Display control device, display control method, and display control program

Abstract

To provide a display control device, a display control method, and a display control program capable of easily grasping the direction and magnitude of moment acting on a tool.SOLUTION: And display control means 35a for causing the display part 33 to display an appliance moment direction image corresponding to a direction of an appliance moment which is a moment corresponding to the appliance force information inputted from the appliance input device 35a and an appliance moment magnitude image corresponding to a magnitude of the appliance moment, wherein the appliance moment magnitude image is displayed on the display part 33 by the display control means 35c so as to surround the appliance moment direction image. 35c.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a display control device, a display control method, and a display control program. [Background technology]

[0002] Conventionally, information on the reaction force acting on a tool attached to a six-axis vertical articulated robot is displayed on a display unit. Patent Document 1 discloses an image that displays the position of the tool tip, the direction and amount of the reaction force acting on the tool tip, and the direction and amount of movement of the tool tip. Patent Document 2 discloses that a force sensor is mounted on the wrist of an industrial robot, and the six-axis force detected by the force sensor is converted into data expressed in a tool coordinate system and displayed graphically on a screen such as a CRT. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7300544 [Patent Document 2] Japanese Patent Application Publication No. 3-281193 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in Patent Documents 1 and 2, there is room for improvement in the display of the moment acting on the tool.

[0005] The present disclosure has been made in consideration of the above-mentioned circumstances, and aims to provide a display control device, a display control method, and a display control program that can easily grasp the direction and magnitude of the moment acting on a tool. [Means for solving the problem]

[0006] A display control device according to one aspect of the present disclosure comprises an appliance input means for inputting appliance force information corresponding to a force acting on an appliance, and a display control means for displaying on a display unit an appliance moment orientation image corresponding to the orientation of the appliance moment, which is a moment corresponding to the appliance force information input from the appliance input means, and an appliance moment magnitude image corresponding to the magnitude of the appliance moment, and is characterized in that the appliance moment magnitude image is displayed on the display unit by the display control means so as to surround the appliance moment orientation image. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to provide a display control device, a display control method, and a display control program that allow the direction and magnitude of the moment acting on a tool to be easily grasped. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram showing a work system for performing work on a workpiece using a tool. [Figure 2] FIG. 2 is a schematic block diagram showing a specific example of the functional configuration of a display control device. [Figure 3] 10 is a first example of information displayed on the display unit. [Figure 4] 10A and 10B are diagrams showing first examples of an appliance moment direction image and an appliance moment magnitude image displayed on the display unit. [Figure 5] 10A and 10B are diagrams showing second examples of an instrument moment direction image and an instrument moment magnitude image displayed on the display unit. [Figure 6] 10A and 10B are diagrams showing a third example of an instrument moment direction image and an instrument moment magnitude image displayed on the display unit. [Figure 7] 10A and 10B are diagrams showing an instrument translational force direction image and an instrument translational force magnitude image displayed on the display unit. [Figure 8] 10A and 10B are diagrams showing an image of an appliance force sensor moving direction and an image of an appliance force sensor moving speed displayed on a display unit. [Figure 9]10 is an image showing an instrument tip movement direction image and an instrument tip movement speed image displayed on a display unit. [Figure 10] 10A and 10B are diagrams showing first examples of a work moment direction image and a work moment magnitude image displayed on the display unit. [Figure 11] 10A and 10B are diagrams showing second examples of a work moment direction image and a work moment magnitude image displayed on the display unit. [Figure 12] 10A and 10B are diagrams showing a third example of a work moment direction image and a work moment magnitude image displayed on the display unit. [Figure 13] 10A and 10B are diagrams showing a workpiece translational force direction image and a workpiece translational force magnitude image displayed on a display unit. [Figure 14] 10 is an image showing a workpiece force sensor movement direction image and a workpiece force sensor movement speed image displayed on a display unit. [Figure 15] 10 is an image showing a workpiece tip movement direction image and a workpiece tip movement speed image displayed on a display unit. [Figure 16] 10 is a flow of display control steps according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] A display control device according to an embodiment of the present disclosure will be described below with reference to the drawings. The display control device according to this embodiment visually displays to a user information regarding forces acting on the tool and the workpiece and moments corresponding to the forces when work is performed on the workpiece using a tool. In this embodiment, the tool is, for example, a grinding tool such as a grindstone. The workpiece is a workpiece such as a metal block. In this embodiment, the work performed on the workpiece using the tool is, for example, grinding a metal block with a grindstone. By visually checking the information displayed by the display control device, the user can understand the forces acting on the tool and workpiece during work and the moments corresponding to those forces, allowing them to perform the work appropriately.

[0010] (Working System) FIG. 1 is a schematic diagram showing a work system 100 for performing work on a workpiece W using a tool T. As shown in FIG. 1, the working system 100 includes a first robot 10, a second robot 20, and a display control device 30. In this embodiment, the first robot 10 and the display control device 30, and the second robot 20 and the display control device 30 are communicatively connected via a network N. The network N may be a network using wireless communication or a network using wired communication. The network N may be configured using, for example, the Internet or a local area network (LAN). The network N may also be configured by combining multiple networks.

[0011] As shown in FIG. 1, the first robot 10 grasps a tool T. For example, a known parallel link robot is used as the first robot 10. The tool T is attached to, for example, an end plate 11 provided on the first robot 10. The first robot 10 performs work on the work W by bringing the tool tip T1, which is the tip of the tool T, close to or into contact with the work W. Here, the first robot 10 may be provided with a force sensor for detecting the force that the tool T receives when performing work. In this embodiment, an tool force sensor 11S is provided on the end plate 11. The tool force sensor 11S is attached to the tool rear end T2, which is the end of the tool T that is opposite to the tip of the tool T. In this manner, the tool force sensor 11S detects the force acting on the tool T when the tool tip T1 comes into contact with the workpiece W. In this embodiment, the force detected by the tool force sensor 11S is transmitted as tool force information via the network N to a communication unit 31 of the display control device 30, which will be described later. In addition, the first robot 10 may transmit information regarding the movement direction and movement speed of the instrument tip T1 and the instrument rear end T2 to the communication unit 31 of the display control device 30 described later via the network N, for example, using a communication device provided in the control unit (not shown).

[0012] The second robot 20 grasps the workpiece W. For example, a known six-axis vertical articulated robot is used as the second robot 20. The workpiece W is attached to, for example, a hand unit 21 provided on the second robot 20. The second robot 20 adjusts the position and angle of the workpiece W relative to the tool T. This allows the tool tip T1 to reach an appropriate part of the workpiece W. Hereinafter, in this embodiment, when the tool T grasped by the first robot 10 and the workpiece W grasped by the second robot 20 are in their initial positions, the end of the workpiece W that is closest to the tip of the tool T will be referred to as the workpiece tip W1. Here, the second robot 20 may be provided with a force sensor for detecting the force that the workpiece W receives when performing work. In this embodiment, a workpiece force sensor 21S is provided in the hand unit 21. The workpiece rear end W2, which is the end of the workpiece W that is the end opposite to the front end of the workpiece W, is attached to the workpiece force sensor 21S. In this manner, the workpiece force sensor 21S detects the force that acts on the workpiece W when the front end of the workpiece W comes into contact with the tool T. In this embodiment, the force detected by the workpiece force sensor 21S is transmitted as workpiece force information via the network N to a communication unit 31 of the display control device 30, which will be described later. In addition, the second robot 20 may transmit information regarding the movement direction and movement speed of the workpiece tip W1 and the workpiece rear end W2 to the communication unit 31 of the display control device 30 described later via the network N, for example, using a communication device provided in the control unit (not shown).

[0013] With the above-described configuration, the first robot 10 and the second robot 20 perform work on the workpiece W using the tool T. Note that in this embodiment, for example, the first robot 10 and the second robot 20 may operate cooperatively so that the work on the workpiece W using the tool T can be performed more appropriately and quickly.

[0014] FIG. 2 is a schematic block diagram showing a specific example of the functional configuration of the display control device 30. As shown in FIG. The display control device 30 is configured using information devices such as a smartphone, a tablet, a personal computer, a dedicated device, etc. The display control device 30 includes a communication unit 31, an input unit 32, a display unit 33, a storage unit 34, and a control unit 35.

[0015] The communication unit 31 is a communication device. The communication unit 31 may be configured as, for example, a network interface. The communication unit 31 communicates data with other devices via the network N in accordance with the control of the control unit 35. The communication unit 31 may be a device that performs wireless communication or a device that performs wired communication.

[0016] The input unit 32 is configured using existing input devices such as a keyboard, a pointing device (such as a mouse or tablet), a button, or a touch panel. The input unit 32 is operated by a user when inputting the user's instructions to the display control device 30. The input unit 32 may be an interface for connecting the input device to the display control device 30. In this case, the input unit 32 inputs an input signal generated in the input device in response to the user's input to the display control device 30. The input unit 32 may be configured using a microphone and a voice recognition device. In this case, the input unit 32 acquires an acoustic signal generated by the user's speech, performs voice recognition on the words spoken by the user, and inputs character string information of the recognition result to the display control device 30. The voice recognition process may be performed by the control unit 35. The input unit 32 may be configured in any way as long as it is capable of inputting the user's instructions to the display control device 30.

[0017] The display unit 33 outputs information in a form that can be recognized by the user. The display unit 33 may be an image display device such as a liquid crystal display or an organic EL (Electro Luminescence) display. The display unit 33 may be an interface for connecting an image display device to the display control device 30. In this case, the display unit 33 generates a video signal for displaying image data and outputs the video signal to the image display device connected to the display unit 33. The display unit 33 may be configured as a touch panel integrated with the input unit 32.

[0018] The storage unit 34 is configured using a storage device such as a magnetic hard disk drive or a semiconductor storage device. The storage unit 34 stores data used by the control unit 35. The storage unit 34 stores data required when the control unit 35 performs processing.

[0019] The control unit 35 is configured using a processor such as a CPU (Central Processing Unit) and a memory (main storage device). The control unit 35 functions as an instrument input means 35a, a workpiece input means 35b, a display control means 35c, and a designation means 35d when the processor executes a program. All or part of the functions of the control unit 35 may be implemented using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The program may be recorded on a computer-readable recording medium. Examples of computer-readable recording media include portable media such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, and a semiconductor storage device (e.g., a solid-state drive (SSD)), as well as storage devices such as a hard disk or semiconductor storage device built into a computer system. The program may be transmitted via a telecommunications line.

[0020] The control unit 35 may execute, for example, an application (display control program) installed on its own device (the display control device 30). A specific example of such an application is an application provided to the display control device 30 as a dedicated application for the operation system 100. Another specific example of such an application is a web browser application. Such an application may be pre-installed on the display control device 30, or may be downloaded each time a process is executed. For example, when implemented as a web browser application, the display control device 30 may download and execute the application from a device specified by the web server (for example, the web server itself or another server) in response to the display control device 30 connecting to the web server. The control unit 35 operates according to the program of the application being executed.

[0021] 2, tool force information corresponding to the force acting on the tool T is input to the tool input means 35a. Specifically, the tool input means 35a receives the tool force information received by the communication unit 31 from the first robot 10. For example, based on the tool force information received in this way, the tool input means 35a appropriately converts the information into information on a tool translational force, which is a translational force acting on the tool T, or a tool moment, which is the moment of the force acting on the tool T, and transmits the information to the display control means 35c. For example, the tool input means 35a may calculate the tool translational force at the tool tip T1 based on the rotational force (moment) detected by the tool force sensor 11S and the distance from the tool force sensor 11S to the tool tip T1. The tool input means 35a may also receive information relating to the movement direction and movement speed of the tool front end T1 and the tool rear end T2 received by the communication unit 31 from the first robot 10. The tool input means 35a may transmit the received information relating to the movement direction and movement speed of the tool front end T1 and the tool rear end T2 to the display control means 35c.

[0022] 2, workpiece force information corresponding to the force acting on the workpiece W operated by the tool T is input to the workpiece input means 35b. Specifically, the workpiece input means 35b receives workpiece force information received by the communication unit 31 from the second robot 20. For example, based on the workpiece force information received in this manner, the workpiece input means 35b appropriately converts the information into information relating to a workpiece translational force, which is a translational force acting on the workpiece W, or a workpiece moment, which is the moment of the force acting on the workpiece W, and transmits the information to the display control means 35c. For example, the workpiece input means 35b may calculate the workpiece translational force at the workpiece tip W1 based on the rotational force (moment) detected by the workpiece force sensor 21S and the distance from the workpiece force sensor 21S to the workpiece tip W1. Furthermore, the workpiece input means 35b may receive information relating to the movement direction and movement speed of the workpiece front end W1 and the workpiece rear end W2 received by the communication unit 31 from the second robot 20. The workpiece input means 35b may transmit the received information relating to the movement direction and movement speed of the workpiece front end W1 and the workpiece rear end W2 to the display control means 35c.

[0023] FIG. 3 is a first example of information displayed on the display unit 33. The display control means 35c, for example, causes the display unit 33 to display the states of the first robot 10 and the second robot 20. Specifically, the display control means 35c, for example, causes the display unit 33 to display a first robot image 10G and a second robot image 20G, as shown in FIG.

[0024] The first robot image 10G is an image showing the first robot 10 on the display unit 33. The first robot image 10G is displayed in accordance with the actual state of the first robot 10 in the work system 100. In this embodiment, the first robot image 10G includes an instrument force sensor image 11SG and an instrument tip image T1G. The tool force sensor image 11SG is an image corresponding to the tool force sensor 11S to which the tool rear end T2 is attached as described above. The tool tip image T1G is an image corresponding to the tool tip T1. In this embodiment, the display control means 35c displays at least the tool force sensor image 11SG and the tool tip image T1G on the display unit 33.

[0025] The second robot image 20G is an image showing the second robot 20 on the display unit 33. The second robot image 20G is displayed in accordance with the actual state of the second robot 20 in the work system 100. In this embodiment, the second robot image 20G includes a workpiece force sensor image 21SG and a workpiece tip image W1G. The workpiece force sensor image 21SG is an image corresponding to the workpiece force sensor 21S to which the workpiece rear end W2 is attached as described above. The workpiece tip end image W1G is an image corresponding to the workpiece tip end W1, which is the tip of the workpiece W. In this embodiment, the display control means 35c causes the display unit 33 to display at least the workpiece force sensor image 21SG and the workpiece tip end image W1G.

[0026] The first robot image 10G and the second robot image 20G may be output, for example, by capturing images of the first robot 10 and the second robot 20 in the work system 100 using a camera or the like. That is, the first robot image 10G and the second robot image 20G may be so-called relay images of the first robot 10 and the second robot 20. Alternatively, the first robot image 10G and the second robot image 20G may be 3D images that are output as appropriate based on the state of each joint or the like of the first robot 10 and the second robot 20 in the work system 100. By displaying the first robot image 10G and the second robot image 20G on the display unit 33, the user may be able to understand the state of the first robot 10 and the second robot 20, for example, without directly visually inspecting the first robot 10 and the second robot 20.

[0027] 2, the display control means 35c receives, for example, information regarding the tool translational force and tool moment, as well as information regarding the movement direction and movement speed of the tool front end T1 and the tool rear end T2, transmitted from the tool input means 35a. Then, as shown in FIGS. 4 to 15, the display control means 35c appropriately displays on the display unit 33 a tool moment direction image TM1, a tool moment magnitude image TM2, a tool translational force direction image TF1, a tool translational force magnitude image TF2, a tool force sensor movement velocity image TS1, a tool force sensor movement direction image TS2, a tool tip movement velocity image TT1, a tool tip movement direction image TT2, a workpiece moment direction image WM1, a workpiece moment magnitude image WM2, a workpiece translational force direction image WF1, a workpiece translational force magnitude image WF2, a workpiece force sensor movement velocity image WS1, a workpiece force sensor movement direction image WS2, a workpiece tip movement velocity image WT1, and a workpiece tip movement direction image WT2, based on the information thus received from the tool input means 35a.

[0028] FIG. 4 is a diagram showing a first example of the appliance moment direction image TM1 and the appliance moment magnitude image TM2 displayed on the display unit 33. As shown in FIG. FIG. 5 is a diagram showing a second example of the appliance moment direction image TM1 and the appliance moment magnitude image TM2 displayed on the display unit 33. As shown in FIG. FIG. 6 is a diagram showing a third example of the appliance moment direction image TM1 and the appliance moment magnitude image TM2 displayed on the display unit 33. As shown in FIG. 4 to 6, in this embodiment, the display control means 35c may display an appliance moment orientation image TM1 and an appliance moment magnitude image TM2 on the display unit 33. Below, three examples of the appliance moment orientation image TM1 and the appliance moment magnitude image TM2 will be described.

[0029] A first example of the tool moment orientation image TM1 and tool moment magnitude image TM2 shown in FIG. 4 will be described. The tool moment orientation image TM1 is an image corresponding to the orientation of the tool moment, which is a moment corresponding to the tool force information input from the tool input means 35a. As shown in Fig. 4, the tool moment orientation image TM1 according to the first example includes a reference line TMa and a direction line TMb. The reference line TMa is a straight line whose middle portion passes through the center of the tool moment and whose both ends are tangent to the starting point of the direction line TMb. In this embodiment, the center of the tool moment is the tool force sensor 11S. In the first example, as shown in FIG. 4, the reference line TMa extends from a position in the first robot image 10G displayed on the display unit 33 where the reference line TMa overlaps with the tool force sensor image 11SG, on both sides in a direction perpendicular to the direction from the tool force sensor image 11SG toward the tool tip image T1G. Note that in the illustrated example, the first robot image 10G is a two-dimensional image. The starting point of the direction line TMb is tangent to the end of the reference line TMa. The direction line TMb indicates the direction in which the tool moment acts by the direction from the starting point to the end point. In the first example, as shown in FIG. 4, one direction line TMb is displayed at each end of the reference line TMa extending from the position overlapping with the tool force sensor image 11SG. The instrument moment magnitude image TM2 is an image corresponding to the magnitude of the instrument moment. In this embodiment, the instrument moment magnitude image TM2 is a circle or a sphere, as shown in Figure 4. The magnitude of the instrument moment is represented by the size of the circle or the sphere.

[0030] For example, when the tool moment magnitude image TM2 is a circle, it is suitable for the information displayed on the display unit 33 to be displayed in 2D. When the tool moment magnitude image TM2 is a sphere, it is suitable for the information displayed on the display unit 33 to be displayed in 3D. When the tool moment magnitude image TM2 is a sphere, for example, the viewpoint of the first robot image 10G and the second robot image 20G may be changeable as appropriate on the display unit 33. This may allow the tool moment magnitude image TM2 to be viewed from any direction. The above also applies to the tool translational force magnitude image TF2, tool force sensor movement velocity image TS1, tool tip movement velocity image TT1, work moment magnitude image WM2, work translational force magnitude image WF2, work force sensor movement velocity image WS1, and work tip movement velocity image WT1, which will be described later.

[0031] In a first example, the appliance moment magnitude image TM2 may be displayed on the display unit 33 by the display control means 35c so as to surround the appliance moment direction image TM1, as shown in FIG. 4. In the first example, the appliance moment magnitude image TM2 may be displayed so as to surround the direction line TMb of the appliance moment direction image TM1. Specifically, the starting point of the arrow of the direction line TMb may be located at the center of the appliance moment magnitude image TM2, which is a sphere or circle, and the ending point may be displayed so as to be tangent to the outline of the appliance moment magnitude image TM2. This may allow the user to easily grasp, for example, the correspondence between the appliance moment magnitude image TM2 and the appliance moment direction image TM1. Furthermore, the display control means 35c may display the reference line TMa of the tool moment orientation image TM1 at a position overlapping with the tool force sensor image 11SG, thereby associating the tool force sensor image 11SG with the tool moment magnitude image TM2 and the tool moment orientation image TM1 and displaying them on the display unit 33. This may allow the user to intuitively and easily grasp, for example, that a force is being applied to the tool rear end T2 and the tool force sensor 11S.

[0032] In the tool moment orientation image TM1 of the first example, by displaying the direction line TMb as described above, the direction line TMb and the tool moment magnitude image TM2 can be displayed at a position away from the tool force sensor image 11SG. This prevents the direction line TMb of the tool moment orientation image TM1 and the tool moment magnitude image TM2 from becoming invisible, for example, when a tool translational force orientation image TF1 (described later) or the like is superimposed and displayed on the display unit 33 in addition to the tool moment orientation image TM1 and the tool moment magnitude image TM2. Note that the first example is effective, for example, when the first robot image 10G is viewed along the tool moment rotation axis.

[0033] A second example of the tool moment orientation image TM1 and the tool moment magnitude image TM2 shown in Fig. 5 will be described. Regarding the second example, only the differences from the first example will be described. In the tool moment orientation image TM1 of the second example, as shown in FIG. 5, in addition to the reference line TMa described in the first example, the reference line TMa also includes lines extending from the position where it overlaps with the tool force sensor image 11SG in a direction from the tool force sensor image 11SG toward the tool tip image T1G and in the opposite direction. In other words, in the tool moment orientation image TM1 of the second example, the reference line TMa is displayed in the shape of a cross. The intersection of the cross is located at the center of the tool moment. In the illustrated example, the first robot image 10G is a two-dimensional image.

[0034] In the second example, the direction line TMb of the tool moment orientation image TM1 also serves as the tool moment magnitude image TM2. Specifically, as shown in FIG. 5, in the tool moment orientation image TM1 of the second example, the direction line TMb extends in an arc shape. The direction line TMb contacts each end of the reference line TMa, which is displayed as a cross as described above. In the second example, in addition to the reference line TMa and the direction line TMb, a line segment L connecting the end point of the direction line TMb to the center of the tool moment may be displayed, thereby displaying a sector F on the display unit 33. In the second example, the magnitude of the instrument moment is represented by the length of the direction line TMb. In other words, in the second example, the magnitude of the instrument moment is represented by the area of ​​the sector F. As a result, the direction line TMb of the instrument moment orientation image TM1 also serves as the instrument moment magnitude image TM2. In the tool moment orientation image TM1 of the second example, by displaying the direction line TMb as described above, the direction line TMb (tool moment magnitude image TM2) can be displayed at a position away from the tool force sensor image 11SG, similar to the first example. Also, similar to the first example, the second example is effective when, for example, the first robot image 10G is viewed along the rotation axis of the tool moment.

[0035] A third example of the tool moment orientation image TM1 and tool moment magnitude image TM2 shown in Figure 6 will be described. The third example is effective, for example, when the first robot image 10G is viewed from a direction perpendicular to the tool moment rotation axis. In the third example, the first robot image 10G may be a two-dimensional image or a three-dimensional image. The instrument moment direction image TM1 of the third example is an arrow indicating the axis of rotation of the instrument moment, as shown in Figure 6. In the third example, the instrument moment direction image TM1 indicates the direction indicated by the arrow as the direction in which a right-handed screw advances. In the third example, the direction in which the instrument moment acts is the rotation direction of the right-handed screw in the instrument moment direction image TM1. In the third example, the instrument moment magnitude image TM2 is a circle or a sphere, as in the first example. The magnitude of the instrument moment is represented by the size of the circle or sphere. The third example is also the same as the first example in that the instrument moment magnitude image TM2 is displayed to surround the instrument moment orientation image TM1, as shown in FIG.

[0036] 7 is a diagram showing an instrument translational force direction image TF1 and an instrument translational force magnitude image TF2 displayed on the display unit 33. In the present embodiment, the display control means 35c may cause the display unit 33 to display the instrument translational force direction image TF1 and the instrument translational force magnitude image TF2. The instrument translational force direction image TF1 is an image corresponding to the direction of the instrument translational force, which is a translational force corresponding to the instrument force information input from the instrument input means 35a. In this embodiment, the instrument translational force direction image TF1 is an arrow as shown in Fig. 7. The instrument translational force direction image TF1 indicates the direction in which the translational force acts by the direction of the arrow. The instrument translational force magnitude image TF2 is an image corresponding to the magnitude of the instrument translational force. In this embodiment, the instrument translational force magnitude image TF2 is a circle or a sphere, as shown in Fig. 7. The magnitude of the instrument translational force is represented by the size of the circle or the sphere.

[0037] In this embodiment, the instrument translational force magnitude image TF2 may be displayed on the display unit 33 by the display control means 35c so as to surround the instrument translational force direction image TF1, as shown in Fig. 7. Specifically, the instrument translational force direction image TF1 may be displayed so that the starting point of the arrow is located at the center of the instrument translational force magnitude image TF2, which is a sphere or circle, and the ending point is tangent to the outline of the instrument translational force magnitude image TF2. This may allow the user to easily grasp, for example, the correspondence between the instrument translational force magnitude image TF2 and the instrument translational force direction image TF1. Furthermore, the display control means 35c may cause the display unit 33 to display the appliance force sensor image 11SG in association with the appliance translational force magnitude image TF2 and the appliance translational force direction image TF1. Specifically, for example, the appliance translational force direction image TF1 may be displayed so that the starting point of the arrow overlaps with the appliance force sensor image 11SG. This may allow the user to intuitively and easily grasp, for example, that a translational force is being applied to the appliance rear end T2 and the appliance force sensor 11S.

[0038] 8 is a diagram showing an appliance force sensor movement orientation image TS2 and an appliance force sensor movement speed image TS1 displayed on the display unit 33. In this embodiment, the display control means 35c may cause the display unit 33 to display the appliance force sensor movement orientation image TS2 and the appliance force sensor movement speed image TS1. The tool force sensor movement direction image TS2 is an image corresponding to the direction in which the tool force sensor 11S moves. In this embodiment, the tool force sensor movement direction image TS2 is an arrow as shown in Fig. 8. The tool force sensor movement direction image TS2 indicates the direction in which the tool force sensor 11S moves by the direction of the arrow. The tool force sensor movement speed image TS1 is an image corresponding to the speed at which the tool force sensor 11S moves. In this embodiment, the tool force sensor movement speed image TS1 is a circle or a sphere, as shown in Fig. 8. The speed at which the tool force sensor 11S moves is represented by the size of the circle or sphere.

[0039] In this embodiment, the display control means 35c may display the appliance force sensor movement velocity image TS1 on the display unit 33 so as to surround the appliance force sensor movement direction image TS2, as shown in Fig. 8. Specifically, the starting point of the arrow of the appliance force sensor movement direction image TS2 may be positioned at the center of the appliance force sensor movement velocity image TS1, which is a sphere or circle, and the ending point may be displayed so as to be tangent to the outline of the appliance force sensor movement velocity image TS1. This may enable the user to easily grasp, for example, the correspondence between the appliance force sensor movement velocity image TS1 and the appliance force sensor movement direction image TS2. Furthermore, the display control means 35c may cause the display unit 33 to display the appliance force sensor movement speed image TS1 and the appliance force sensor movement direction image TS2 in association with the appliance force sensor image 11SG. Specifically, for example, the starting point of the arrow in the appliance force sensor movement direction image TS2 may be displayed so as to overlap with the appliance force sensor image 11SG. This may allow the user to intuitively and easily grasp, for example, the speed and direction in which the appliance force sensor 11S is moving.

[0040] 9 is an image showing an instrument tip movement direction image TT2 and an instrument tip movement speed image TT1 displayed on the display unit 33. In this embodiment, the display control means 35c may cause the display unit 33 to display the instrument tip movement direction image TT2 and the instrument tip movement speed image TT1. The instrument tip movement direction image TT2 is an image corresponding to the direction in which the instrument tip T1 moves. In this embodiment, the instrument tip movement direction image TT2 is an arrow as shown in Fig. 9. The instrument tip movement direction image TT2 indicates the direction in which the instrument tip T1 moves by the direction of the arrow. The tool tip movement speed image TT1 is an image corresponding to the speed at which the tool tip T1, which is the tip of the tool T, moves. In this embodiment, the tool tip movement speed image TT1 is a circle or a sphere, as shown in Fig. 9. The speed at which the tool tip T1 moves is represented by the size of the circle or sphere.

[0041] In this embodiment, the tool tip movement speed image TT1 may be displayed on the display unit 33 by the display control means 35c so as to surround the tool tip movement direction image TT2, as shown in Fig. 9. Specifically, the tool tip movement direction image TT2 may be displayed so that the starting point of the arrow is located at the center of the tool tip movement speed image TT1, which is a sphere or circle, and the ending point is tangent to the outline of the tool tip movement speed image TT1. This may allow the user to easily grasp, for example, the correspondence between the tool tip movement speed image TT1 and the tool tip movement direction image TT2. Furthermore, the display control means 35c may cause the display unit 33 to display the instrument tip movement speed image TT1 and the instrument tip movement direction image TT2 in association with the instrument tip image T1G corresponding to the instrument tip T1. Specifically, for example, the starting point of the arrow in the instrument tip movement direction image TT2 may be displayed so as to overlap with the instrument tip image T1G. This may allow the user to intuitively and easily grasp, for example, the speed and direction in which the instrument tip T1 is moving.

[0042] FIG. 10 is a diagram showing a first example of the work moment orientation image WM1 and the work moment magnitude image WM2 displayed on the display unit 33. As shown in FIG. FIG. 11 is a diagram showing a second example of the work moment orientation image WM1 and the work moment magnitude image WM2 displayed on the display unit 33. As shown in FIG. FIG. 12 is a diagram showing a third example of the work moment orientation image WM1 and the work moment magnitude image WM2 displayed on the display unit 33. As shown in FIG. 10 to 12, in this embodiment, the display control means 35c may display a work moment orientation image WM1 and a work moment magnitude image WM2 on the display unit 33. Three examples of the work moment orientation image WM1 and the work moment magnitude image WM2 will be described below.

[0043] A first example of the work moment orientation image WM1 and the work moment magnitude image WM2 shown in FIG. 10 will be described. The work moment orientation image WM1 is an image corresponding to the orientation of the work moment, which is a moment corresponding to the work force information input from the work input means 35b. As shown in Fig. 10, the work moment orientation image WM1 according to the first example includes a reference line WMa and a direction line WMb. The reference line WMa is a straight line whose middle portion passes through the center of the work moment and whose both ends are tangent to the starting point of the direction line WMb. In this embodiment, the center of the work moment is the workpiece force sensor 21S. In the first example, as shown in FIG. 10, the reference line WMa extends from a position in the second robot image 20G displayed on the display unit 33 where it overlaps with the workpiece force sensor image 21SG, on both sides in a direction perpendicular to the direction from the workpiece force sensor image 21SG toward the workpiece tip image W1G. Note that in the illustrated example, the second robot image 20G is a two-dimensional image. The starting point of the direction line WMb is tangent to the end of the reference line WMa. The direction line WMb indicates the direction in which the work moment acts by the direction from the starting point to the end point. In the first example, as shown in FIG. 10, one direction line WMb is displayed at each end of the reference line WMa extending from the position overlapping with the work force sensor image 21SG. The work moment magnitude image WM2 is an image corresponding to the magnitude of the work moment. In this embodiment, the work moment magnitude image WM2 is a circle or a sphere, as shown in Fig. 10. The magnitude of the work moment is represented by the size of the circle or sphere.

[0044] In a first example, the work moment magnitude image WM2 may be displayed on the display unit 33 by the display control means 35c so as to surround the work moment orientation image WM1, as shown in FIG. 10. In the first example, the work moment magnitude image WM2 may be displayed so as to surround the direction line WMb of the work moment orientation image WM1. Specifically, the starting point of the arrow of the direction line WMb may be positioned at the center of the work moment magnitude image WM2, which is a sphere or circle, and the ending point may be displayed so as to be tangent to the outline of the work moment magnitude image WM2. This may allow the user to easily grasp, for example, the correspondence between the work moment magnitude image WM2 and the work moment orientation image WM1. Furthermore, the display control means 35c may display the reference line WMa of the work moment orientation image WM1 at a position where it overlaps with the work force sensor image 21SG, thereby associating the work force sensor image 21SG with the work moment magnitude image WM2 and the work moment orientation image WM1 and displaying them on the display unit 33. This may enable the user to intuitively and easily grasp, for example, that force is being applied to the work rear end W2 and the work force sensor 21S.

[0045] In the work moment orientation image WM1 of the first example, by displaying the direction line WMb as described above, the direction line WMb and the work moment magnitude image WM2 can be displayed at a position away from the work force sensor image 21SG. This makes it possible to prevent the direction line WMb of the work moment orientation image WM1 and the work moment magnitude image WM2 from becoming invisible, for example, when a work translational force direction image WF1 (described later) or the like is superimposed on the display unit 33 in addition to the work moment orientation image WM1 and the work moment magnitude image WM2. Note that the first example is effective, for example, when the second robot image 20G is viewed along the rotation axis of the work moment.

[0046] A second example of the work moment orientation image WM1 and the work moment magnitude image WM2 shown in Fig. 11 will be described. Regarding the second example, only the differences from the first example will be described. In the work moment orientation image WM1 of the second example, as shown in FIG. 11, in addition to the reference line WMa described in the first example, the reference line WMa also includes lines extending from the position where it overlaps with the work force sensor image 21SG in a direction from the work force sensor image 21SG toward the work tip end image W1G and in the opposite direction. In other words, in the work moment orientation image WM1 of the second example, the reference line WMa is displayed in the shape of a cross. The intersection of the cross is located at the center of the work moment. In the illustrated example, the second robot image 20G is a two-dimensional image.

[0047] In the second example, the direction line WMb of the work moment orientation image WM1 also serves as the work moment magnitude image WM2. Specifically, as shown in FIG. 11, in the work moment orientation image WM1 of the second example, the direction line WMb extends in an arc shape. The direction line WMb contacts each end of the reference line WMa, which is displayed as a cross, as described above. In the second example, in addition to the reference line WMa and the direction line WMb, a line segment L connecting the end point of the direction line WMb to the center of the work moment may be displayed, thereby displaying a sector F on the display unit 33. In the second example, the magnitude of the work moment is represented by the length of the direction line WMb. In other words, in the second example, the magnitude of the work moment is represented by the area of ​​the sector F. As a result, the direction line WMb of the work moment orientation image WM1 also serves as the work moment magnitude image WM2. In the work moment orientation image WM1 of the second example, by displaying the direction line WMb as described above, the direction line WMb (work moment magnitude image WM2) can be displayed at a position away from the work force sensor image 21SG, similar to the first example. Also, similar to the first example, the second example is effective when, for example, the second robot image 20G is viewed along the rotation axis of the work moment.

[0048] A third example of the work moment orientation image WM1 and work moment magnitude image WM2 shown in Figure 12 will be described. The third example is effective, for example, when the second robot image 20G is viewed from a direction perpendicular to the rotation axis of the work moment. In addition, in the third example, the first robot image 10G may be a two-dimensional image or a three-dimensional image. The work moment direction image WM1 of the third example is an arrow indicating the axis of rotation of the work moment, as shown in Figure 12. In the third example, the work moment direction image WM1 indicates the direction indicated by the arrow as the direction in which a right-handed screw advances. In the third example, the direction in which the work moment acts is the rotation direction of the right-handed screw in the work moment direction image WM1. In the third example, the work moment magnitude image WM2 is a circle or a sphere, as in the first example. The magnitude of the work moment is represented by the size of the circle or sphere. The third example is also the same as the first example in that the work moment magnitude image WM2 is displayed to surround the work moment orientation image WM1, as shown in FIG.

[0049] 13 is a diagram showing a workpiece translational force direction image WF1 and a workpiece translational force magnitude image WF2 displayed on the display unit 33. In the present embodiment, the display control means 35c may cause the display unit 33 to display the workpiece translational force direction image WF1 and the workpiece translational force magnitude image WF2. The workpiece translational force direction image WF1 is an image corresponding to the direction of the workpiece translational force, which is a translational force corresponding to the workpiece force information input from the workpiece input means 35b. In this embodiment, the workpiece translational force direction image WF1 is an arrow as shown in Fig. 13. The workpiece translational force direction image WF1 indicates the direction in which the translational force acts by the direction of the arrow. The workpiece translational force magnitude image WF2 is an image corresponding to the magnitude of the workpiece translational force. In this embodiment, the workpiece translational force magnitude image WF2 is a circle or a sphere, as shown in Fig. 13. The magnitude of the workpiece translational force is represented by the size of the circle or the sphere.

[0050] In this embodiment, the workpiece translational force magnitude image WF2 may be displayed on the display unit 33 by the display control means 35c so as to surround the workpiece translational force direction image WF1, as shown in Fig. 13. Specifically, the workpiece translational force direction image WF1 may be displayed so that the starting point of the arrow is located at the center of the workpiece translational force magnitude image WF2, which is a sphere or circle, and the ending point is tangent to the outline of the workpiece translational force magnitude image WF2. This may enable the user to easily grasp, for example, the correspondence between the workpiece translational force magnitude image WF2 and the workpiece translational force direction image WF1. Furthermore, the display control means 35c may cause the workpiece tip image W1G, the workpiece translational force magnitude image WF2, and the workpiece translational force direction image WF1 to be displayed in association with each other on the display unit 33. Specifically, for example, the workpiece translational force direction image WF1 may be displayed so that the starting point of the arrow overlaps with the workpiece tip image W1G. This may enable the user to easily grasp, for example, the direction and magnitude of the workpiece translational force acting on the tip of the workpiece W.

[0051] 14 is an image showing a work force sensor movement orientation image WS2 and a work force sensor movement speed image WS1 displayed on the display unit 33. In the present embodiment, the display control means 35c may cause the display unit 33 to display the work force sensor movement orientation image WS2 and the work force sensor movement speed image WS1. The workpiece force sensor movement direction image WS2 is an image corresponding to the speed at which the workpiece force sensor 21S moves, to which the workpiece rear end W2, which is the end of the workpiece W opposite the front end of the workpiece W, is attached. In this embodiment, the workpiece force sensor movement direction image WS2 is an arrow as shown in Fig. 14. The workpiece force sensor movement direction image WS2 indicates the direction in which the workpiece force sensor 21S moves by the direction of the arrow. The workpiece force sensor movement speed image WS1 is an image corresponding to the direction in which the workpiece force sensor 21S moves. In this embodiment, the workpiece force sensor movement speed image WS1 is a circle or a sphere, as shown in Fig. 14. The speed at which the workpiece force sensor 21S moves is represented by the size of the circle or sphere.

[0052] In this embodiment, the workpiece force sensor movement velocity image WS1 may be displayed on the display unit 33 by the display control means 35c so as to surround the workpiece force sensor movement direction image WS2, as shown in Fig. 14. Specifically, the start point of the arrow of the workpiece force sensor movement direction image WS2 may be positioned at the center of the workpiece force sensor movement velocity image WS1, which is a sphere or circle, and the end point may be displayed so as to be tangent to the outline of the workpiece force sensor movement velocity image WS1. This may enable the user to easily grasp, for example, the correspondence between the workpiece force sensor movement velocity image WS1 and the workpiece force sensor movement direction image WS2. Furthermore, the display control means 35c may cause the display unit 33 to display the workpiece force sensor movement speed image WS1 and the workpiece force sensor movement direction image WS2 in association with the workpiece force sensor image 21SG. Specifically, for example, the workpiece force sensor movement direction image WS2 may be displayed so that the starting point of the arrow overlaps with the workpiece force sensor image 21SG. This may allow the user to intuitively and easily grasp, for example, the speed and direction in which the workpiece force sensor 21S is moving.

[0053] 15 is an image showing a workpiece tip movement direction image WT2 and a workpiece tip movement speed image WT1 displayed on the display unit 33. In the present embodiment, the display control means 35c may cause the display unit 33 to display the workpiece tip movement direction image WT2 and the workpiece tip movement speed image WT1. The workpiece tip movement direction image WT2 is an image corresponding to the direction in which the workpiece tip W1 moves. In this embodiment, the workpiece tip movement direction image WT2 is an arrow as shown in Fig. 15. The workpiece tip movement direction image WT2 indicates the direction in which the workpiece tip W1 moves by the direction of the arrow. The workpiece tip movement speed image WT1 is an image corresponding to the speed at which the workpiece tip W1 moves. In this embodiment, the workpiece tip movement speed image WT1 is a circle or a sphere, as shown in Fig. 15. The speed at which the workpiece tip W1 moves is represented by the size of the circle or sphere.

[0054] In this embodiment, the workpiece tip movement velocity image WT1 may be displayed on the display unit 33 by the display control means 35c so as to surround the workpiece tip movement direction image WT2, as shown in Fig. 15. Specifically, the workpiece tip movement direction image WT2 may be displayed so that the starting point of the arrow is located at the center of the workpiece tip movement velocity image WT1, which is a sphere or circle, and the ending point is tangent to the outline of the workpiece tip movement velocity image WT1. This may enable the user to easily grasp, for example, the correspondence between the workpiece tip movement velocity image WT1 and the workpiece tip movement direction image WT2. Furthermore, the display control means 35c may cause the display unit 33 to display the workpiece tip movement speed image WT1 and the workpiece tip movement direction image WT2 in association with the workpiece tip image W1G corresponding to the workpiece tip W1. Specifically, for example, the workpiece tip movement direction image WT2 may be displayed so that the starting point of the arrow overlaps with the workpiece tip image W1G. This may enable the user to intuitively and easily grasp, for example, the speed and direction in which the workpiece tip W1 is moving.

[0055] 2, the designation means 35d allows the user to designate, for example, that one or both of an instrument tip movement velocity image TT1 and an instrument tip movement direction image TT2, and an instrument force sensor movement velocity image TS1 and an instrument force sensor movement direction image TS2 be displayed on the display unit 33. The designation means 35d receives, for example, an instruction input by the user via the input unit 32. The display control means 35c appropriately displays, on the display unit 33, one or both of the instrument tip movement velocity image TT1 and the instrument tip movement direction image TT2, and the instrument force sensor movement velocity image TS1 and the instrument force sensor movement direction image TS2, in accordance with the instruction received by the designation means 35d as described above. This may enable the user to grasp necessary information more efficiently, for example. The specification unit 35d may also receive an instruction from the user as to whether or not to display each of the above-mentioned images. The above components constitute the display control means 35c according to this embodiment.

[0056] (Display control step) Next, a display control step of each piece of information on the display unit 33 by the display control means 35c according to this embodiment will be described. The display control step is a step of displaying the various images described above, including the appliance moment orientation image TM1 and the appliance moment magnitude image TM2, on the display unit 33. While the display control step is being performed in this embodiment, an appliance input step is performed as needed in the work system 100. The appliance input step is a step in which the appliance input means 35a accepts input of appliance force information corresponding to the force acting on the appliance T. The appliance force information input to the appliance input means 35a in the appliance input step is used as appropriate in the display control step. In the following display control steps, the above-described multiple images may be displayed superimposed on the display unit 33. In this case, for example, if the multiple images are displayed in the same color or the same line type on the display unit 33, it may be difficult for the user to distinguish between the multiple images. For this reason, in this embodiment, when multiple images are displayed superimposed on each other, it is preferable to display the multiple images in different colors or line types. In this case, an annotation may be displayed on the display unit 33 as appropriate to enable the user to understand the corresponding line types and colors in each of the multiple images.

[0057] FIG. 16 is a flow of display control steps according to the embodiment. In step S0, the display control means 35c displays the first robot image 10G and the second robot image 20G. The display control means 35c also acquires various pieces of information output from the first robot 10 and the second robot 20 via the communication unit 31 (step S0). Hereinafter, the information output from the first robot 10 will be referred to as information related to the tool T. The information output from the second robot 20 will be referred to as information related to the workpiece W.

[0058] In step S1, the display control means 35c determines whether the appliance rear end T2 is moving based on information about the moving direction and moving speed of the appliance rear end T2, among the information about the appliance T. If the appliance rear end T2 is moving (step S1: YES), the display control means 35c causes the display unit 33 to display an appliance force sensor moving speed image TS1 and an appliance force sensor moving direction image TS2 (step S1a), and proceeds to step S2. If the appliance rear end T2 is not moving (step S1: NO), the display unit 33 does not display the appliance force sensor moving speed image TS1 and the appliance force sensor moving direction image TS2, and proceeds to step S2.

[0059] In step S2, the display control means 35c determines whether the instrument tip T1 is moving based on information about the movement direction and movement speed of the instrument tip T1, among the information about the instrument T. If the instrument tip T1 is moving (step S2: YES), the display control means 35c displays an instrument tip movement speed image TT1 and an instrument tip movement direction image TT2 on the display unit 33 (step S2a) and proceeds to step S3. If the instrument tip T1 is not moving (step S2: NO), the display control means 35c does not display the instrument tip movement speed image TT1 and the instrument tip movement direction image TT2 on the display unit 33 and proceeds to step S3.

[0060] In step S3, the display control means 35c determines whether or not a moment is acting on the appliance T based on the information about the appliance moment among the information about the appliance T. If an appliance moment is acting on the appliance T (step S3: YES), the display control means 35c causes the display unit 33 to display the appliance moment orientation image TM1 and the appliance moment magnitude image TM2 (step S3a), and proceeds to step S4. If no appliance moment is acting on the appliance T (step S3: NO), the display unit 33 does not display the appliance moment orientation image TM1 and the appliance moment magnitude image TM2, and proceeds to step S4.

[0061] In step S4, the display control means 35c determines whether or not a translational force is acting on the appliance T based on the information regarding the appliance translational force among the information regarding the appliance T. If an appliance translational force is acting on the appliance T (step S4: YES), the display control means 35c causes the display unit 33 to display an appliance translational force direction image TF1 and an appliance translational force magnitude image TF2 (step S4a), and proceeds to step S5. If an appliance translational force is not acting on the appliance T (step S4: NO), the display unit 33 does not display the appliance translational force direction image TF1 and the appliance translational force magnitude image TF2, and proceeds to step S5.

[0062] In step S5, the display control means 35c determines whether the workpiece rear end W2 is moving based on information about the movement direction and movement speed of the workpiece rear end W2, among the information about the workpiece W. If the workpiece rear end W2 is moving (step S5: YES), the display control means 35c displays a workpiece force sensor movement speed image WS1 and a workpiece force sensor movement direction image WS2 on the display unit 33 (step S5a), and proceeds to step S6. If the workpiece rear end W2 is not moving (step S5: NO), the display unit 33 does not display the workpiece force sensor movement speed image WS1 and the workpiece force sensor movement direction image WS2, and proceeds to step S6.

[0063] In step S6, the display control means 35c determines whether the workpiece tip W1 is moving based on information about the movement direction and movement speed of the workpiece tip W1, among the information about the workpiece W. If the workpiece tip W1 is moving (step S6: YES), the display control means 35c causes the display unit 33 to display the workpiece tip movement speed image WT1 and the workpiece tip movement direction image WT2 (step S6a), and proceeds to step S7. If the workpiece tip W1 is not moving (step S6: NO), the display unit 33 does not display the workpiece tip movement speed image WT1 and the workpiece tip movement direction image WT2, and proceeds to step S7.

[0064] In step S7, the display control means 35c determines whether a moment is acting on the workpiece W based on the information regarding the workpiece moment from among the information regarding the workpiece W. If a work moment is acting on the workpiece W (step S7: YES), the display control means 35c causes the display unit 33 to display the work moment orientation image WM1 and the work moment magnitude image WM2 (step S7a), and proceeds to step S8. If no work moment is acting on the workpiece W (step S7: NO), the display unit 33 does not display the work moment orientation image WM1 and the work moment magnitude image WM2, and proceeds to step S8.

[0065] In step S8, the display control means 35c determines whether or not a translational force is acting on the workpiece W based on information related to the workpiece translational force among the information related to the workpiece W. If a workpiece translational force is acting on the workpiece W (step S8: YES), the display control means 35c causes the display unit 33 to display the workpiece translational force direction image WF1 and the workpiece translational force magnitude image WF2 (step S8a), and proceeds to step S9. If no workpiece translational force is acting on the workpiece W (step S8: NO), the display unit 33 does not display the workpiece translational force direction image WF1 and the workpiece translational force magnitude image WF2, and proceeds to step S9.

[0066] In step S9, the designation means 35d accepts an instruction from the user. Specifically, for example, the designation means 35d accepts an instruction from the user as to whether or not to display one or both of the tool tip movement speed image TT1 and the tool tip movement direction image TT2, and the tool force sensor movement speed image TS1 and the tool force sensor movement direction image TS2 on the display unit 33. Alternatively, the designation means 35d may accept an instruction as to which of the other images to display. If the designation means 35d accepts an instruction from the user (step S9: YES), the display control means 35c appropriately displays each image in accordance with the user's instruction (step S9a) and proceeds to step S10. If the designation means 35d does not accept an instruction from the user, i.e., if the user does not input an instruction (step S8: NO), the process proceeds to step S10 without performing step S9a.

[0067] In this embodiment, at the time of step S9, for example, the above-mentioned images are displayed in a superimposed state on the display unit 33 through the above-mentioned steps S1 to S8. Therefore, at step S9, the user may, for example, appropriately select images to be hidden, so that only necessary images are displayed on the display unit 33. Alternatively, if an image has already been set to be hidden at the time of step S9, the user may appropriately input an instruction to redisplay the image.

[0068] Each of the above steps S1 to S9 ends when the user issues an end instruction (step S10: YES). That is, the display control steps according to this embodiment end. In other words, if the user does not issue an end instruction (step S10: NO), each of steps S1 to S8 is repeated by returning to step S0. Note that even after the above-mentioned display control steps end, the first robot 10 or the second robot 20 may continue to operate. When the user does not issue an end instruction (step S10: NO) and the process proceeds to step S0, it is preferable that the first robot image 10G and the second robot image 20G displayed on the display unit are updated to the latest images as appropriate. Also, the images that were hidden in the above-mentioned step S9 may be kept hidden when the next flow is executed. Through the above steps, the display control means 35c controls the display of each piece of information on the display unit 33.

[0069] As described above, according to the display control device 30 of this embodiment, the appliance input means 35a inputs appliance force information corresponding to the force acting on the appliance T. The display control means 35c displays an appliance moment orientation image TM1 corresponding to the orientation of the appliance moment, which is a moment corresponding to the appliance force information input from the appliance input means 35a, and an appliance moment magnitude image TM2 corresponding to the magnitude of the appliance moment, on the display unit 33. This allows the user to visually check the display unit 33 and grasp the force acting on the appliance T and the orientation and magnitude of the appliance moment corresponding to the force acting on the appliance T. Furthermore, the display control means 35c displays the appliance moment magnitude image TM2 on the display unit 33 so as to surround the appliance moment direction image TM1. This allows the user to easily understand the correspondence between the appliance moment magnitude image TM2 and the appliance moment direction image TM1. Therefore, the user can simultaneously understand the direction and magnitude of the appliance moment corresponding to the force acting on the appliance T by looking at one location on the display unit 33. Therefore, the user can easily understand the direction and magnitude of the appliance moment corresponding to the force acting on the appliance T at a glance at the display unit 33.

[0070] The display control means 35c also causes the display unit 33 to display an appliance force sensor image 11SG corresponding to the appliance force sensor 11S to which the appliance rear end T2, which is the end of the appliance T opposite the front end of the appliance T, is attached. The display control means 35c also causes the display unit 33 to display the appliance force sensor image 11SG in association with the appliance moment magnitude image TM2 and the appliance moment direction image TM1. Here, the tool tip T1, which is the tip of the tool T, moves in various directions to perform various tasks. Correspondingly, the tool tip image T1G corresponding to the tool tip T1 moves in various directions on the display unit 33. Therefore, the tool force sensor image 11SG, the tool moment magnitude image TM2, and the tool moment direction image TM1 are displayed in association with each other on the display unit 33. This allows the user to easily grasp the direction and magnitude of the tool moment corresponding to the force acting on the tool T, for example, compared to when the tool moment magnitude image TM2 and the tool moment direction image TM1 are displayed in association with each other on the display unit 33 as described above.

[0071] Furthermore, the display control means 35c causes the display unit 33 to display an instrument translational force direction image TF1 corresponding to the direction of the instrument translational force, which is a translational force corresponding to the instrument force information input from the instrument input means 35a, and an instrument translational force magnitude image TF2 corresponding to the magnitude of the instrument translational force. Furthermore, the instrument translational force magnitude image TF2 is displayed on the display unit 33 by the display control means 35c so as to surround the instrument translational force direction image TF1. This allows the user to easily grasp the correspondence between the instrument translational force magnitude image TF2 and the instrument translational force direction image TF1. Therefore, the user can simultaneously grasp the direction and magnitude of the instrument translational force, which is a translational force acting on the instrument T, by looking at one location on the display unit 33. Therefore, the user can easily grasp the direction and magnitude of the instrument translational force at a glance at the display unit 33. Furthermore, the display control means 35c causes the display unit 33 to display the instrument force sensor image 11SG in association with the instrument translational force magnitude image TF2 and the instrument translational force direction image TF1. This allows the user to intuitively and easily understand that a translational force is being applied to the instrument rear end T2 and the instrument force sensor 11S by visually checking the display unit 33. Furthermore, for example, the user can more easily understand the direction and magnitude of the instrument translational force compared to when the instrument translational force magnitude image TF2 and the instrument translational force direction image TF1 are displayed in association with the instrument tip end image T1G moving in various directions on the display unit 33 as described above.

[0072] Furthermore, the display control means 35c causes the display unit 33 to display an appliance force sensor movement speed image TS1 corresponding to the speed at which the appliance force sensor 11S is moving and an appliance force sensor movement direction image TS2 corresponding to the direction in which the appliance force sensor 11S is moving, in association with the appliance force sensor image 11SG. This allows the user to intuitively and easily grasp the speed and direction in which the appliance force sensor 11S is moving. Furthermore, the user can estimate the posture of the appliance T by visually checking the appliance force sensor movement speed image TS1 and the appliance force sensor movement direction image TS2. Furthermore, the display control means 35c displays the appliance force sensor movement speed image TS1 on the display unit 33 so as to surround the appliance force sensor movement direction image TS2. This allows the user to easily understand the correspondence between the appliance force sensor movement speed image TS1 and the appliance force sensor movement direction image TS2. Therefore, the user can simultaneously understand the speed and direction in which the appliance force sensor 11S is moving by looking at one location on the display unit 33. Therefore, the user can easily understand the speed and direction in which the appliance force sensor 11S is moving by glancing at the display unit 33.

[0073] The display control means 35c causes the display unit 33 to display an instrument tip movement speed image TT1 corresponding to the speed at which the instrument tip T1, which is the tip of the instrument T, moves and an instrument tip movement direction image TT2 corresponding to the direction in which the instrument tip T1 moves, in association with the instrument tip image T1G corresponding to the instrument tip T1. This allows the user to intuitively and easily grasp the speed and direction in which the instrument tip T1 moves. Furthermore, the user can infer the posture of the instrument T by visually checking the instrument tip movement speed image TT1 and the instrument tip movement direction image TT2. Furthermore, when the user visually checks the instrument tip movement speed image TT1 and the instrument tip movement direction image TT2 together with the instrument force sensor movement speed image TS1 and the instrument force sensor movement direction image TS2, the posture and posture changes of the instrument T can be more easily grasped. Furthermore, the tool tip movement speed image TT1 is displayed on the display unit 33 by the display control means 35c so as to surround the tool tip movement direction image TT2. This allows the user to easily understand the correspondence between the tool tip movement speed image TT1 and the tool tip movement direction image TT2. Therefore, the user can simultaneously understand the speed and direction in which the tool tip T1 is moving by looking at one location on the display unit 33. Therefore, the user can easily understand the speed and direction in which the tool tip T1 is moving by glancing at the display unit 33.

[0074] Furthermore, the work input means 35b inputs work force information corresponding to the force acting on the workpiece W operated by the tool T. The display control means 35c causes the display unit 33 to display a work moment orientation image WM1 corresponding to the direction of the work moment, which is a moment corresponding to the work force information input from the work input means 35b, and a work moment magnitude image WM2 corresponding to the magnitude of the work moment. This allows the user to grasp the force acting on the workpiece W and the direction and magnitude of the work moment corresponding to the force acting on the workpiece W by visually checking the display unit 33. Furthermore, the work moment magnitude image WM2 is displayed on the display unit 33 by the display control means 35c so as to surround the work moment direction image WM1. This allows the user to easily grasp the correspondence between the work moment magnitude image WM2 and the work moment direction image WM1. Therefore, the user can simultaneously grasp the direction and magnitude of the work moment corresponding to the force acting on the workpiece W by looking at one location on the display unit 33. Therefore, the user can easily grasp the direction and magnitude of the work moment corresponding to the force acting on the workpiece W at a glance on the display unit 33. Furthermore, when the user visually recognizes the work moment direction image WM1 and the work moment magnitude image WM2 along with the tool moment direction image TM1 and the tool moment magnitude image TM2, it becomes easier to perform work on the workpiece W using the tool T.

[0075] The display control means 35c also causes the display unit 33 to display a work force sensor image 21SG corresponding to the work force sensor 21S to which the work rear end W2, which is the end of the work W opposite the front end of the work W, is attached. The display control means 35c also causes the display unit 33 to display the work force sensor image 21SG in association with the work moment magnitude image WM2 and the work moment orientation image WM1. Here, the workpiece tip W1, which is the tip of the workpiece W, moves in various directions to perform various tasks. Correspondingly, the workpiece tip image W1G corresponding to the workpiece tip W1 moves in various directions on the display unit 33. Therefore, the workpiece force sensor image 21SG, the work moment magnitude image WM2, and the work moment direction image WM1 are displayed in association with each other on the display unit 33. This allows the user to easily grasp the direction and magnitude of the work moment corresponding to the force acting on the workpiece W, for example, compared to when the workpiece moment magnitude image WM2 and the work moment direction image WM1 are displayed in association with the workpiece tip image W1G moving in various directions on the display unit 33 as described above.

[0076] Here, for example, a task may be performed in which a convex-shaped tool T is inserted into a concave-shaped workpiece W. In such a case, a force may not act on any part other than the tip of the workpiece W. Therefore, the display control means 35c causes the display unit 33 to display, in association with the workpiece tip image W1G, a workpiece translational force direction image WF1 corresponding to the direction of the workpiece translational force, which is a translational force corresponding to the workpiece force information input from the workpiece input means 35b, and a workpiece translational force magnitude image WF2 corresponding to the magnitude of the workpiece translational force. This allows the user to easily grasp the direction and magnitude of the workpiece translational force acting on the tip of the workpiece W, for example, when no force acts on any part other than the tip of the workpiece W described above.

[0077] Furthermore, the display control means 35c causes the display unit 33 to display, in association with the work force sensor image 21SG, a work force sensor movement speed image WS1 corresponding to the movement speed of the work force sensor 21S to which the work rear end W2, which is the end of the work W opposite the front end of the work W, is attached, and a work force sensor movement direction image WS2 corresponding to the movement direction of the work force sensor 21S. This allows the user to intuitively and easily grasp the movement speed and direction of the work force sensor 21S. Furthermore, by visually checking the work force sensor movement speed image WS1 and the work force sensor movement direction image WS2, the user can infer the posture of the work W. Furthermore, the workpiece force sensor movement speed image WS1 is displayed on the display unit 33 by the display control means 35c so as to surround the workpiece force sensor movement direction image WS2. This allows the user to easily understand the correspondence between the workpiece force sensor movement speed image WS1 and the workpiece force sensor movement direction image WS2. Therefore, the user can simultaneously understand the movement speed and direction of the workpiece force sensor 21S by looking at one location on the display unit 33. Therefore, the user can easily understand the movement speed and direction of the workpiece force sensor 21S at a glance at the display unit 33.

[0078] Furthermore, the display control means 35c causes the display unit 33 to display a workpiece tip movement speed image WT1 corresponding to the movement speed of the workpiece tip W1, which is the tip of the workpiece W, and a workpiece tip movement direction image WT2 corresponding to the movement direction of the workpiece tip W1, in association with the workpiece tip image W1G corresponding to the workpiece tip W1. This allows the user to intuitively and easily grasp the movement speed and direction of the workpiece tip W1. Furthermore, by visually checking the workpiece tip movement speed image WT1 and the workpiece tip movement direction image WT2, the user can infer the posture of the workpiece W. Furthermore, when the user visually checks the workpiece tip movement speed image WT1 and the workpiece tip movement direction image WT2 together with the workpiece force sensor movement speed image WS1 and the workpiece force sensor movement direction image WS2, the posture and posture changes of the workpiece W can be more easily grasped. Furthermore, the workpiece tip movement speed image WT1 is displayed on the display unit 33 by the display control means 35c so as to surround the workpiece tip movement direction image WT2. This allows the user to easily grasp the correspondence between the workpiece tip movement speed image WT1 and the workpiece tip movement direction image WT2. Therefore, the user can simultaneously grasp the speed and direction in which the workpiece tip W1 is moving by looking at one location on the display unit 33. Therefore, the user can easily grasp the speed and direction in which the workpiece tip W1 is moving by glancing at the display unit 33.

[0079] The device further includes a designation means 35d. The designation means 35d allows the user to designate whether one or both of the tool tip movement velocity image TT1 and tool tip movement direction image TT2 and the tool force sensor movement velocity image TS1 and tool force sensor movement direction image TS2 are to be displayed on the display unit 33. This allows the user to designate whether only one or both of the tool tip movement velocity image TT1 and tool tip movement direction image TT2 and the tool force sensor movement velocity image TS1 and tool force sensor movement velocity image TS1 are to be displayed. The above embodiment has a particularly significant effect, for example, when work on a workpiece W is performed by moving only the tip of the tool T. For example, in the above case, the user does not need to visually recognize the tool force sensor movement velocity image TS1 and the tool force sensor movement velocity image TS2. In such a case, the user can specify, for example, not to display the tool force sensor movement velocity image TS1 and the tool force sensor movement velocity image TS2 on the display unit 33, and instead specify to display only the tool tip movement velocity image TT1 and the tool tip movement direction image TT2 on the display unit 33, thereby enabling the user to more efficiently grasp the necessary information.

[0080] The technical scope of the present disclosure is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present disclosure. For example, in order to allow the user to more easily understand the postures of the tool T and the workpiece W, the display unit 33 may display numerical information such as the angles of the tool T and the workpiece W. The numerical information may be obtained as appropriate from, for example, information on the angles of the joints of the first robot 10 and the second robot 20. Furthermore, in the above-described display control step, the user may be able to move each image to any location on the display unit 33 by appropriately selecting each image displayed on the display unit 33 via the input unit 32. This may enable the user to more easily grasp each piece of information by moving each image to a desired location. In addition, in the above-mentioned display control step, the user may control the movement of the first robot 10 or the second robot 20 by appropriately operating any of the images displayed on the display unit 33 via the input unit 32. For example, the user may change the movement direction of the tool force sensor 11S and the tool rear end T2 of the first robot 10 by manipulating the orientation of the tool force sensor movement orientation image TS2. Furthermore, the user may change the movement speed of the tool force sensor 11S and the tool rear end T2 of the first robot 10 by manipulating the size of the tool force sensor movement speed image TS1. For example, the user may change the orientation of the tool moment in the first robot 10 by manipulating the orientation of the tool moment orientation image TM1. Furthermore, the user may change the magnitude of the tool moment in the first robot 10 by manipulating the size of the tool moment magnitude image TM2. For example, the user may change the direction of the tool translational force in the first robot 10 by manipulating the direction of the tool translational force direction image TF1. Furthermore, the user may change the magnitude of the tool translational force in the first robot 10 by manipulating the size of the tool translational force magnitude image TF2. For example, the user may change the direction in which the tool force sensor 11S of the first robot 10 moves by manipulating the direction of the tool force sensor moving direction image TS2. Furthermore, the user may change the moving speed of the tool force sensor 11S of the first robot 10 by manipulating the size of the tool force sensor moving speed image TS1. For example, the user may change the direction in which the tool tip T1 of the first robot 10 moves by manipulating the direction of the tool tip movement direction image TT2. Furthermore, the user may change the speed at which the tool tip T1 of the first robot 10 moves by manipulating the size of the tool tip movement speed image TT1. For example, the user may change the magnitude of the work moment in the second robot 20 by manipulating the size of the work moment magnitude image WM2. Furthermore, the user may change the orientation of the work moment in the second robot 20 by manipulating the orientation of the work moment orientation image WM1. For example, the user may change the direction of the workpiece translational force in the second robot 20 by manipulating the direction of the workpiece translational force direction image WF1. Furthermore, the user may change the magnitude of the workpiece translational force in the second robot 20 by manipulating the size of the workpiece translational force magnitude image WF2. For example, the user may change the direction in which the workpiece force sensor 21S of the second robot 20 moves by manipulating the orientation of the workpiece force sensor moving orientation image WS2. Furthermore, the user may change the speed at which the workpiece force sensor 21S of the second robot 20 moves by manipulating the size of the workpiece force sensor movement speed image WS1.

[0081] In addition, within the scope of the present disclosure, the components in the above-described embodiments may be replaced with well-known components as appropriate, and the above-described modified examples may be combined as appropriate.

[0082] (Addendum) The display control device according to the embodiment can be understood as follows, for example.

[0083] <1> A display control device according to one aspect of the present disclosure comprises an appliance input means for inputting appliance force information corresponding to a force acting on an appliance, and a display control means for displaying on a display unit an appliance moment orientation image corresponding to the orientation of the appliance moment, which is a moment corresponding to the appliance force information input from the appliance input means, and an appliance moment magnitude image corresponding to the magnitude of the appliance moment, and is characterized in that the appliance moment magnitude image is displayed on the display unit by the display control means so as to surround the appliance moment orientation image.

[0084] According to the display control device, the appliance input means inputs appliance force information corresponding to a force acting on the appliance. The display control means displays, on the display unit, an appliance moment orientation image corresponding to the orientation of the appliance moment, which is a moment corresponding to the appliance force information input from the appliance input means, and an appliance moment magnitude image corresponding to the magnitude of the appliance moment. This allows the user to visually check the display unit and grasp the force acting on the appliance and the orientation and magnitude of the appliance moment corresponding to the force acting on the appliance. Furthermore, the appliance moment magnitude image is displayed on the display unit by the display control means so as to surround the appliance moment direction image. This allows the user to easily understand the correspondence between the appliance moment magnitude image and the appliance moment direction image. Therefore, the user can simultaneously understand the direction and magnitude of the appliance moment corresponding to the force acting on the appliance by looking at one location on the display unit. Therefore, the user can easily understand the direction and magnitude of the appliance moment corresponding to the force acting on the appliance at a glance.

[0085] <2> the above <1> In the display control device according to the above, the display control means may be configured to cause the display unit to display an appliance force sensor image corresponding to an appliance force sensor attached to the rear end of the appliance, which is the end of the appliance opposite the front end of the appliance, and the display control means may cause the display unit to display the appliance force sensor image, the appliance moment magnitude image, and the appliance moment direction image in association with each other.

[0086] The display control means also causes the display unit to display an appliance force sensor image corresponding to the appliance force sensor attached to the appliance rear end, which is the end of the appliance opposite the appliance front end. The display control means also causes the display unit to display the appliance force sensor image, the appliance moment magnitude image, and the appliance moment direction image in association with each other. This allows the user to intuitively and easily understand that force is being applied to the appliance rear end and the appliance force sensor by visually checking the display unit. Here, the tool tip, which is the tip of the tool, moves in various directions to perform various tasks. Correspondingly, the tool tip image corresponding to the tool tip moves in various directions on the display unit. Therefore, the tool force sensor image, the tool moment magnitude image, and the tool moment direction image are displayed on the display unit in association with each other. This allows, for example, the user to easily grasp the direction and magnitude of the tool moment corresponding to the force acting on the tool, compared to when the tool moment magnitude image and the tool moment direction image are displayed on the display unit in association with each other as described above.

[0087] <3> the above <2> In the display control device relating to the above, the display control means may cause the display unit to display an appliance translational force direction image corresponding to the orientation of the appliance translational force, which is the translational force corresponding to the appliance force information input from the appliance input means, and an appliance translational force magnitude image corresponding to the magnitude of the appliance translational force, the appliance translational force magnitude image being displayed on the display unit by the display control means so as to surround the appliance translational force direction image, and the display control means may cause the appliance force sensor image, the appliance translational force magnitude image, and the appliance translational force direction image to be displayed on the display unit in association with each other.

[0088] The display control means also causes the display unit to display an appliance translational force direction image corresponding to the direction of the appliance translational force, which is a translational force corresponding to the appliance force information input from the appliance input means, and an appliance translational force magnitude image corresponding to the magnitude of the appliance translational force. The display control means also displays the appliance translational force magnitude image on the display unit so as to surround the appliance translational force direction image. This allows the user to easily grasp the correspondence between the appliance translational force magnitude image and the appliance translational force direction image. Therefore, the user can simultaneously grasp the direction and magnitude of the appliance translational force, which is a translational force acting on the appliance, by looking at one location on the display unit. Therefore, the user can easily grasp the direction and magnitude of the appliance translational force with a glance at the display unit. Furthermore, the display control means causes the display unit to display the instrument force sensor image, the instrument translational force magnitude image, and the instrument translational force direction image in association with each other. This allows the user to intuitively and easily understand that a translational force is being applied to the instrument rear end and the instrument force sensor by visually checking the display unit. Furthermore, for example, the user can more easily understand the direction and magnitude of the instrument translational force compared to when the instrument translational force magnitude image and the instrument translational force direction image are displayed in association with the instrument tip image moving in various directions on the display unit as described above.

[0089] <4> the above <2> or <3> In the display control device according to the above, the display control means may display an appliance force sensor movement speed image corresponding to the speed at which the appliance force sensor moves and an appliance force sensor movement direction image corresponding to the direction in which the appliance force sensor moves on the display unit in association with the appliance force sensor image, and the appliance force sensor movement speed image is displayed on the display unit by the display control means so as to surround the appliance force sensor movement direction image.

[0090] Furthermore, the display control means causes the display unit to display an appliance force sensor movement speed image corresponding to the speed at which the appliance force sensor is moving and an appliance force sensor movement direction image corresponding to the direction in which the appliance force sensor is moving, in association with the appliance force sensor image. This allows the user to intuitively and easily grasp the speed and direction in which the appliance force sensor is moving. Furthermore, the user can infer the posture of the appliance by visually checking the appliance force sensor movement speed image and the appliance force sensor movement direction image. Furthermore, the appliance force sensor movement speed image is displayed on the display unit by the display control means so as to surround the appliance force sensor movement direction image. This allows the user to easily understand the correspondence between the appliance force sensor movement speed image and the appliance force sensor movement direction image. Therefore, the user can simultaneously understand the speed and direction in which the appliance force sensor is moving by looking at one location on the display unit. Therefore, the user can easily understand the speed and direction in which the appliance force sensor is moving at a glance.

[0091] <5> the above <1> from <4> In a display control device according to any one of the above aspects, the display control means may display an instrument tip movement speed image corresponding to the speed at which the instrument tip, which is the tip of the instrument, moves and an instrument tip movement direction image corresponding to the direction in which the instrument tip moves, on the display unit in association with the instrument tip image corresponding to the instrument tip, and the instrument tip movement speed image is displayed on the display unit by the display control means so as to surround the instrument tip movement direction image.

[0092] The display control means causes the display unit to display an instrument tip movement speed image corresponding to the speed at which the instrument tip, which is the tip of the instrument, moves and an instrument tip movement direction image corresponding to the direction in which the instrument tip moves, in association with the instrument tip image corresponding to the instrument tip. This allows the user to intuitively and easily grasp the speed and direction in which the instrument tip moves. Furthermore, the user can infer the posture of the instrument by visually checking the instrument tip movement speed image and the instrument tip movement direction image. Furthermore, when the user visually checks the instrument tip movement speed image and the instrument tip movement direction image together with the instrument force sensor movement speed image and the instrument force sensor movement direction image, the user can more easily grasp the posture of the instrument and changes in posture. Furthermore, the instrument tip movement speed image is displayed on the display unit by the display control means so as to surround the instrument tip movement direction image. This allows the user to easily understand the correspondence between the instrument tip movement speed image and the instrument tip movement direction image. Therefore, the user can simultaneously understand the speed and direction in which the instrument tip is moving by looking at one location on the display unit. Therefore, the user can easily understand the speed and direction in which the instrument tip is moving by glancing at the display unit.

[0093] <6> the above <1> from <5> In the display control device according to any one of the above aspects, a work input means is provided for inputting work force information corresponding to a force acting on a workpiece operated by the tool; wherein the display control means causes the display unit to display a work moment orientation image corresponding to the orientation of a work moment, which is a moment corresponding to the work force information input from the work input means, and a work moment magnitude image corresponding to the magnitude of the work moment, and the work moment magnitude image is displayed on the display unit by the display control means so as to surround the work moment orientation image.

[0094] Furthermore, the work input means inputs work force information corresponding to the force acting on the workpiece operated by the tool. The display control means causes the display unit to display a work moment orientation image corresponding to the orientation of the work moment, which is a moment corresponding to the work force information input from the work input means, and a work moment magnitude image corresponding to the magnitude of the work moment. This allows the user to visually check the display unit to grasp the force acting on the workpiece and the orientation and magnitude of the work moment corresponding to the force acting on the workpiece. Furthermore, the work moment magnitude image is displayed on the display unit by the display control means so as to surround the work moment direction image. This allows the user to easily grasp the correspondence between the work moment magnitude image and the work moment direction image. Therefore, the user can simultaneously grasp the direction and magnitude of the work moment corresponding to the force acting on the workpiece by looking at one location on the display unit. Therefore, the user can easily grasp the direction and magnitude of the work moment corresponding to the force acting on the workpiece with a glance at the display unit. Furthermore, when the user visually recognizes the work moment direction image and work moment magnitude image along with the tool moment direction image and tool moment magnitude image, it becomes easier to perform work on the workpiece using a tool.

[0095] <7> the above <6> In the display control device according to the above, the display control means may be configured to cause the display unit to display a work force sensor image corresponding to a work force sensor attached to the rear end of the work, which is the end of the work that is opposite to the front end of the work, and the display control means may cause the display unit to display the work force sensor image, the work moment magnitude image, and the work moment direction image in association with each other.

[0096] The display control means also causes the display unit to display a workpiece force sensor image corresponding to the workpiece force sensor attached to the workpiece rear end, which is the end of the workpiece opposite the front end. The display control means also causes the display unit to display the workpiece force sensor image, workpiece moment magnitude image, and workpiece moment direction image in association with each other. This allows the user to intuitively and easily grasp that force is being applied to the workpiece rear end and the workpiece force sensor by visually checking the display unit. Here, the workpiece tip, which is the tip of the workpiece, moves in various directions to perform various tasks. Correspondingly, the workpiece tip image corresponding to the workpiece tip moves in various directions on the display unit. Therefore, the workpiece force sensor image, the workpiece moment magnitude image, and the workpiece moment direction image are displayed on the display unit in association with each other. This allows the user to easily grasp the direction and magnitude of the work moment corresponding to the force acting on the workpiece, for example, compared to when the workpiece moment magnitude image and the workpiece moment direction image are displayed on the display unit in association with each other as described above.

[0097] <8> the above <6> or <7> In the display control device according to the above, a configuration may be adopted in which the display control means causes the display unit to display a work tip image corresponding to the tip of the work, the display control means causes the display unit to display a work translational force direction image corresponding to the direction of the work translational force, which is the translational force corresponding to the work force information input from the work input means, and a work translational force magnitude image corresponding to the magnitude of the work translational force, and the display control means causes the display unit to associate the work tip image with the work translational force magnitude image and the work translational force direction image.

[0098] Here, for example, a task may be performed in which a convex-shaped tool is inserted into a concave-shaped workpiece. In such a case, a force may not act on any part other than the tip of the workpiece. Therefore, the display control means causes the display unit to display, in association with the workpiece tip image, a workpiece translational force direction image corresponding to the direction of the workpiece translational force, which is a translational force corresponding to the workpiece force information input from the workpiece input means, and a workpiece translational force magnitude image corresponding to the magnitude of the workpiece translational force. This allows the user to easily grasp the direction and magnitude of the workpiece translational force acting on the tip of the workpiece, for example, when no force acts on any part other than the tip of the workpiece as described above.

[0099] <9> the above <1> from <8> In any one of the display control devices, the display control means may display on the display unit a work force sensor image corresponding to a work force sensor attached to the rear end of the workpiece, which is the end of the workpiece worked by the tool and opposite the front end of the workpiece, and the display control means displays on the display unit a work force sensor movement speed image corresponding to the speed at which the work force sensor moves and a work force sensor movement direction image corresponding to the direction in which the work force sensor moves, in association with the work force sensor image, and the work force sensor movement speed image is displayed on the display unit by the display control means so as to surround the work force sensor movement direction image.

[0100] The display control means also causes the display unit to display, in association with the work force sensor image, a work force sensor movement speed image corresponding to the speed at which the work force sensor moves and a work force sensor movement direction image corresponding to the direction in which the work force sensor moves, to which the rear end of the workpiece (the end opposite the front end of the workpiece) is attached. This allows the user to intuitively and easily grasp the speed and direction of movement of the work force sensor. Furthermore, by visually checking the work force sensor movement speed image and work force sensor movement direction image, the user can infer the posture of the workpiece. Furthermore, the work force sensor movement speed image is displayed on the display unit by the display control means so as to surround the work force sensor movement direction image. This allows the user to easily understand the correspondence between the work force sensor movement speed image and the work force sensor movement direction image. Therefore, the user can simultaneously understand the speed and direction at which the work force sensor is moving by looking at one location on the display unit. Therefore, the user can easily understand the speed and direction at which the work force sensor is moving with a glance at the display unit.

[0101] <10> the above <6> from <9> In a display control device according to any one of the above aspects, the display control means may display a work tip movement speed image corresponding to the speed at which the work tip, which is the tip of the work, moves and a work tip movement direction image corresponding to the direction in which the work tip moves, in association with the work tip image corresponding to the work tip, on the display unit, and the work tip movement speed image is displayed on the display unit by the display control means so as to surround the work tip movement direction image.

[0102] Furthermore, the display control means causes the display unit to display a workpiece tip movement speed image corresponding to the speed at which the workpiece tip, which is the tip of the workpiece, moves and a workpiece tip movement direction image corresponding to the direction in which the workpiece tip moves, in association with the workpiece tip image corresponding to the workpiece tip. This allows the user to intuitively and easily grasp the speed and direction in which the workpiece tip moves. Furthermore, the user can infer the posture of the workpiece by visually checking the workpiece tip movement speed image and the workpiece tip movement direction image. Furthermore, when the user visually checks the workpiece force sensor movement speed image and the workpiece force sensor movement direction image together with the workpiece tip movement speed image and the workpiece tip movement direction image, the posture of the workpiece and changes in posture can be more easily grasped. Furthermore, the workpiece tip movement speed image is displayed on the display unit by the display control means so as to surround the workpiece tip movement direction image. This allows the user to easily grasp the correspondence between the workpiece tip movement speed image and the workpiece tip movement direction image. Therefore, the user can simultaneously grasp the speed and direction in which the workpiece tip is moving by looking at one location on the display unit. Therefore, the user can easily grasp the speed and direction in which the workpiece tip is moving by glancing at the display unit.

[0103] <11> the above <6> from <10> In any one of the above display control devices, a configuration may be adopted in which the display unit further includes a designation means for allowing a user to designate whether to display on the display unit one or both of an instrument tip movement speed image corresponding to the speed at which the instrument tip, which is the tip of the instrument, moves and an instrument tip movement direction image corresponding to the direction in which the instrument tip moves, and an instrument force sensor movement speed image corresponding to the speed at which an instrument force sensor to which the instrument rear end, which is the end of the instrument opposite the instrument tip, moves and an instrument force sensor movement direction image corresponding to the direction in which the instrument force sensor moves.

[0104] The device further includes a designation means that allows a user to designate whether one or both of the tool tip movement velocity image and tool tip movement direction image and the tool force sensor movement velocity image and tool force sensor movement direction image are to be displayed on the display unit, thereby allowing the user to designate whether only one or both of the tool tip movement velocity image and tool tip movement direction image and the tool force sensor movement velocity image and tool force sensor movement velocity image are to be displayed. The above aspect has a particularly significant effect, for example, when work on a workpiece is performed by moving only the tip of the tool. For example, in the above case, the user does not need to visually recognize the tool force sensor movement velocity image and the tool force sensor movement velocity image. In such a case, the user can specify, for example, that the tool force sensor movement velocity image and the tool force sensor movement velocity image are not displayed on the display unit, and that only the tool tip movement velocity image and the tool tip movement direction image are displayed on the display unit, thereby enabling the user to more efficiently grasp the necessary information.

[0105] <12> A display control method according to one aspect of the present disclosure includes an appliance input step of accepting input of appliance force information corresponding to a force acting on an appliance, and a display control step of displaying on a display unit an appliance moment orientation image corresponding to the orientation of the appliance moment, which is a moment corresponding to the appliance force information input in the appliance input step, and an appliance moment magnitude image corresponding to the magnitude of the appliance moment, wherein the appliance moment magnitude image is displayed on the display unit by the display control step so as to surround the appliance moment orientation image.

[0106] <13> A display control program according to one aspect of the present disclosure is a program that causes a computer to function as a display control device that includes an appliance input means for inputting appliance force information corresponding to a force acting on an appliance, and a display control means for displaying on a display unit an appliance moment orientation image corresponding to the orientation of the appliance moment, which is a moment corresponding to the appliance force information input from the appliance input means, and an appliance moment magnitude image corresponding to the magnitude of the appliance moment, and is characterized in that the appliance moment magnitude image is displayed on the display unit by the display control means so as to surround the appliance moment orientation image. [Explanation of symbols]

[0107] 10 First Robot 10G First robot image 11 End plate 11S Tool force sensor 11SG Tool force sensor image 20 Second Robot 20G Second robot image 21 Hand section 21S Work force sensor 21SG Work Force Sensor Image 30 Display control device 31 Communications Department 32 Input section 33 Display section 34 Storage section 35 Control Unit 35a Instrument input means 35b Work input means 35c Display control means 35d Means of designation 100 Work Systems N Network T-equipment T1 Instrument Tip T1G instrument tip image T2 instrument rear end TF1 Instrument Translational Force Direction Image TF2 Instrument translational force magnitude image TM1 Fixture Moment Orientation Image TM2 Instrument moment magnitude image TS1 Tool force sensor movement speed image TS2 Tool force sensor movement direction image TT1 Tool tip movement speed image TT2 Tool tip movement direction image double work W1 Work tip W1G work tip image W2 Rear end of workpiece WF1 Work translation force direction image WF2 Work translation force magnitude image WM1 Work Moment Orientation Image WM2 work moment size image WS1 Work force sensor movement speed image WS2 Work force sensor movement direction image WT1 work tip movement speed image WT2 work tip movement direction image

Claims

1. an appliance input means for inputting appliance force information corresponding to a force acting on the appliance; a display control means for causing a display unit to display an appliance moment orientation image corresponding to the orientation of an appliance moment, which is a moment corresponding to the appliance force information input from the appliance input means, and an appliance moment magnitude image corresponding to the magnitude of the appliance moment; Equipped with the instrument moment magnitude image is displayed on the display unit by the display control means so as to surround the instrument moment orientation image; A display control device comprising:

2. the display control means causes the display unit to display an appliance force sensor image corresponding to an appliance force sensor attached to an appliance rear end, which is an end of the appliance opposite to the appliance front end; the display control means causes the display unit to display the appliance force sensor image, the appliance moment magnitude image, and the appliance moment direction image in association with each other.

2. The display control device according to claim 1.

3. the display control means causes the display unit to display an instrument translational force direction image corresponding to the direction of the instrument translational force, which is a translational force corresponding to the instrument force information input from the instrument input means, and an instrument translational force magnitude image corresponding to the magnitude of the instrument translational force; the instrument translational force magnitude image is displayed on the display unit by the display control means so as to surround the instrument translational force direction image, the display control means causes the display unit to display the tool force sensor image, the tool translational force magnitude image, and the tool translational force direction image in association with each other.

3. The display control device according to claim 2.

4. the display control means causes the display unit to display an appliance force sensor movement speed image corresponding to the speed at which the appliance force sensor moves and an appliance force sensor movement direction image corresponding to the direction in which the appliance force sensor moves, in association with the appliance force sensor image; the tool force sensor movement velocity image is displayed on the display unit by the display control means so as to surround the tool force sensor movement orientation image; 4. The display control device according to claim 3.

5. The display control means causes the display unit to display an instrument tip movement speed image corresponding to the speed at which the instrument tip, which is the tip of the instrument, moves and an instrument tip movement direction image corresponding to the direction in which the instrument tip moves, in association with an instrument tip image corresponding to the instrument tip; the tool tip movement speed image is displayed on the display unit by the display control means so as to surround the tool tip movement direction image; 5. The display control device according to claim 4.

6. a work input means for inputting work force information corresponding to a force acting on a workpiece operated by the tool; Further provided with the display control means causes the display unit to display a work moment orientation image corresponding to the orientation of a work moment, which is a moment corresponding to the work force information input from the work input means, and a work moment magnitude image corresponding to the magnitude of the work moment; the work moment magnitude image is displayed on the display unit by the display control means so as to surround the work moment orientation image.

6. The display control device according to claim 1, wherein the display control device is a display control device for displaying a display image.

7. The display control means displays on the display unit a workpiece force sensor image corresponding to a workpiece force sensor to which a rear end of the workpiece, which is an end of the workpiece opposite to a front end of the workpiece, is attached, the display control means causes the display unit to display the workpiece force sensor image, the workpiece moment magnitude image, and the workpiece moment direction image in association with each other.

7. The display control device according to claim 6,

8. the display control means causes the display unit to display a work tip image corresponding to the tip of the workpiece; the display control means causes the display unit to display a work translational force direction image corresponding to the direction of the work translational force, which is the translational force corresponding to the work force information input from the work input means, and a work translational force magnitude image corresponding to the magnitude of the work translational force; the display control means causes the display unit to display the workpiece tip image, the workpiece translational force magnitude image, and the workpiece translational force direction image in association with each other.

7. The display control device according to claim 6,

9. The display control means displays on the display unit a workpiece force sensor image corresponding to a workpiece force sensor attached to a rear end of the workpiece, which is an end of the workpiece operated by the tool and is the end opposite to the front end of the workpiece, the display control means displays, on the display unit, a work force sensor movement speed image corresponding to the speed at which a work force sensor to which a rear end of the work, which is an end of the work opposite to a front end of the work, moves and a work force sensor movement direction image corresponding to the direction in which the work force sensor moves, in association with the work force sensor image; the workpiece force sensor movement speed image is displayed on the display unit by the display control means so as to surround the workpiece force sensor movement direction image; 6. The display control device according to claim 1, wherein the display control device is a display control device for displaying a display image.

10. the display control means causes the display unit to display a work tip moving speed image corresponding to the moving speed of the work tip, which is the tip of the work, and a work tip moving direction image corresponding to the moving direction of the work tip, in association with a work tip image corresponding to the tip of the work; the workpiece tip movement speed image is displayed on the display unit by the display control means so as to surround the workpiece tip movement direction image; 10. The display control device according to claim 9.

11. a designation means for allowing a user to designate that one or both of an instrument tip movement speed image corresponding to the speed at which the instrument tip, which is the tip of the instrument, moves and an instrument tip movement direction image corresponding to the direction in which the instrument tip moves, and an instrument force sensor movement speed image corresponding to the speed at which an instrument force sensor to which the instrument rear end, which is the end of the instrument opposite to the instrument tip, moves and an instrument force sensor movement direction image corresponding to the direction in which the instrument force sensor moves, be displayed on the display unit; The display control device according to claim 10, further comprising:

12. an appliance input step of receiving input of appliance force information corresponding to a force acting on the appliance; a display control step of displaying on a display unit an appliance moment direction image corresponding to the orientation of the appliance moment, which is a moment corresponding to the appliance force information input in the appliance input step, and an appliance moment magnitude image corresponding to the magnitude of the appliance moment; Equipped with the instrument moment magnitude image is displayed on the display unit by the display control step so as to surround the instrument moment orientation image. A display control method comprising:

13. Computer, an appliance input means for inputting appliance force information corresponding to a force acting on the appliance; a display control means for causing a display unit to display an appliance moment orientation image corresponding to the orientation of an appliance moment, which is a moment corresponding to the appliance force information input from the appliance input means, and an appliance moment magnitude image corresponding to the magnitude of the appliance moment; A program that causes a display control device to function as a display control device comprising: the instrument moment magnitude image is displayed on the display unit by the display control means so as to surround the instrument moment orientation image; A display control program comprising:

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