons that change the robot's behavior under predetermined conditions. [Figure 20]This is an operating program that combines auxiliary icons that change the robot's operation under predetermined conditions and auxiliary icons that repeat the robot's operation. [Figure 21] FIG. 1 is a perspective view of a robot device that palletizes a workpiece and the workpiece. [Figure 22] FIG. 2 is a perspective view illustrating the position of a workpiece placed by a robot device. [Figure 23] FIG. 1 is a first perspective view illustrating the position of a robot when the robot device places a workpiece. [Figure 24] FIG. 10 is a second perspective view illustrating the position of the robot when the robot device places a workpiece. [Figure 25] This is an operation program including auxiliary icons for the robot device to perform palletizing. [Figure 26] This is a screen for setting the conditions of the auxiliary icons for the robot device to perform palletizing. [Figure 27] The operation program includes an auxiliary icon that disables some of the operations of the robot device. [Figure 28] The operation program includes an auxiliary icon that adds a comment to the operation icon. [Figure 29] This is an image of a mobile terminal in which an operating program is displayed vertically. [Figure 30] 10 is another image of a mobile terminal in which an operating program is displayed vertically. DETAILED DESCRIPTION OF THE INVENTION

[0013] A program generation device that generates an operation program for a robot device according to an embodiment will be described with reference to FIGS. 1 to 30.

[0014] 1 is a schematic diagram of a robot device according to the present embodiment. The robot device 5 includes a hand 2 as a work tool (end effector) and a robot 1 that moves the hand 2. The robot 1 according to the present embodiment is an articulated robot that includes multiple joints.

[0015] The robot 1 includes a base 14 and a swivel base 13 supported by the base 14. The base 14 is fixed to an installation surface. The swivel base 13 is configured to rotate relative to the base 14. The robot 1 includes an upper arm 11 and a lower arm 12. The lower arm 12 is rotatably supported by the swivel base 13 via a joint. The upper arm 11 is rotatably supported by the lower arm 12 via a joint. The upper arm 11 rotates around a rotation axis parallel to the direction in which the upper arm 11 extends.

[0016] The robot 1 includes a wrist 15 connected to the end of an upper arm 11. The wrist 15 is rotatably supported by the upper arm 11 via a joint. The wrist 15 includes a rotatable flange 16. The hand 2 is fixed to the flange 16 of the wrist 15. The robot 1 in this embodiment has six drive shafts, but is not limited to this. Any robot that can move a work tool can be used.

[0017] The hand 2 is a work tool that grips and releases a workpiece. The hand 2 has claws 2a that face each other. The workpiece is gripped by closing the claws 2a. The work tool is not limited to a hand that grips a workpiece. Any work tool can be attached to a robot depending on the work that the robot device will perform. For example, if the robot device will perform arc welding, a welding torch can be attached to the robot. Or, if the robot device will apply adhesive, a work tool for applying adhesive can be attached to the robot.

[0018] FIG. 2 shows a block diagram of a robot device according to this embodiment. Referring to FIGS. 1 and 2, robot 1 includes a robot drive device that changes the position and posture of robot 1. The robot drive device includes a robot drive motor 19 that drives components such as an arm and a wrist. When robot drive motor 19 is driven, the orientation of each component changes. Hand 2 includes a hand drive device that drives hand 2. The hand drive device includes a valve connected to a pressure pump for driving claw 2a of hand 2, etc.

[0019] The robot device 5 includes a robot control device 4. The robot control device 4 includes an arithmetic processing device (computer) having a CPU (Central Processing Unit) as a processor. The robot device 5 transports a workpiece based on an operation program.

[0020] The arithmetic processing unit of the robot control device 4 includes a memory unit 42 that stores predetermined information. The memory unit 42 stores information related to the control of the robot 1 and the hand 2. An operation program is stored in the memory unit 42. The memory unit 42 can be configured with a storage medium capable of storing information, such as a volatile memory, a non-volatile memory, or a hard disk.

[0021] The arithmetic processing unit of the robot control device 4 includes an operation control unit 43 that sends out operation commands. The operation control unit 43 corresponds to a processor that operates according to an operation program. The operation control unit 43 is configured to be able to read information stored in the storage unit 42. The processor functions as the operation control unit 43 by reading the operation program and carrying out the control defined in the operation program.

[0022] The operation control unit 43 sends operation commands to the robot driving unit 45 to drive the robot 1 based on the operation program. The robot driving unit 45 includes an electrical circuit that drives the robot driving motor 19. The robot driving unit 45 supplies electricity to the robot driving motor 19 based on the operation commands. The operation control unit 43 also sends operation commands to the hand driving unit 44 to drive the hand 2 based on the operation program. The hand driving unit 44 includes an electrical circuit that drives the hand driving device. The hand driving unit 44 supplies electricity to the hand driving device based on the operation commands.

[0023] The robot control device 4 includes a teaching operation panel 49 for manually driving the robot 1. The teaching operation panel 49 includes a display unit 49a that displays information related to the control of the robot device 5, and an input unit 49b that is composed of input devices such as a keyboard and a dial. The display unit 49a can be composed of a display panel such as a liquid crystal display panel. The worker can manually adjust the position and posture of the robot 1 by operating the input unit 49b.

[0024] The robot 1 includes a position detector 18 as a state detector for detecting the position and posture of the robot 1. In this embodiment, the position detector 18 is attached to a robot drive motor 19 that corresponds to the drive shaft of a component such as an arm. For example, the position detector 18 is configured to detect the rotation angle when the robot drive motor 19 is driven.

[0025] The robot control device 4 includes a state detection unit 46 that detects the position and posture of the robot 1 based on the output of the position detector 18. The state detection unit 46 corresponds to a processor that operates according to an operation program. The processor functions as the state detection unit 46 by reading the operation program and performing the control defined in the operation program.

[0026] A world coordinate system 51 is set in the robot device 5 of this embodiment. In the example shown in FIG. 1, the origin of the world coordinate system 51 is located at the base unit 14 of the robot 1. The world coordinate system 51 is also referred to as the reference coordinate system of the robot 1. The world coordinate system 51 is a coordinate system in which the position of the origin is fixed and the orientation of the coordinate axes is fixed. In addition, a tool coordinate system having an origin set at an arbitrary position of the work tool is set in the robot device 5. The origin of the tool coordinate system in this embodiment is set at the tool tip point. When the position and orientation of the robot 1 change, the position of the origin and the orientation of the tool coordinate system change. For example, the position of the robot 1 corresponds to the position of the tool tip point (the position of the origin of the tool coordinate system). In addition, the orientation of the robot 1 corresponds to the orientation of the tool coordinate system with respect to the world coordinate system 51.

[0027] The robot device 5 includes a portable terminal 6 as a program generating device that generates an operation program for the robot device 5. The portable terminal 6 in this embodiment is a tablet terminal. The portable terminal 6 is connected to the robot control device 4 via a communication device. The portable terminal 6 includes an arithmetic processing unit having a CPU as a processor. The arithmetic processing unit has RAM (Random Access Memory) and ROM (Read Only Memory) connected to the CPU via a bus. The portable terminal 6 includes a storage unit 31 that stores information related to the generation of the operation program. The storage unit 31 can be configured with a storage medium capable of storing information, such as a volatile memory, a non-volatile memory, or a hard disk.

[0028] The portable terminal 6 in this embodiment includes a display 33 having a touch panel type display panel. Any type of touch panel type display panel can be used, such as a resistive film type, a capacitive type, or a surface acoustic wave type. The display 33 includes a display unit 33a that displays information related to the generation of the operating program, and an input unit 33b that allows the operator to operate the image displayed on the display unit 33a. In this embodiment, the display 33 functions as both the display unit 33a and the input unit 33b.

[0029] The arithmetic processing device of the mobile terminal 6 includes a display control unit 32 that controls images displayed on the display unit 33a. The display control unit 32 has a function of detecting an operation of the input unit 33b by the worker and controlling the images displayed on the display unit 33a. The display control unit 32 corresponds to a processor that operates according to predetermined rules. The processor functions as the display control unit 32 by controlling the images displayed on the display unit 33a in accordance with the operation of the input unit 33b.

[0030] The program generating device is not limited to the portable terminal 6, and any device including a processing unit can be used. For example, a personal computer not connected to the robot control device can be used as the program generating device. In this case, the input unit can be configured with input devices such as a keyboard and a mouse. The display unit can be configured with a display panel such as a liquid crystal display panel. Alternatively, the teaching pendant 49 can function as the program generating device. In this case, the display unit 49a of the teaching pendant 49 functions as the display unit of the program generating device, and the input unit 49b of the teaching pendant 49 functions as the input unit of the program generating device.

[0031] FIG. 3 shows an image displayed on the display unit of the mobile terminal according to this embodiment. First, a basic method for generating an operation program according to this embodiment will be described. The screen of the mobile terminal 6 according to this embodiment is divided into a program display area 61a that displays the operation program 71 and an information display area 61b that displays detailed information related to the generation of the operation program 71. When not all of the information can be displayed in the program display area 61a or the information display area 61b, a scroll bar is displayed. The operator can view all of the information by moving the scroll bar. For example, the operation program 71 may be so long that the entire operation program 71 cannot be displayed on the screen of the display unit 33a. In this case, a scroll bar is displayed to move the operation program 71 horizontally. The operator can view the desired portion of the operation program 71 by moving the scroll bar.

[0032] The operation program 71 in this embodiment includes operation icons 71a to 71c as operation symbols that indicate the operation of the robot 1 or the hand 2. The operation icons 71a to 71c indicate commands for the operation of the robot 1 or the hand 2. The operation control unit 43 drives the robot 1 and the hand 2 based on the operation icons 71a to 71c displayed in the program display area 61a. As indicated by the arrow 151, the operation control unit 43 performs the operations specified by the operation icons 71a to 71c, starting from the operation icon 71a on the left side of the image 61 and proceeding to the right side. The operator can set the operations of the robot device 5 in chronological order in the program display area 61a.

[0033] Operation icons 71a and 71c indicate an operation in which the position of the robot 1 (tool tip point) moves linearly. Operation icon 71b indicates an operation in which the hand 2 grips a workpiece. In this example, the robot device 5 moves the position of the robot 1 linearly using operation icon 71a, and then closes the claws 2a of the hand 2 using operation icon 71b to grip the workpiece. Thereafter, the position of the robot 1 moves linearly using operation icon 71c.

[0034] The information display area 61b has a programming tab 111 and a details tab 112 for setting the details of the operations of the operation icons 71a to 71c arranged therein. The worker can select the programming tab 111 by pressing the tab 111 with his / her finger. The display control unit 32 displays reference operation icons 101a to 101d, which serve as references for generating the operation icons 71a to 71c, in the information display area 61b. The reference operation icons 101a to 101d indicate basic operations driven by the robot device 5. No operation conditions, such as set values, are set for the reference operation icons 101a to 101d.

[0035] The reference motion icon 101a shows the motion of the hand 2 gripping a workpiece. The reference motion icon 101b shows the motion of the hand 2 releasing a workpiece. The reference motion icon 101c shows the motion of the robot 1 in which the position of the robot 1 moves linearly. The reference motion icon 101d shows the motion of the robot 1 in which the robot drive motors 19 of each drive axis of the robot 1 are driven, causing the position of the robot 1 to move non-linearly.

[0036] The worker can first set the basic movement of the robot device 5. For example, the worker can generate movement icon 71a by pressing the reference movement icon 101c with his / her finger and moving it to the program display area 61a as shown by arrow 152. Similarly to this operation, the worker can generate movement icon 71b by pressing the reference movement icon 101a and moving his / her finger as shown by arrow 153. The worker can generate movement icon 71c by pressing the reference movement icon 101c and moving his / her finger as shown by arrow 154.

[0037] 4 shows an image displaying the setting screen for the operation icons. Next, the worker sets setting information for each of the operation icons 71a to 71c to perform an operation of the robot device 5. The setting information includes conditions for performing each operation.

[0038] In the example shown in FIG. 4, the worker selects the operation icon 71a by pressing the operation icon 71a. The color of the operation icon 71a changes. The display control unit 32 automatically selects the details tab 112 in the information display area 61b. The display control unit 32 displays a setting screen in the information display area 61b for setting setting values ​​related to the operation of the operation icon 71a. The setting screen displays setting information 81 including conditions such as setting values ​​of the robot 1 for the operation icon 71a. In the example shown in FIG. 4, the position and posture of the robot 1, which is the first target position for performing the operation of the operation icon 71a, are shown. In this example, the position and posture of the robot 1 are set in the world coordinate system 51.

[0039] The setting information 81 also includes a movement speed for moving the position of the robot 1. Furthermore, the setting information 81 also includes a positioning format for determining whether or not the target position will be reached accurately. In this example, the position of the robot 1 is set so that it will reach the target position accurately. In this way, the setting screen displays the conditions for the robot 1 to move linearly.

[0040] The worker can set or change the setting information 81 by operating the input unit 33b. For example, the worker presses the area where the target position is displayed with his / her finger, causing the display unit 33a to display an image for changing the target position. The worker can manually input the X-axis coordinate value, Y-axis coordinate value, and Z-axis coordinate value of the target position. Alternatively, the worker can change the position and posture of the robot 1 by operating the teaching operation panel 49. When the position and posture of the robot 1 are as desired, the worker presses the button 113 displayed to the side of the target position. This operation causes the state detection unit 46 of the robot control device 4 to detect the position and posture of the robot 1. The display control unit 32 can then acquire the position and posture of the robot 1 from the state detection unit 46 and set them as the target position in the setting information 81.

[0041] The worker can also use similar operations on the operation icons 71b and 71c to set setting information related to the operation of the robot 1 or the hand 2. In this way, the worker can generate the operation program 71 by repeatedly generating the operation icons 71a to 71c and setting the setting information for the operation icons 71a to 71c.

[0042] By expressing the operation program 71 using operation icons 71a to 71c, the operator can visually understand the operation of the robot device 5. This makes it easier for the operator to create and modify the operation program 71.

[0043] 5 shows an image displayed on a mobile terminal of a robot device that performs arc welding. A welding torch for performing arc welding is attached to robot 1 as a work tool. An operation program 72 for the robot device is displayed in program display area 62a of image 62.

[0044] The action program 72 includes, in addition to action icons 72a to 72c as action symbols, an auxiliary icon 72p as an auxiliary symbol that specifies at least one action symbol. The auxiliary icon has a shape that specifies at least one action icon. The auxiliary icon of this embodiment has a first line 72pa that extends in the direction in which the action icons are arranged, as indicated by arrow 151, and a second line 72pb that extends from the first line 72pa to between the action icons. The auxiliary icon of this embodiment is formed in a U-shape so as to sandwich the action icon and other auxiliary icons. Note that the auxiliary symbol may have a shape that surrounds at least one action icon.

[0045] The auxiliary symbols in this embodiment indicate predetermined control for the action indicated by the action symbol, control that adds an action of the robot device, or control that corrects the action of the robot device determined by the action symbol. In the example shown in FIG. 5, auxiliary icon 72p indicates control that adds welding work using a welding torch as a control that adds an action of the robot device. In this embodiment, an illustration of the type of action or type of control is placed on the auxiliary icon. For example, an illustration of welding is placed in the upper left of auxiliary icon 72p. The type of action or type of control may be written in text on the auxiliary icon. Furthermore, auxiliary icon 72p indicates the start and end of welding with lines 72pb.

[0046] Figure 6 shows an operation program written in text format, which is the operation program shown in Figure 5. In operation program 92, L in the command statement on the first line indicates that the position of robot 1 moves linearly. P[1] indicates that it moves toward the first target position. It also indicates that the speed of robot 1 moves at 100 mm / sec. FINE indicates that this is a method (positioning) by which the robot moves toward the target position with precision.

[0047] The command statement on the second line indicates that the welding torch is to start welding. In this example, it indicates that welding is to start according to the first welding data, and further indicates that welding is to start at a voltage of 18 volts and a current of 200 amperes. The welding data stores a set of welding conditions for performing arc welding. For example, the welding data includes conditions for starting or ending arc welding. By specifying the welding data number, it is possible to obtain a set of conditions for performing arc welding from memory unit 42.

[0048] In the operation program 92, the position of the robot 1 moves linearly according to the command statements on the third and fourth lines during the welding period. The command statements on the third and fourth lines indicate that the position of the robot 1 moves linearly toward the target position P[2] or P[3]. The CNT 100 in the command statement on the third line indicates that the position of the robot 1 passes through P[2] so that the movement path is smooth.

[0049] The command on line 5 indicates that the welding torch is to end welding. In this example, welding is ended according to the first welding data. Furthermore, at the end of welding, processing is performed to prevent the occurrence of crater holes due to a sudden drop in voltage. The command on line 5 indicates that the conditions for crater processing are a voltage of 18 volts, a current of 200 amperes, and a processing time of 0.5 seconds.

[0050] 5 and 6, the operation icon 72a corresponds to the command statement on the first line of the text-format operation program 92. The operation icon 72b corresponds to the command statement on the third line of the operation program 92. The operation icon 72c corresponds to the command statement on the fourth line of the operation program 92. The command statements on the second and fifth lines related to welding in the operation program 92 correspond to the auxiliary icon 72p. The auxiliary icon 72p specifies the period during which welding is to be performed. The line 72pb of the auxiliary icon 72p indicates the start and end of welding.

[0051] In the image 62 shown in FIG. 5, the programming tab 111 is selected. Reference operation icons 101c and 101d are displayed in the information display area 62b. Also, a reference auxiliary icon 101p is displayed. The worker can generate an auxiliary icon 72p in the program display area 62a by pressing the reference auxiliary icon 101p with his / her finger and moving his / her finger as indicated by the arrow 155. Thereafter, the worker can place the operation icon 72b in the area sandwiched between the auxiliary icons 72p by pressing the reference operation icon 101c with his / her finger and moving his / her finger as indicated by the arrow 156. The worker can set the basic operation of the operation program 72.

[0052] FIG. 7 shows a screen for setting the setting information of the auxiliary icon for welding. Similar to setting the operation icon, the worker sets the operation conditions of the robot device on the auxiliary symbol setting screen. When the worker selects the auxiliary icon 72p on the display unit 33a, the color of the auxiliary icon 72p changes. The display control unit 32 automatically selects the details tab 112 in the information display area 62b and displays the setting screen. The display control unit 32 displays setting information 82 related to welding in the information display area 62b. The worker can set the setting information 82, such as the conditions for starting and ending welding, by operating the input unit 33b. The setting information 82 can include conditions similar to those included in the operation program 92, such as the welding data number, voltage, current, and crater treatment time. In this embodiment, the auxiliary symbols are used to indicate the operation of the work tool, but this is not a limitation. The auxiliary symbols may also be used to indicate the operation of the robot.

[0053] In this way, the program generation device of this embodiment can generate an operation program while adding auxiliary symbols to operation symbols. By employing the auxiliary symbols of this embodiment, the worker can visually grasp the control or operation of the robot device defined by the auxiliary symbols. In particular, the worker can easily understand the section in which the robot device performs a specific task. As a result, the efficiency of the operation program generation work is improved.

[0054] Auxiliary icon 72p indicates a control that adds an operation to the robot device. By employing an auxiliary icon that indicates a control that adds an operation to the robot device, multiple operations of the robot device can be set separately. For example, the work performed by the work tool and changes to the position and posture of the robot can be set separately. In addition, auxiliary icons can be added to an operation program in which the operation of the robot device is set. This makes it easier to generate an operation program and improves the efficiency of the operation program generation process. The operation added by an auxiliary icon is not limited to the operation of the work tool, and the operation of any device included in the robot device can be used. For example, if the robot device includes an auxiliary device such as a positioner that rotates a workpiece, an auxiliary icon that indicates the operation of the auxiliary device can be used.

[0055] FIG. 8 shows an operation program for explaining auxiliary symbols. In the operation program 73, an auxiliary icon 73p is set for a plurality of operation icons 73c to 73e. All of the operation icons 73a to 73e and auxiliary icon 73p are displayed in a row in the order of the operation of the robot device. In this embodiment, the row in which the operation icons 73a to 73e and auxiliary icon 73p are arranged extends in the horizontal direction of the screen of the display unit 33a. That is, the operation icons 73a, 73b and auxiliary icon 73p are not displayed in a row in the vertical direction of the display unit 33a, but are displayed in a row in the horizontal direction of the display unit 33a. Within the auxiliary icon 73p, the operation icons 73c to 73e are also displayed in a row.

[0056] In this way, all operation icons and auxiliary icons can be displayed side by side in one row. By applying this display control, the operator can grasp the operation of the robot device in chronological order by moving the image of the operation program in the direction of the line. In addition, it is possible to prevent the operation program from becoming too long in the direction perpendicular to the direction of the line, making it impossible to see both the operation program and the information display area at the same time. Because the operator can see the operation program and the information display area at the same time, the efficiency of the work of creating an operation program is improved.

[0057] FIG. 9 shows an operation program when the auxiliary icon 73p is closed. The auxiliary icon 73p can be closed by the operator. For example, the operator can close the auxiliary icon 73p by pressing the auxiliary icon 73p twice in succession. The operator can also return the closed auxiliary icon 73p to its original state as shown in FIG. 8 by pressing the closed auxiliary icon 73p twice in succession.

[0058] When the auxiliary icon 72p sandwiches many operation icons 73c to 73e, the auxiliary icon 72p extends horizontally across the display unit 33a. In this case, by closing the auxiliary icons, multiple operations of the robot device can be grouped together into a small group. By closing the auxiliary icons, the operation icons for the section specified by the auxiliary icons can be displayed as a single auxiliary icon. The operation program can be expressed concisely. Furthermore, the worker can easily check the operations before and after the operation of the robot device 5 specified by the auxiliary icons.

[0059] FIG. 10 shows another operation program for performing welding with the robot apparatus of this embodiment. In operation program 74, weaving is performed during a portion of the welding period. Weaving is a welding method in which the welding torch is moved back and forth in a direction intersecting the movement path while the welding torch is moving along the movement path. Weaving is suitable, for example, for forming a large bead. Auxiliary icon 74q indicating weaving sandwiches operation icon 74c. Furthermore, auxiliary icon 74p indicating welding sandwiches operation icon 74b and auxiliary icon 74q. In operation program 74, multiple auxiliary icons 74p, 74q and operation icons 74a to 74c are displayed side by side in a single row.

[0060] 11 shows a setting screen for the auxiliary icon that controls the start and end of weaving. In image 64, auxiliary icon 74q for weaving is selected, and the details tab 112 is selected. In the information display area of ​​image 64, setting information 84 is displayed.

[0061] The setting information 84 includes conditions including setting values ​​for performing weaving. In this example, a sine pattern is set as the pattern in which the welding torch moves relative to the direction of travel. Also set are the frequency at which the welding torch vibrates and the amplitude, which is the distance from the weld line to the end of the vibration when weaving. The right timer indicates the time the welding torch is stopped at the right end when weaving. The left timer indicates the time the welding torch is stopped at the left end when weaving.

[0062] Referring to FIG. 10, in the operation program 74, after changing the position of the robot 1 using the operation icon 74a, welding is started using the auxiliary icon 74p. Then, while welding is being performed, the position of the robot 1 is moved linearly using the operation icon 74b. After this, weaving is started using the auxiliary icon 74q, which indicates the start and end of weaving. Then, while weaving, the position of the robot 1 moves to a position specified by the operation icon 74c. Weaving ends when the position of the robot 1 has moved to the position specified by the operation icon 74c. Furthermore, welding ends using the auxiliary icon 74p.

[0063] In this way, it is possible to insert other auxiliary symbols inside an auxiliary symbol. In other words, in an operation program including multiple auxiliary symbols, a first auxiliary symbol can specify at least one operation symbol, and a second auxiliary symbol can specify the first auxiliary symbol. Furthermore, the operator can set operation conditions for the first auxiliary symbol sandwiched between the second auxiliary symbols. By adopting this configuration, it is possible to perform control by combining multiple auxiliary symbols. During the period when one control is being performed, it is possible to perform another control or add another operation.

[0064] Next, auxiliary symbols indicating control of the action symbol will be described. In this control, the action symbol is not changed, and for example, the action symbol is repeated, or an action is selected according to predetermined conditions. FIG. 12 shows an action program including auxiliary symbols indicating control to repeat the action of the robot device. FIG. 13 shows an action program in text format that is the action program shown in FIG. 12. Referring to FIGS. 12 and 13, in action programs 75 and 95, three types of linear movement are repeated until the variable R[1] changes from 1 to R[2].

[0065] The operation program 75 includes operation icons 75a to 75c and an auxiliary icon 75p. Each of the operation icons 75a to 75c is an operation symbol indicating linear movement. The auxiliary icon 75p is an auxiliary symbol indicating control of repeating a predetermined operation of the robot device. The command statements on the first and fifth lines of the operation program 95 correspond to the auxiliary icon 75p. The command statements on the second to fourth lines of the operation program 95 correspond to the operation icons 75a to 75c.

[0066] 14 shows a setting screen for an auxiliary icon for repeating the operation of a robot device. In image 65, auxiliary icon 75p is selected, and the details tab 112 is selected. In the information display area, setting information 85 including conditions for repeating the operation of the robot device is displayed. The worker can set the setting information 85 on the setting screen.

[0067] In this way, by using the auxiliary icon 75p, the robot device's operation can be repeated under predetermined conditions. The conditions for repeating the operation can be set on the setting screen for the auxiliary icon 75p.

[0068] Fig. 15 shows an operation program for selecting an operation of the robot device in accordance with predetermined conditions. Fig. 16 shows an operation program in text format that is the operation program shown in Fig. 15. Referring to Figs. 15 and 16, operation programs 76 and 96 perform different linear movements in accordance with predetermined conditions.

[0069] The action program 76 includes action icons 76a to 76f as action symbols. The action program 76 includes an auxiliary icon 76p as an auxiliary symbol. The auxiliary icon 76p has a dividing line that designates one group of action icons 76a to 76c and another group of action icons 76d to 76f. The auxiliary icon 76p has a shape that extends in the horizontal direction of the screen of the display unit 33a along the direction of one row. In other words, the auxiliary icon 76p has a shape in which one group and the other group are displayed side by side in one row.

[0070] The auxiliary icon 76p indicates a control for determining whether or not a predetermined condition is met. If the condition specified by the auxiliary icon 76p is met, the robot device performs the operation indicated by the operation icons 76a to 76c arranged in the preceding section. If the condition specified by the auxiliary icon 76p is not met, the robot device performs the operation indicated by the operation icons 76d to 76f arranged in the following section.

[0071] The text-format operation program 96 includes the command statements on lines 1 to 9. The command statements on lines 1, 5, and 9 correspond to auxiliary icon 76p in operation program 76. The command statements on lines 2 to 4 correspond to operation icons 76a to 76c. The command statements on lines 6 to 8 correspond to operation icons 76d to 76f.

[0072] 17 shows a setting screen for an auxiliary icon that determines the selection of an action. In image 66, auxiliary icon 76p is selected, and the details tab 112 is selected. In the information display area, a setting screen for setting setting information 86 is displayed. The setting information 86 includes conditions for making a determination.

[0073] 15 to 17, when the variable DI[1] indicating the digital input is set to ON, the operation designated by the operation icons 76a to 76c is performed. If the variable DI[1] is not ON, the operation designated by the operation icons 76d to 76f is performed.

[0074] In this way, by using the auxiliary icon 76p, it is possible to select the operation of the robot device in accordance with predetermined conditions. Also, the conditions for making the judgment can be set on the setting screen of the auxiliary icon 76p.

[0075] FIG. 18 shows a reference example operation program that changes the robot's operation under predetermined conditions. The reference example operation program 176 includes branch icons 176s and 176t as control icons that control the robot's operation. The branch icons 176s and 176t indicate control similar to that by the auxiliary icon 76p shown in FIG. 15. The branch icon 176s indicates the start of branching in the robot's operation flow, and the branch icon 176t indicates the end of branching. If the branch icon 176s matches a predetermined condition, the operation specified by the operation icons 76a to 76c is performed. If the predetermined condition is not matched, the operation specified by the operation icons 76d to 76f is performed.

[0076] In the operation program 176 of the reference example, a command to start control of the operation of the robot device is displayed by one icon, and a command to end control is displayed by one icon. In addition, the lines in which the operations of the robot device are lined up are branched. The operations of the robot device are displayed in two lines. In the operation program 176 of the reference example, operation symbols indicating the operations of the robot device are displayed in multiple lines.

[0077] In the operation program 176 of the reference example, the operation program 176 is displayed in multiple rows, which reduces the information display area for displaying detailed information. For example, because the area for displaying the reference operation icon or the area for setting detailed information about the operation icon is reduced, the worker must operate a scroll bar or the like to view the information displayed in the information display area. This makes it difficult for the worker to create the operation program. In contrast, in the operation program 76 including the auxiliary icon 76p shown in FIG. 15, all of the operation icons 76a to 76f and the auxiliary icon 76p are displayed in a single row, which prevents the information display area from becoming smaller. As a result, the worker can create the operation program more efficiently.

[0078] 19 shows an operation program including a plurality of auxiliary icons for selecting an operation of the robot apparatus. The operation program 77 includes operation icons 77a to 77c and auxiliary icons 77p and 77q. Each of the auxiliary icons 77p and 77q indicates control for selecting an operation of the robot apparatus under predetermined conditions. In the operation program 77, the auxiliary icons 77p and 77q and the operation icons 77a to 77c are displayed side by side in a single row.

[0079] In this control, if the conditions specified by auxiliary icon 77p are met, the process proceeds to the judgment of auxiliary icon 77q. Then, if the conditions specified by auxiliary icon 77q are met, the actions of operational icons 77a and 77b are performed. After this, control proceeds to the action following auxiliary icon 77p. If the conditions specified by auxiliary icon 77q are not met, the actions of operational icons 77a and 77b are not performed, and control proceeds to the action following auxiliary icon 77p. On the other hand, if the conditions specified by auxiliary icon 77p are not met, the action of operational icon 77c is performed.

[0080] The auxiliary icon 77q as the first auxiliary symbol specifies the operation icons 77a and 77b. The auxiliary icon 77p as the second auxiliary symbol specifies the auxiliary icon 77q. In the operation program 77, one auxiliary icon 77p is placed inside another auxiliary icon 77q. In this way, multiple auxiliary icons that control the judgment can be combined.

[0081] 20 shows an operation program that combines different types of auxiliary symbols. Operation program 78 includes operation icons 78a to 78c and operation icons 78d to 78f. Operation program 78 also includes an auxiliary icon 78p that selects an operation of the robot apparatus under predetermined conditions, and an auxiliary icon 78q that controls the robot apparatus to repeat an operation. In operation program 78, one auxiliary icon 78p is also arranged inside another auxiliary icon 78q. The multiple auxiliary icons 78p, 78q and operation icons 78a to 78f are displayed side by side in a single row.

[0082] In the operation program 78, if the condition specified by the auxiliary icon 78p is met, the operation of the operation icons 78a to 78c is repeated by the auxiliary icon 78q. If the condition specified by the auxiliary icon 78p is not met, the operation of the operation icons 78d to 78f is executed.

[0083] Next, auxiliary symbols that correct the operation of the robot device specified by the operation symbol will be described. Fig. 21 shows a perspective view of another robot device in this embodiment. In the robot device 7, a hand 3 is attached to the robot 1. The hand 3 grasps a workpiece 91 by suction. The rest of the configuration of the robot device is the same as that of the robot device shown in Figs. 1 and 2.

[0084] The robot device 7 performs palletizing by stacking the workpieces 91 transported by a conveyor or the like in a predetermined area. In the area where the workpieces 91 are stacked, arrow 161 indicates the direction of the rows of the workpieces 91, arrow 162 indicates the direction of the columns of the workpieces 91, and arrow 163 indicates the direction of the tiers of the workpieces 91. The robot device 7 of this embodiment performs the task of stacking the workpieces 91 in four rows, three columns, and four tiers.

[0085] Fig. 22 is a perspective view illustrating the area where the workpieces are stacked. Fig. 22 shows the workpieces 91 arranged at the edge positions with respect to the rows, columns, and stages for stacking the workpieces 91. For example, the position of the workpiece 91 in the first row, first column, and first stage can be expressed as [1,1,1]. The position of the workpiece 91 in the fourth row, first column, and first stage can be expressed as [4,1,1].

[0086] 21 and 22, when the robot 1 is driven, the tool tip (the position of the robot 1) first moves to a movement point 131. Next, the tool tip moves from the movement point 131 to a movement point 133 via a movement point 132. The robot device 7 grips the workpiece 91 at the movement point 133. Next, the tool tip of the robot device 7 moves to a movement point 134 via a movement point 132.

[0087] Fig. 23 is a perspective view illustrating the operation of the robot device when loading one workpiece. With reference to Figs. 21 to 23, movement point 134 corresponds to the approach point. As indicated by arrow 164, the robot device 7 moves the tool tip point to movement point 135, which serves as a loading point for loading the workpiece 91. At movement point 135, the robot device 7 releases the workpiece 91, thereby placing the workpiece 91 at the loading point.

[0088] Next, the robot device 7 moves the tool tip point to a movement point 136 as an escape point, as shown by an arrow 165. After this, the tool tip point of the robot device 7 passes through a movement point 132 and then returns to a movement point 131. By repeating this operation, the robot device 7 can stack the workpieces 91 one by one in a predetermined area.

[0089] In the control shown in Fig. 23, workpiece 91 is placed at the loading point in the first row, first column, and first tier. In this embodiment, movement point 134 as the approach point, movement point 135 as the loading point, and movement point 136 as the escape point are corrected according to the position where workpiece 91 is to be placed. Once the four end positions shown in Fig. 22 are set, robot control device 4 can calculate all positions for placing workpiece 91 by interpolating the four positions. Robot control device 4 corrects the position of robot 1 so that this position becomes the position of the loading point for workpiece 91.

[0090] FIG. 24 is a perspective view illustrating the operation of the robot device when stacking another workpiece. FIG. 24 shows the operation of placing a workpiece at the stacking point in the second row, first column, and first tier. As a control for correcting the position at which the robot device 7 places the workpiece 91, the robot control device 4 may place the workpiece while correcting the position in the row, column, or tier direction. For example, the robot control device 4 may correct the position in the row direction from the position in the first row shown in FIG. 23 to calculate the position in the second row shown in FIG. 24.

[0091] The robot device 7 of this embodiment can correct the position of the robot 1 to place the workpieces in the first row. After the placement of the workpieces in the first row is complete, the robot device 7 can place the workpieces in the second and third rows by similar control. After the placement of the workpieces in the first row is complete, the robot device 7 can place the workpieces in the second to fourth rows. The order in which the workpieces are stacked can be set to any order. Furthermore, the number of workpieces can be set to any number.

[0092] 25 shows an operation program for performing palletizing. The operation program 79 includes operation icons 79a to 79k. The operation icon 79a indicates movement to a movement point 131. The operation icons 79b and 79c indicate movement from the movement point 131 to a movement point 133. The operation icon 79d indicates an operation in which the hand 3 grips the workpiece 91. The operation icon 79e indicates movement from the movement point 133 to a movement point 132.

[0093] Next, control is performed to correct the position of the robot 1 for palletizing. The operation program 79 includes an auxiliary icon 79p for correcting the position of the robot 1. The auxiliary icon 79p specifies operation icons 79f to 79i. The operation icon 79f indicates movement to a movement point 134 as an approach point. The operation icon 79g indicates movement to a movement point 135 as a loading point. The operation icon 79h indicates an operation in which the hand 3 releases the workpiece 91. The operation icon 79i indicates movement to a movement point 136 as an escape point.

[0094] On the setting screens of the operation icons 79f, 79g, and 79i, the position and posture of the robot 1 are set so that the movement points 134, 135, and 136 are at predetermined relative positions. For example, in the setting information of the operation icons 79f, 79g, and 79i, coordinate values ​​are set so that the approach point, loading point, and escape point are at relative positions as shown in FIG.

[0095] FIG. 26 shows a setting screen for auxiliary icons used to correct the operation of the robot device. FIG. 26 shows an entire image that can be viewed by operating the scroll bar. The worker selects auxiliary icon 79p, thereby selecting the details tab 112. Setting information 89 is displayed on the setting screen of image 69. Information related to the correction of the operation of the robot device 7 is set in the setting information 89. Referring to FIGS. 22 and 26, the setting information 89 includes the positions of moving points that become the edges of the area where the workpiece 91 is to be placed. The setting information 89 includes position information 89a to 89d. Each piece of position information 89a to 89d includes the coordinate values ​​of the position [1,1,1], the position [4,1,1], the position [1,3,1], and the position [1,1,4]. The robot control device 4 calculates the position where the workpiece 91 is to be placed by interpolating the positions that become the edges of the area where the workpiece is to be placed.

[0096] The robot control device 4 selects one position to place the workpiece 91. The robot control device 4 corrects the positions of the target movement points set by the operation icons 79f, 79g, and 79i. The robot control device 4 corrects the positions of the escape point, approach point, and loading point so that the position to place the workpiece 91 coincides with the movement point 135, which is the loading point.

[0097] The robot control device 4 places the workpiece 91 while changing the position of the robot 1 so that it passes through the calculated escape point, approach point, and loading point. In this way, the auxiliary icon 79p can specify a function to correct the position of the robot. Note that the auxiliary icon may also specify a function to correct the posture of the robot.

[0098] 25, the operation program 79 includes operation icons 79j and 79k. After the placement of the workpiece 91 by the auxiliary icon 79p is completed, the tool tip point of the robot device 7 is moved by the operation icons 79j and 79k from a movement point 136 serving as an escape point to a movement point 131 via a movement point 132.

[0099] The robot control device 4 can repeat the operation program 79 after completing the placement of one workpiece 91. In this embodiment, the operation program 79 can be repeated 48 times to place 48 workpieces 91. To implement this control, an auxiliary icon that repeats the operation of the robot device may be placed in the operation program. Alternatively, the operation program 79 may be called by another operation program, and the operation program 79 may be set to be executed multiple times.

[0100] The auxiliary icon 79p indicates a control for correcting the operation of the robot device. By employing this auxiliary icon, the worker can define the basic operation of the robot device using the operation icon. The operation of the robot device can be corrected based on the basic operation. If the operation of all the robot devices were specified using operation icons, it would be necessary to create a large number of operation icons. However, by employing an auxiliary icon indicating a control for correcting the operation of the robot device, the number of operation icons can be reduced. Furthermore, it becomes easier for the worker to create operation programs, improving the efficiency of the work of generating operation programs.

[0101] Although the above auxiliary icon 79p indicates control for correcting the robot's operation, this is not a limitation. The auxiliary icon may also indicate control for correcting the operation of a work tool. Furthermore, any control for correcting the operation of the robot device defined by the operation icon can be implemented. For example, control for correcting the position and posture of the robot can be implemented based on information acquired from a sensor. Examples of sensors that can be used include a visual sensor, a vibration sensor, and a force sensor. For example, a visual sensor detects the amount of deviation in the position of a workpiece grasped by the robot device. The robot control device can implement control for correcting the position and posture of the robot based on the amount of deviation in the position of the workpiece. Such auxiliary icons for correcting the robot's operation can be included in the operation program.

[0102] FIG. 27 shows an operation program including an auxiliary icon that invalidates an operation commanded by an operation icon. Operation program 171 includes operation icons 171a to 171c. Operation program 171 includes auxiliary icon 171p as an auxiliary symbol that invalidates an operation commanded by an operation symbol. The operation of operation icon 171b specified by auxiliary icon 171p can be invalidated. In the example shown in FIG. 27, when operation program 171 is executed, robot 1 performs the operation of operation icon 171a. Next, robot 1 performs the operation of operation icon 171c without performing the operation of robot 1 by operation icon 171b. In this way, an auxiliary symbol that invalidates an operation commanded by an operation symbol can be set as a predetermined control over operations by operation symbols.

[0103] FIG. 28 shows an operation program including an auxiliary icon that adds a comment to the operation icon. The operation program 172 includes operation icons 172a to 172c and an auxiliary icon 172p. The auxiliary icon 172p has the function of displaying an explanatory text for the operation of the robot apparatus. Even if the auxiliary icon 172p is placed, the operation of the robot apparatus does not change. In the example shown in FIG. 28, the auxiliary icon 172p displays the start and end of the movement of the position of the robot 1. In this way, the operation program may include an auxiliary icon that displays an explanatory text.

[0104] In the above-described embodiment, the operation icons and auxiliary icons are displayed side by side in the horizontal direction on the screen of the display unit. That is, the operation icons and auxiliary icons are displayed side by side in one row, and the operation program is generated in one row, but this is not limited to this form. The operation icons and auxiliary icons may also be displayed side by side in one column. Next, an example in which the operation icons and auxiliary icons are displayed side by side in one column will be described.

[0105] FIG. 29 shows an image of a mobile terminal in which an operation program is displayed vertically. Image 67 displays the same content as image 62 shown in FIG. 7. Image 67 displays an operation program 72 including auxiliary icons 72p as auxiliary symbols that add to the operation of the robot apparatus. In image 67, all operation icons 72a to 72c and auxiliary icons 72p are displayed in a single column in the order of the operation of the robot apparatus. A program display area 67a is set on the left edge of the screen of display unit 33a. In program display area 67a, the operation program 72 is displayed with the operation icons 72a to 72c and auxiliary icons 72p lined up vertically. To the right of program display area 67a, an information display area 67b is set, which displays detailed information regarding the generation of the operation program 72.

[0106] FIG. 30 shows another image of a mobile terminal in which an operation program is displayed vertically. Image 68 corresponds to the images shown in FIGS. 15 and 17. Image 68 displays an operation program 76. The operation program 76 includes auxiliary icons 76p as auxiliary symbols that perform predetermined control over the operation indicated by the operation symbols. The operator can view any part of the operation program 76 by moving scroll bar 68c. The auxiliary icons 76p have a shape in which one group of operation icons 76a to 76c and another group of operation icons 76d to 76f are displayed side by side in a single column.

[0107] In the image 68, all of the operation icons 76a to 76f and auxiliary icons 76p are displayed in a row in the order of the operations of the robot device. In the program display area 68a, the operation program 76 is displayed with the operation icons 76a to 76d and auxiliary icons 76p aligned vertically. To the right of the program display area 68a, an information display area 68b is set up that displays detailed information regarding the generation of the operation program 76.

[0108] In this way, even in a program creation device in which operation icons and auxiliary icons are displayed side by side in a single column, the worker can easily understand the section specified by the auxiliary icon. Also, the worker can simultaneously view the operation program and the information display area. This improves the efficiency of creating the operation program. Other configurations, actions, and effects are the same as those in the control in which the operation icons and auxiliary icons are displayed side by side in a single row, and therefore will not be described again here.

[0109] Furthermore, the operation program may include control icons that branch into multiple rows, as in the reference example shown in FIG. 18. Alternatively, the operation program may include control icons that branch into multiple columns. Even an operation program that includes such control icons may include auxiliary icons that indicate controls that add to the operation of the robot apparatus. Furthermore, the operation program may include auxiliary icons that indicate controls that correct the operation of the robot apparatus defined by the operation symbols.

[0110] In the above embodiment, a method for generating an operation program from scratch has been described, but the present invention is not limited to this. The configuration of this embodiment can also be applied to a program generation device that generates a new operation program by modifying an operation program that has been generated in the past.

[0111] The above-described embodiments can be combined as appropriate. In each of the above-described drawings, the same or equivalent parts are designated by the same reference numerals. Note that the above-described embodiments are merely examples and do not limit the invention. Furthermore, the embodiments include modifications of the embodiments as set forth in the claims. [Explanation of symbols]

[0112] 1. Robot 2,3 hands 4. Robot control device 5,7 Robotic Devices 6. Mobile devices 31 Storage section 33 Display 33a Display section 33b Input section 49 Teaching control panel 49a Display section 49b Input section 61, 62, 64, 65, 66, 67, 68, 69 Images 61a, 62a, 67a, 68a Program display area 61b,62b,67b,68b Information display area 71~79,171 Operation program 71a~71c,72a~72c,73a~73e,74a~74c,75a~75c,76a~76f,77a~77c,78a~78f,79a~79k,171a~171c Operation icons 72p,73p,74p,74q,75p,76p,77p,77q,78p,78q,79p,171p auxiliary icon 81, 82, 84, 85, 86, 89 Setting information

Claims

1. at least one memory for storing operation symbols indicating the operation of the robot device and auxiliary symbols indicating controls for adding operations related to a specific task of the robot device or controls for correcting the operation of the robot device defined by the operation symbols; at least one processor; The at least one processor Acquire the settings of the action symbol and the auxiliary symbol and information about the operation; A program generating device that displays the action symbol and the auxiliary symbol on a display unit based on information about the setting and the operation.

2. The program generating device according to claim 1 , wherein the specific task includes a task performed by a robot device using at least one of a task tool and an auxiliary device.

3. The program generating device according to claim 1 , wherein the at least one processor displays the auxiliary symbols on the display unit so as to surround or sandwich at least one of the action symbols.

4. The program generating device according to claim 1 , wherein the at least one processor displays an operation program including the operation symbols and the auxiliary symbols on the display unit.

5. 5. The program generation device according to claim 1, wherein the auxiliary symbol indicates at least one of a control for disabling an action of the robotic device defined by at least one of the action symbols, a control for determining whether or not the action of the robotic device defined by at least one of the action symbols satisfies a predetermined condition, and a control for changing a condition of the action of the robotic device defined by at least one of the action symbols.

6. 6. The program generation device according to claim 1, wherein the information related to the settings or the operations includes setting information for setting conditions for the robot device to operate when an operator operates an image displayed on the display unit.

7. The program generating device according to claim 1 , wherein the at least one processor displays information on the operation program in text format corresponding to the operation symbols and the auxiliary symbols on the display unit.

8. 8. The program generating device according to claim 7, wherein the information about the settings or the operations includes information about the operation program in a text format edited by an operator operating an image displayed on the display unit.

9. The program generating device according to claim 1 , wherein the auxiliary symbols indicate the start and end of an operation command related to a task of a robot device.

10. the at least one processor is capable of switching the auxiliary symbol between a closed state and an open state and displaying it on the display unit; The program generation device according to claim 1 , wherein, in the open state, at least one of the action symbols is displayed surrounded by the auxiliary symbols or at least one of the action symbols is displayed sandwiched between the auxiliary symbols.

11. the operating program includes a plurality of the auxiliary symbols; The program generating device according to claim 4 , wherein a first auxiliary symbol of the plurality of auxiliary symbols specifies at least one of the action symbols, and a second auxiliary symbol specifies the first auxiliary symbol.

12. A program generation device according to any one of claims 1 to 11, wherein the auxiliary symbol indicates any one of the following controls: control to add welding work, control to add palletizing work, control to add work to grip a workpiece transported by a conveyor, and control to correct the position and posture of a robot based on information obtained from a sensor.

13. The program generating device according to claim 12 , wherein the sensor includes at least one of a visual sensor, a vibration sensor, and a force sensor.

14. The program generating device according to claim 1 , wherein the at least one processor displays, on the display unit, a diagram corresponding to an action related to the specific task, attached to the auxiliary symbol.

15. The program generating device according to claim 1 , wherein the auxiliary symbols include explanatory text relating to an operation command for a robot device.

16. The area displayed on the display unit includes a program display area for displaying an operation program, The program generating device according to claim 1 , wherein the at least one processor displays the action symbol and the auxiliary symbol in a program display area of ​​the display unit based on information related to the setting and the operation.

17. A computer program for generating an operation program for operating a robot device, At least one processor of the computer A step of obtaining the setting of the action symbol and the auxiliary symbol and the information related to the operation from the memory; and displaying the action symbol and the auxiliary symbol on a display unit based on information about the setting and the operation. the action symbol indicates an action of the robot device; A computer program in which the auxiliary symbols indicate controls for adding operations related to a specific task of a robot device, or controls for correcting operations of a robot device defined by the operation symbols.

Images