Robot teaching device and program for generating robot programs

Abstract

In the present invention, robot commands are displayed together in order to facilitate the understanding of the flow of robot commands.　This robot teaching device comprises: a display unit; an edit screen image control unit for displaying, on the display unit, an edit screen image for editing a robot program that teaches how to operate a robot; and a wizard control unit that, when a robot command is added to the robot program in the edit screen image, displays at least a wizard for setting a parameter value of the robot command on the display unit. The robot command added in the edit screen image may be a representative command associated with the addition of at least one other robot command besides the aforementioned robot command, and the representative command may be deleted from the robot program after the wizard has ended.

Description

[Technical field]

[0001] The present invention relates to a robot teaching device and a program for generating a robot program, and more particularly to a robot teaching device and a program for generating a robot program that generates a robot program that teaches a robot the operation of a robot. [Background technology]

[0002] It is necessary to create a robot program for the robot to perform a desired task. A robot program can be created by selecting instructions from a menu displayed on a teaching console or the like and adding them to the robot program. A user uses the program instructions to instruct the robot or peripheral devices how to perform an operation or handling. A programming method for a system including a robot is described in, for example, Patent Document 1.

[0003] Patent Document 1 describes a programming method in which information required for programming is broken down hierarchically and displayed on a display screen of a personal computer or the like. The operator creates sequences for each level to be executed by the robot system on each screen. Icons (graphical symbols) displayed on each screen are used to describe the sequences. At level 1, a sequence is created to complete the product by assembling subassemblies, which are the components of the product. At level 2, an assembly sequence is created for the parts that make up each subassembly included in the sequence created at level 1. At level 3, a work sequence is created for each part included in the procedure created at level 2. At level 4, for each task included in the work sequence created at level 3, the operating sequence required to perform that task is created using commands written in a programming language compatible with the equipment responsible for that task. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 8-249026 Summary of the Invention [Problem to be solved by the invention]

[0005] A robot program requires setting not just one command, but a combination of multiple commands and parameter values ​​for each command. When programming to generate a robot program, it is difficult for beginners to operate robots, so it is desirable to display the commands together in order to make the flow of commands easier to understand. It is also desirable that the steps for creating a program are easy to understand and the effort required for creating a program is as small as possible. [Means for solving the problem]

[0006] (1) A first aspect of the present disclosure is a display unit, an editing screen control unit that displays an editing screen for editing a robot program that teaches a robot an operation on the display unit; a wizard control unit that displays, on the display unit, a wizard for setting at least parameter values ​​of the robot instruction when a robot instruction is added to the robot program on the editing screen; The present invention relates to a robot teaching device.

[0007] (2) A second aspect of the present disclosure is a display unit, an editing screen control unit that displays an editing screen for editing a robot program that teaches a robot an operation on the display unit; an instruction adding unit that, when a robot instruction is added to the robot program on the editing screen, adds at least one robot instruction other than the robot instruction to the robot program; The present invention relates to a robot teaching device.

[0008] (3) A third aspect of the present disclosure is a display unit, an editing screen control unit that displays an editing screen for editing a robot program that teaches a robot an operation on the display unit; a wizard control unit that displays, when a robot instruction is added to the robot program on the editing screen, a wizard for adding at least one robot instruction other than the robot instruction to the robot program; Equipped with The robot instruction added on the editing screen is a representative instruction accompanied by the addition of at least one other robot instruction other than the robot instruction, The robot teaching device is such that, after the wizard is completed, the representative command is deleted from the robot program.

[0009] (4) A fourth aspect of the present disclosure is a robot teaching device for a computer, A function of displaying, on the display unit, an editing screen for editing a robot program that teaches the robot's movements; a function of displaying, on the editing screen, a wizard for setting at least parameter values ​​of the robot instruction on the display unit when a robot instruction is added to the robot program; This is a program for generating robot programs that execute the above.

[0010] (5) A fifth aspect of the present disclosure provides a display unit that displays an editing screen for editing a robot program that teaches a robot an operation; a function of adding at least one robot instruction other than the robot instruction to the robot program when a robot instruction is added to the robot program on the editing screen; This is a program for generating robot programs that realizes the above. (6) A sixth aspect of the present disclosure is a robot teaching device for a computer, A function of displaying, on the display unit, an editing screen for editing a robot program that teaches the robot's movements; and a function of displaying, on the editing screen, a wizard for adding at least one robot instruction other than the robot instruction to the robot program when a robot instruction is added to the robot program, The robot instruction added on the editing screen is a representative instruction accompanied by the addition of at least one other robot instruction other than the robot instruction, This is a program for generating a robot program, in which the representative command is deleted from the robot program after the wizard is completed. Effect of the Invention

[0011] According to the aspects of the present disclosure, robot commands can be displayed together to make the flow of robot commands easier to understand. This makes it easier to understand the steps for creating a program, and reduces the effort required for creating a program. [Brief description of the drawings]

[0012] [Figure 1] 1 is a block diagram showing a robot system including a robot teaching device according to a first embodiment of the present disclosure. [Diagram 2] FIG. 2 is a functional block diagram of the robot teaching device. [Diagram 3] FIG. 2 is a diagram showing an example of a programming editing screen and icons. [Figure 4] FIG. 13 is a diagram showing an example of a first page of a wizard screen for palletizing. [Diagram 5] FIG. 13 is a diagram showing the contents written in a field 130A of the first page of the wizard screen for palletizing. [Figure 6] FIG. 13 is a diagram showing an example of a final page of a wizard screen for palletizing. [Figure 7] FIG. 11 shows a portion of a programming editing screen in which an instruction set has been inserted into area 110A. [Figure 8] FIG. 13 is a diagram showing the stacking operation of the gripping hand. [Figure 9]4 is a flowchart showing the operation of the robot teaching device of the first embodiment. [Figure 10] FIG. 13 illustrates a pop-up display. [Figure 11] FIG. 13 is a diagram showing an example of a programming edit screen on which an instruction set has been added. [Figure 12] Fig. 10 is a functional block diagram of a robot teaching device according to a second embodiment of the present disclosure Fig. 11 is a block diagram showing another configuration example of a machine tool. [Figure 13] 6 is a flowchart showing the operation of the robot teaching device according to the second embodiment. [Figure 14] FIG. 13 is a diagram illustrating an example of a programming editing screen of a robot teaching device according to a third embodiment of the present disclosure. [Figure 15] FIG. 13 is a diagram showing an example of a first page wizard screen of trajectory teaching. [Figure 16] FIG. 13 is a diagram showing an example of a programming edit screen on which an instruction set has been added. [Figure 17] 10 is a flowchart showing the operation of the robot teaching device according to the third embodiment. [Figure 18] FIG. 13 is a diagram showing an example of a programming editing screen using blocks. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

[0014] (First embodiment) FIG. 1 is a block diagram showing a robot system including a robot teaching device according to a first embodiment of the present disclosure. As shown in FIG. 1, a robot system 10 includes a robot teaching device 100, a robot 200, and a robot control device 300. The robot teaching device 100 is configured with a computer including a processor 101, a display unit 102, an input unit 103, a memory 104, a storage unit 105, and the like. The processor 101 is composed of a CPU (Central Processing Unit), a quantum processor, etc. The display unit 102 is composed of a liquid crystal display device, an organic EL display device, etc. The input unit 103 is composed of a keyboard, a mouse, a touch panel, etc. The display unit 102 and the input unit 103 may be integrated to form a liquid crystal display device with a touch panel, etc. The memory 104 is provided to store data temporarily required for the processor 101 to execute a program, and is composed of a DRAM, etc. The storage unit 105 is composed of a hard disk, an SSD (Solid State Drive), etc. The storage unit 105 stores an OS (Operating System) and icon programming software 106. The icon programming software 106 is a program for generating a robot program. The processor 101 reads out the icon programming software 106 from the storage unit 105 and executes it. The icon programming software 106 is an event-Doblin type program that displays a programming editing screen on the display screen of the display unit 102 and generates an operation program 107 for the robot 200 in response to information from the input unit 103.

[0015] The robot teaching device 100 transmits the generated operation program 107 to the robot control device 300 via wired or wireless communication. The robot control device 300 controls the operations of the robot mechanism 201 and the tool 202 of the robot 200 in accordance with the operation program 107 . The robot mechanism 201 is an industrial robot such as an articulated robot or a parallel link type robot, or a humanoid robot, etc. The tool 202 may be a suction hand, a gripping hand, a welding tool, a screw fastening tool, etc., depending on the work content of the robot 200.

[0016] Fig. 2 is a functional block diagram of a robot teaching device realized by icon programming software. This functional block is realized by cooperation between the icon programming software and the hardware of the computer that serves as the robot teaching device shown in Fig. 1. The robot teaching device 100 functions as a programming edit screen control unit 1061, an instruction selection unit 1062, a wizard control unit 1063, an instruction set addition unit 1064, and an operation program generation unit 1065 by the icon programming software 106.

[0017] Fig. 3 is a diagram showing an example of a programming editing screen and icons. In Fig. 3, icons that can be used for palletizing are shown with symbols, and other icons are shown as squares with R corners. The processor 101 functions as a programming editing screen control unit 1061, and displays the programming editing screen 110 shown in Fig. 3 on the display unit 102. The programming editing screen control unit 1061 includes an area 110A in which a program line 111 is provided on which icons indicating robot commands (hereinafter referred to as commands) for the robot 200 are arranged in processing order, and an icon arrangement area 110B in which a plurality of icons are arranged in a matrix.

[0018] Icon 120 is an icon indicating a linear movement command for moving tool 202 linearly. Icon 121 is an icon indicating a read command for instructing reading of information required for starting a robot program from a registry. Icon 122 is an icon indicating a command for palletizing workpieces by stacking them on a pallet or depalletizing workpieces by unloading them (called a palletizing command). Icon 123 is an icon indicating a FOR command. Icon 124 is an icon indicating an IF command. Icon 125 is an icon indicating an ELSE command. Icon 126 is an icon indicating a hand open command for opening a gripping hand when a gripping hand is used for tool 202. Icon 127 is an icon indicating a hand close command for closing a gripping hand when a gripping hand is used for tool 202.

[0019] The palletizing command, when added to a robot program, involves the addition of a command set, such as a linear movement command for moving the gripping hand in a straight line, and a hand opening command for opening the gripping hand. In this way, when an instruction is added to a program, an instruction that accompanies the addition of at least one other instruction other than the instruction in question is called a representative instruction. The above-mentioned instructions other than the palletizing instruction, such as the instruction to move the tool 202 in a straight line, the instruction to read information required to start the robot program from the registry, and the FOR instruction, are called normal instructions rather than representative instructions because they do not add other instructions when they are added to the robot program. The instructions added to the representative instruction are, for example, these normal instructions. In addition to the palletizing command, the representative commands include, for example, a spot welding command for welding one or a plurality of welding points, and a screw fastening command for fastening one or a plurality of screws. As mentioned above, there are representative commands and normal commands. When the word "command" is used without specifying the content of the command, such as a palletizing command or a FOR command, it means that both representative commands and normal commands are included.

[0020] In the following explanation, an example will be given of creating a robot program that performs palletizing, but this embodiment can also be applied to creating a robot program that performs welding, screw fastening, or the like.

[0021] The processor 11 functions as an instruction selection unit 1062. When the user drags the icon 122 indicating a palletizing instruction on the programming editing screen 110 shown in Fig. 3 with the mouse and drops it onto the program line 111, the instruction selection unit 1062 places a copy of the icon 122 on the program line 111 and adds the palletizing instruction to the robot program. The processor 11 also functions as a wizard control unit 1063. When the user places an icon 122 indicating a palletizing command on the program line 111 on the programming editing screen 110 shown in Fig. 3, the wizard control unit 1063 starts a palletizing wizard and switches from the programming editing screen 110 to the wizard screen 130 of the first page shown in Fig. 4 and displays it on the display unit 102 in order to input a linear movement command for linearly moving the gripping hand that is the tool 202, a hand opening command for opening the gripping hand, and parameters indicating conditions for the linear movement command, etc. Here, the wizard screen has 1st to 10th pages.

[0022] FIG. 4 is a diagram showing an example of the first page of the wizard screen for palletizing. The first page of the wizard screen 130 includes a field 130A for explaining the arrangement of multiple icons in an example robot program that is added after the palletizing wizard is completed and for explaining the definition of palletizing, as well as a field 130B for selecting either stacking or unstacking in palletizing, and for inputting the number of stacks or the number of items stacked (which serves as a parameter indicating the work conditions, etc.).

[0023] FIG. 5 is a diagram showing the contents written in field 130A. As shown in FIG. 5, field 130A contains the text, "When you complete the palletizing wizard, a program such as the one below that performs palletizing operations will be added," along with a diagram showing an example of an arrangement of icons for the added programs.

[0024] Also, as shown in FIG. 5, column 130A contains the following text: "Palletizing is the process of stacking workpieces in an orderly manner from the bottom tier to the top tier by simply teaching a few representative points. Also, unloading workpieces from the top tier to the bottom tier is called depalletizing."

[0025] As shown in Fig. 4, the field 130B includes a diagram showing palletizing and an input field for selecting either stacking or unstacking and inputting the number of layers. Fig. 4 shows an example in which "stacking" is selected and the number of layers is set to three. For example, when "stacking" is selected as a command to be set on the wizard screen 130, a hand open command to open the gripping hand indicated by icon 126 is selected, and when "unloading" is selected, a hand close command to close the gripping hand indicated by icon 127 is selected. As described above, since "stacking" is selected here, the hand open command to open the gripping hand indicated by icon 126 is selected, and icon 126 is included in area 110A of the programming editing screen 110 shown in Fig. 8, which will be described later, but when "unloading" is selected, icon 127 is included instead of icon 126.

[0026] The parameters indicating the working conditions that are set on the wizard screen include the number of layers to stack or unload the workpieces, the number of rows and columns to be arranged, the tool movement speed, etc., and these parameters are set on the wizard screen from the second page onwards. In this manner, the types of icons (ie, command types) and parameter values ​​displayed in the area 110A of the programming editing screen 110 are determined by the wizard screen 130 on the first page of palletizing.

[0027] The user inputs parameters on each of the wizard screen pages from wizard screen 130, which is the first page for palletizing shown in FIG. 4, to wizard screen 140, which is the final page for palletizing shown in FIG. FIG. 6 is a diagram showing an example of the final page of the wizard screen for palletizing. The final wizard screen 140 is a screen for setting a position register. The work stacking operation includes a palletizing operation in which the gripping hand moves up and down between the approach point and the stacking point, and a separator operation in which the gripping hand moves between the approach point, the stacking point, and the escape point. Here, the position register numbers (ichireji) of the approach point and the stacking point of the palletizing operation are input.

[0028] When the user clicks the Finish button with the mouse on the final page of the wizard screen 140, the instruction set adding unit 1064 adds an instruction set including a representative instruction (a palletizing instruction indicated by the icon 122) and normal instructions (such as a FOR instruction indicated by the icon 123) to the robot program. Then, the programming edit screen control unit 1061 returns the display screen to the programming edit screen 110, and the programming edit screen 110 is in a state in which the instruction set has been inserted in the area 110A, as shown in Fig. 7. Fig. 7 is a diagram showing a part of the programming edit screen in which the instruction set has been inserted in the area 110A. The arrangement of the icons in area 110A into which the instruction set is inserted will be described later.

[0029] The processor 11 functions as an operation program generating unit 1065, and when programming is completed, converts the robot program into a format executable by the robot control device 300, such as machine language, to generate the operation program 107. The robot teaching device 100 transmits the generated operation program 107 to the robot control device 300 , and the robot control device 300 controls the operation of the robot mechanism 201 and the tool 202 of the robot 200 in accordance with the operation program 107 .

[0030] <An array of icons with instruction sets inserted> The arrangement of icons inserted into the command set in area 110A shown in FIG. 8 will be described below. The arrangement of icons inserted into the instruction set shown in area 110A of Fig. 7 indicates the following operations. In the arrangement of icons to be added, the numbers "1" and "2" above icon 120 indicate the positions to which the robot's gripping hand will move. The numbers "1" and "2" above icon 120 are displayed by instruction set adding unit 1064. Icon 121 indicates the reading of information required to start the robot program from the registry in the robot program, icon 123 indicates the repetition of the process from icon 123 onwards in the robot program (FOR command), and icon 122 indicates palletizing or depalletizing in the robot program (palletizing command). Next, the two icons 120 indicate the movement of the gripping hand that becomes the tool 202 to the positions indicated by "1" and "2", respectively, icon 126 indicates the opening of the gripping hand, and icon 120 indicates the movement (return) of the gripping hand to the position indicated by "1".

[0031] The stacking operation of the gripping hands in the arrangement of icons of the added robot program will be described in more detail below with reference to Fig. 7 and Fig. 8. Fig. 8 is a diagram showing the stacking operation of the gripping hands. The stacking of the gripping hands is performed by the following processes (1) to (6). (1) The robot teaching device 100 calculates a position based on a palletizing command indicated by the icon 122, and outputs position "1" and position "2." The output position is calculated using information on the rows and columns of the pallet. For example, the output position is calculated using the number of rows, the number of columns, the number of stages, the stacking order, etc. (2) In response to a linear movement command indicated by the icon 120 with the position "1", the robot control device 300 moves the gripping hand, which is the tool 202, to position "1" (approach point). If the gripping hand is moved directly to the position of the workpiece to be handled, there is a possibility that it may come into contact with another workpiece, so the gripping hand first moves via the approach point above the workpiece. (3) In response to a linear movement command indicated by the icon 120 labeled with position "2," the robot controller 300 moves the gripping hand to position "2" (loading point). (4) In response to a command to open the gripping hand indicated by icon 126, the robot control device 300 opens the gripping hand and places the workpiece. (5) In response to a linear movement command indicated by the icon 120 labeled with position "1," the robot controller 300 moves the gripping hand to position "1" (escape point). The escape point is the same position as the approach point. (6) The FOR command indicated by icon 123 repeatedly executes the above steps (1) to (5) to stack the workpieces as shown in FIG.

[0032] Next, the operation of the robot teaching device 100 will be described with reference to the flowchart of Fig. 9. Fig. 9 is a flowchart showing the operation of the robot teaching device 100.

[0033] In step S11, the programming edit screen control unit 1061 displays the programming edit screen 110 shown in FIG.

[0034] In step S12, the wizard control unit 1063 determines whether an icon indicating palletizing has been placed on the program line 111 and whether a palletizing command has been added. If a palletizing command has been added, the process proceeds to step S13; if not, the process ends.

[0035] 4 on the display unit 102. If it is determined in step S14 that the process of step S13 should be performed by returning from step S14, the wizard control unit 1063 in step S13 displays the wizard screen of the next page or the original page on the display unit 102. When the user has finished inputting parameters into the wizard screen 130 of the first page or the wizard screen of the second page or later, the user instructs the display of the wizard screen of the next page or the original page, or instructs the completion of the wizard if the wizard screen is the final page.

[0036] In step S14, the wizard control unit 1063 judges whether the user has instructed to display the wizard screen of the next page or the original page, or to complete the wizard. If the user has instructed to display the wizard screen of the next page or the original page, the process returns to step S13, and if the user has instructed to complete the wizard, the process proceeds to step S15.

[0037] In step S15, the instruction set adding unit 1064 adds an instruction set including the representative instruction and the normal instruction to the robot program. In step S16, the programming edit screen control unit 1061 displays on the display unit 102 the programming edit screen 110 in which icons of instruction sets are arranged on the program line 111 in the area 110A.

[0038] In the embodiment described above, the wizard control unit 1063 displays a wizard when a representative command is added to the robot program. However, when a normal command, for example, a linear movement command for moving a tool in a straight line, is added to the robot program, the wizard control unit 1063 may display a wizard to add parameters such as the tool movement speed.

[0039] In the embodiment described above, when an instruction for a robot program is added by placing an icon on the program line 111 in the area 110A of the programming editing screen 110, a wizard is automatically displayed. Therefore, parameters can be set for multiple instructions including normal instructions, representative instructions and normal instructions added with the wizard. Therefore, even if a beginner in robot operation does not have detailed knowledge of parameters for each instruction, he or she can create a complex robot program by following the instructions in the wizard.

[0040] The icon programming software can be stored and provided to a computer using various types of non-transitory computer readable media. Non-transitory computer readable media includes various types of tangible storage media. Examples of non-transitory computer readable media include magnetic storage media (e.g., hard disk drives), magneto-optical storage media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, and semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, and RAM (random access memory)).

[0041] Second embodiment In the first embodiment, when the user adds an icon 122 indicating palletizing to the program line 111 on the programming editing screen 110 as shown in FIG. 3, the wizard control unit 1063 displays the wizard screen 130, allowing the user to add normal commands and set parameters using the wizard.

[0042] In this embodiment, when the user adds an icon 121 indicating palletizing to the program line 111 on the programming editing screen 110 as shown in FIG. 3, the pop-up display control unit displays a pop-up display 150 as shown in FIG. 10 on the programming editing screen 110, and if the user approves the insertion of a sample program, an instruction set consisting of a representative instruction and a normal instruction (an instruction set in which a normal instruction has been added to the instruction set) is added to area 110A of the programming editing screen 110 as shown in FIG. 11.

[0043] The designer decides and implements whether to switch to a wizard screen as in the first embodiment or to display a pop-up as in this embodiment. The designer implements appropriate processing with the wizard screen display or pop-up display according to the robot's work. For example, in the case of palletizing, the wizard screen is switched to, and in the case of spot welding, a pop-up display is used.

[0044] The configuration of the robot system in this embodiment is the same as the configuration of the robot system shown in FIG. 1, except for the points described below. Fig. 12 is a functional block diagram of the robot teaching device according to this embodiment. The difference from the functional block diagram shown in Fig. 2 is that a pop-up display control unit 1066 and a command and parameter setting unit 1067 are provided instead of the wizard control unit 1063. The pop-up display, as shown in FIG. 10, is a display for confirming whether or not to insert a sample program for palletizing that has been prepared in advance. As in the first embodiment, when the icon 122 indicating palletizing is placed on the program line 111 on the programming editing screen 110 shown in FIG. 3, the pop-up display control unit 1066 performs the pop-up display 150 shown in FIG.

[0045] When the user selects "Yes" in the pop-up display 150 shown in FIG. 10, the instruction set addition unit 1064 adds a set of icons to the program line 111 in area 110A of the programming editing screen 110 to form an instruction set, as shown in FIG.

[0046] In the command set shown in Fig. 11, parameters such as the number of stacking stages are not set, so the command and parameter setting unit 1067 sets parameters for the representative command and normal command. For example, as shown in Fig. 11, when the user clicks on the icon 122 indicating palletizing, the command and parameter setting unit 1067 displays a parameter setting screen. When the user inputs the number of stacking stages on the parameter setting screen, the command and parameter setting unit 1067 sets the number of stacking stages in the palletizing command. 11, the user needs to select either the normal command of opening or closing the gripping hand, and add either icon 126 or icon 127. When the user drags icon 126, which indicates the opening of the gripping hand, with the mouse and releases icon 126 between icon 120 marked with position "2" and icon 120 marked with position "1" adjacent to it on the right, command and parameter setting unit 1067 sets the same command set as the command set shown in FIG.

[0047] Next, the operation of the robot teaching device 100 of this embodiment will be described with reference to the flowchart of Fig. 13. Fig. 13 is a flowchart showing the operation of the robot teaching device 100 of this embodiment. The flowchart shown in Fig. 13 differs from the flowchart shown in Fig. 9 in that in step S12, a pop-up display control unit 1066 is used instead of the wizard control unit 1063, steps S17 and S18 are provided instead of steps S13 and S14, and step S19 is added.

[0048] In step S11, the programming edit screen control unit 1061 displays the programming edit screen 110 shown in FIG.

[0049] In step S12, the pop-up display control unit 1066 determines whether or not an icon 122 indicating palletizing has been added to the program line 111. If it has been added, the process proceeds to step S17; if it has not been added, the process ends.

[0050] In step S17, the pop-up display control unit 1066 displays the pop-up display shown in FIG.

[0051] In step S18, if the user selects "Yes" with respect to the insertion of a sample program for palletizing, the pop-up display control unit 1066 proceeds to step S15, but if "No" is selected, the process ends.

[0052] In step S15, a command set for palletizing is inserted. In step S16, the programming edit screen control unit 1061 displays on the display unit 102 the programming edit screen 110 in which icons of instruction sets are arranged on the program line 111 in the area 110A.

[0053] In step S19, additional representative commands and normal commands and parameters are set, such as a command to open or close the gripping hand, and parameters such as the number of stacking stages.

[0054] In the first embodiment, detailed settings are made using the wizard screen, and after the wizard is finished, an instruction set is added after the palletizing instruction, so that the arrangement of icons to which the instruction set has been added can be visually seen on the programming editing screen 110 only after the wizard is finished. On the other hand, in this embodiment, when a representative instruction is added, an instruction set consisting of multiple instructions is added, so that the instruction set can be visually confirmed. Then, normal instructions can be added to the confirmed instruction set, or a representative instruction and normal instruction can be selected to set parameters.

[0055] (Third embodiment) Fig. 14 is a diagram showing an example of a programming editing screen of the robot teaching device according to the third embodiment of the present disclosure. In Fig. 14, an icon 128 indicating a path teaching command is added to the area 110A shown in Fig. 3, and an icon 128 indicating a path teaching command is arranged in the icon arrangement area 110B instead of the icon 122 indicating a palletizing command. The path teaching command is a representative command.

[0056] The functional blocks of the robot teaching device realized by the icon programming software are the same as those shown in FIG. 2. However, in this embodiment, the instruction set adding unit 1064 deletes the icon 128 indicating the trajectory teaching command after the wizard is completed, and adds an instruction set consisting of a linear movement command indicated by the icon 120, which is a normal command, to the robot program.

[0057] The processor 11 functions as a wizard control unit 1063, and when the user adds an icon 128 indicating trajectory teaching to the program line 111 on the programming editing screen 110 shown in Fig. 14, starts a trajectory teaching wizard, and switches from the programming editing screen 110 to a wizard screen 160 shown in Fig. 15 to input working conditions and the like, and displays it on the display unit 102. Here, the wizard screen has first to third pages.

[0058] FIG. 15 is a diagram showing an example of the first page of the wizard screen for teaching a trajectory. The wizard screen 160 on the first page has a section explaining trajectory teaching that states, “The trajectory wizard can calculate the trajectory that will be taken when the robot is moved, and generate a program to follow that trajectory.” In the section explaining the trajectory teaching operation, it states, “(1) When the robot is moved using direct teach, the trajectory taken by the robot is recorded as position data,” and “(2) An operation command is generated to pass through the recorded position data, and inserted into the program.” With illustrations explaining items (1) and (2) inserted, When the user uses direct teach on the operation terminal to move the robot in an S-shape, the position data from position "1" to position "8" is stored, and an instruction set consisting of eight icons 120, each numbered from "1" to "8", is generated and inserted into the robot program. When the user presses the Finish button on the third page (last page), the trajectory wizard ends and the display screen returns to the programming editing screen 110. In the area 110A of the programming editing screen 110 shown in Fig. 16, the icon 128 indicating trajectory teaching is deleted, and a command set consisting of eight linear movement commands made up of eight icons 120 numbered from position "1" to position "8" is inserted.

[0059] Next, the operation of the robot teaching device 100 of this embodiment will be described with reference to the flowchart of Fig. 17. Fig. 17 is a flowchart showing the operation of the robot teaching device 100 of this embodiment. The flowchart shown in Fig. 17 differs from the flowchart shown in Fig. 9 in that an icon 128 indicating a path teaching command is used instead of the icon 122 indicating a palletizing command, and step S20 is provided instead of step S15.

[0060] In step S11, the programming edit screen control unit 1061 displays the programming edit screen 110 shown in FIG.

[0061] In step S12, the wizard control unit 1063 determines whether an icon indicating a path teaching command has been added to the program line 111, and if so, the process proceeds to step S13, and if not, the process ends.

[0062] 15 on the display unit 102. If it is determined in step S14 that the process of step S13 should be performed by returning from step S14, the wizard control unit 1063 in step S13 displays the wizard screen of the next page or the original page on the display unit 102. When the user has finished inputting information into the wizard screen 160 of the first page or the wizard screens of the second page and subsequent pages, the user instructs the display of the wizard screen of the next page or the original page, or instructs the completion of the wizard if the wizard screen is the final page.

[0063] In step S14, if the user instructs to display the wizard screen of the next page or the original page, the wizard control unit 1063 returns to step S13, and if the user instructs to end the wizard, the wizard control unit 1063 proceeds to step S20.

[0064] In step S20, the instruction set adding unit 1064 deletes the icon 128 indicating the path teaching, and adds the instruction set to the robot program.

[0065] In step S16, the programming edit screen control unit 1061 displays on the display unit 102 the programming edit screen 110 in which icons of instruction sets are arranged on the program line 111 in the area 110A.

[0066] The above-described first, second, and third embodiments are preferred embodiments of the present invention, but the scope of the present invention is not limited to only the above-described first, second, and third embodiments, and the present invention can be embodied in various modified forms without departing from the gist of the present invention. For example, in the first, second and third embodiments described above, the commands are shown as icons, but the commands may be shown as blocks as shown in FIG.

[0067] FIG. 18 is a diagram showing an example of a programming editing screen using blocks. The programming editing screen 170 includes a programming area 180 and a screen selection area 190, and the programming area 180 includes a function selection area 181 and a block arrangement area 182. A reduction button 183 for reducing the display in the block arrangement area 182, an enlargement button 184 for enlarging the display in the block arrangement area 182, and a trash can 185 for deleting blocks are provided in a part of the block arrangement area 182. For example, as shown in FIG. 18, when the user selects "control" in the function selection area 181, a block 400 indicating an instruction for the hand to grip the workpiece and a block 420 indicating an instruction for the hand to release the workpiece are displayed in the block arrangement area 182. These instructions are normal instructions. Then, a wizard is displayed as in the first embodiment, and the user sets the position "1" where the hand grips the workpiece and the position "2" where the hand releases the workpiece, and when input by the wizard is completed, the block 410 indicating the position "1" is linked to the block 400, and the block 430 indicating the position "2" is linked to the block 420.

[0068] The examples described above are examples of setting a position for a normal command using a wizard, but the present invention can also be applied to examples of displaying a wizard for a representative command such as a palletizing command as in the first embodiment, adding an instruction set including a palletizing command and a normal command to a representative command such as a palletizing command as in the second embodiment, and displaying a wizard for a representative command such as a trajectory teaching command and deleting the representative command such as the trajectory teaching command after the wizard is completed as in the third embodiment.

[0069] The robot teaching device and the robot program generating program according to the present disclosure can take various forms including the above-mentioned embodiment and having the following configurations. (1) a display unit (e.g., display unit 102); An editing screen control unit (for example, a programming editing screen control unit 1061) that displays an editing screen for editing a robot program that teaches the robot's movements on the display unit; A wizard control unit (e.g., a wizard control unit 1063) that displays, on the display unit, a wizard for setting at least parameter values ​​of a robot instruction when the robot instruction is added to the robot program on the editing screen; A robot teaching device comprising: This robot teaching device allows advanced teaching through a series of robot program steps by displaying a wizard. The programming procedure is easy to understand, and the effort required for programming can be reduced.

[0070] (2) a display unit (e.g., display unit 102); An editing screen control unit (for example, a programming editing screen control unit 1061) that displays an editing screen for editing a robot program that teaches the robot's movements on the display unit; an instruction adding unit (e.g., an instruction set adding unit 1064) that adds at least one robot instruction other than the robot instruction to the robot program when a robot instruction is added to the robot program on the editing screen; A robot teaching device comprising: This robot teaching device allows multiple commands to be added with just a few operations. A series of robot program flows allows for advanced teaching. Furthermore, the programming procedure is easy to understand, reducing the time and effort required for programming.

[0071] (3) a display unit (e.g., display unit 102); An editing screen control unit (for example, a programming editing screen control unit 1061) that displays an editing screen for editing a robot program that teaches the robot's movements on the display unit; A wizard control unit (e.g., a wizard control unit 1063) that displays, when a robot instruction is added to the robot program on the editing screen, a wizard for adding at least one other robot instruction to the robot program other than the robot instruction; Equipped with The robot instruction added on the editing screen is a representative instruction accompanied by the addition of at least one other robot instruction other than the robot instruction, A robot teaching device in which the representative command is deleted from the robot program after the wizard is completed. According to this robot teaching device, it is possible to add robot commands according to a wizard and delete representative commands that have already been taught, thereby deleting commands that are not necessary for the robot's operation.

[0072] (4) The robot command added on the editing screen is a representative command accompanied by the addition of at least one other robot command other than the robot command; When the representative instruction is added to the robot program by the wizard, at least one other robot instruction is added other than the robot instruction; The robot teaching device described in (1) above, in which the wizard sets a combination of the representative instruction and an instruction of the at least one other robot instruction to be added to the representative instruction, as well as parameter values ​​of the representative instruction and the at least one other robot instruction.

[0073] (5) The robot command added on the editing screen is a representative command accompanied by the addition of at least one other robot command other than the robot command; 3. The robot teaching device according to claim 2, further comprising a setting unit that sets parameters of the representative instruction and the at least one other robot instruction added by the instruction adding unit.

[0074] (6) The robot teaching device according to (3) above, wherein a parameter value of the at least one other robot command is set by the wizard.

[0075] (7) The robot instructions are represented by icons or blocks; The robot teaching device according to any one of (1) to (6) above, wherein the editing screen control unit edits the robot program by adding the icon or the block.

[0076] (8) Computers can also be used as robot teaching devices. A function of displaying, on the display unit, an editing screen for editing a robot program that teaches the robot's movements; a function of displaying, on the editing screen, a wizard for setting at least parameter values ​​of the robot instruction on the display unit when a robot instruction is added to the robot program; A program for generating robot programs that execute the following: This generation program allows for advanced teaching of a series of robot program steps by displaying a wizard. The program creation procedure is easy to understand, and the effort required for programming can be reduced.

[0077] (9) A function of displaying, on the display unit, an editing screen for editing a robot program that teaches the robot operations; a function of adding at least one robot instruction other than the robot instruction to the robot program when a robot instruction is added to the robot program on the editing screen; A program for generating robot programs that execute the following: This generation program allows you to add multiple commands with just a few operations. A series of robot program steps allows for advanced teaching. The programming procedure is easy to understand, and it saves you the trouble of programming.

[0078] (10) Computers can also be used as robot teaching devices. A function of displaying, on the display unit, an editing screen for editing a robot program that teaches the robot's movements; a function of displaying, on the editing screen, a wizard for adding at least one robot instruction other than the robot instruction to the robot program when a robot instruction is added to the robot program; The robot instruction added on the editing screen is a representative instruction accompanied by the addition of at least one other robot instruction other than the robot instruction, A program for generating a robot program, wherein the representative command is deleted from the robot program after the wizard is completed. According to this generation program, robot commands can be added by following the wizard and then the representative commands that have already been taught can be deleted, thereby deleting commands that are not necessary for the robot's operation.

[0079] (11) The robot instruction added on the editing screen is a representative instruction accompanied by the addition of at least one other robot instruction other than the robot instruction, When the representative instruction is added to the robot program by the wizard, at least one other robot instruction is added other than the robot instruction; A generation program as described in (8) above, in which the wizard sets a combination of the representative instruction and an instruction of the at least one other robot instruction to be added to the representative instruction, as well as parameter values ​​of the representative instruction and the at least one other robot instruction.

[0080] (12) The robot instruction added on the editing screen is a representative instruction accompanied by the addition of at least one other robot instruction other than the robot instruction, A generating program as described in (9) above, which sets parameters of the representative instruction and the at least one other robot instruction that has been added.

[0081] (13) The generating program according to (10) above, wherein parameter values ​​of the at least one other robot instruction are set by the wizard.

[0082] (13) The robot instructions are represented by icons or blocks; A generating program according to any one of (8) to (13) above, which edits the robot program by adding the icon or the block. [Explanation of symbols]

[0083] 10 Robot System 101 Processor 102 Display section 103 Input section 104 Memory 105 Storage section 106 Icon Programming Software 107 Operation Program 100 Robot teaching device 200 Robots 201 Robot Mechanism Department 202 Tools 300 Robot control device 1061 Programming editing screen control section 1062 Instruction Selection Unit 1063 Wizard Control Unit 1064 Instruction Set Additions 1065 Operation program generation unit 1066 Pop-up display control section 1067 Command and parameter setting section

Claims

1. A display unit; an editing screen control unit that displays an editing screen for editing a robot program that teaches a robot an operation on the display unit; a wizard control unit capable of displaying, when a representative instruction which is added together with at least one other robot instruction when added to the robot program on the editing screen, a wizard screen for setting parameter values ​​of the representative instruction and a normal instruction which is the at least one other robot instruction on the display unit in the order of setting of the parameter values; an instruction set adding unit that adds an instruction set including the representative instruction and the normal instruction, the parameter values ​​of which are set on the wizard screen, to the robot program; Equipped with The editing screen control unit displays the instruction set at a position where the representative instruction has been added.

2. A display unit; an editing screen control unit that displays an editing screen for editing a robot program that teaches a robot an operation on the display unit; an instruction set adding unit that adds, on the editing screen, an instruction set to the robot program, the instruction set including a representative instruction indicating a robot operation, the representative instruction being added together with at least one other robot instruction when added, and the at least one other robot instruction aligned with the representative instruction; Equipped with A robot teaching device, wherein the instruction set is added to the robot program as a sample program related to the task when a user's selection is accepted.

3. A display unit; an editing screen control unit that displays an editing screen for editing a robot program that teaches a robot an operation on the display unit; a wizard control unit that displays, when a robot instruction is added to the robot program on the editing screen, a wizard for adding at least one robot instruction other than the robot instruction to the robot program; Equipped with The robot instruction added on the editing screen is a representative instruction accompanied by the addition of at least one other robot instruction other than the robot instruction, A robot teaching device in which the representative command is deleted from the robot program after the wizard is completed.

4. The representative command is a command indicating an operation of the robot, 2. The robot teaching device according to claim 1, wherein the wizard control unit displays the wizard screen for setting the parameter values ​​of the operations related to at least any one of palletizing, welding, screw fastening, linear movement of a tool, and trajectory teaching.

5. A robot teaching device as described in claim 2, further comprising a setting unit that sets parameters for the representative instruction and the at least one other robot instruction added by the instruction set adding unit.

6. The robot teaching device according to claim 3 , wherein a parameter value of the at least one other robot instruction is set in the wizard.

7. The representative command and the at least one other robot command are each represented by an icon or a block; The robot teaching device according to claim 1 , wherein the editing screen control unit edits the robot program by adding the icon or the block.

8. On the computer, displaying, on a display unit, an editing screen for editing a robot program for teaching the robot an operation; a step of displaying, on the editing screen, when a representative instruction which is added together with at least one other robot instruction when added to the robot program, a wizard screen for setting parameter values ​​of the representative instruction and a normal instruction which is the at least one other robot instruction on the display unit in the order of setting of the parameter values; adding, to the robot program, an instruction set including the representative instruction and the normal instruction, the parameter values ​​of which are set on the wizard screen; Run the command, A program that displays the instruction set on the editing screen at a position where the representative instruction has been added.

9. On the computer, displaying, on a display unit, an editing screen for editing a robot program for teaching the robot an operation; adding, on the editing screen, to the robot program, a command set including a representative command indicating a robot operation, the representative command being added together with at least one other robot command when added, and the at least one other robot command aligned with the representative command; Run the command, The instruction set is added to the robot program as a sample program for the task when a user's selection is accepted.

10. On the computer, displaying, on a display unit, an editing screen for editing a robot program for teaching the robot an operation; displaying, on the editing screen, a wizard for adding at least one robot instruction other than the robot instruction to the robot program when a robot instruction is added to the robot program; Run the command, The robot instruction added on the editing screen is a representative instruction accompanied by the addition of at least one other robot instruction other than the robot instruction, The representative command is deleted from the robot program after the wizard is completed.

11. The representative command is a command indicating an operation of the robot, 9. The program according to claim 8, wherein in the step of displaying the wizard screen in a manner that allows the wizard screen to be displayed in the order of setting of the parameter values, the wizard screen for setting the parameter values ​​of the operations related to at least any one of palletizing, welding, screw fastening, linear movement of a tool, and trajectory teaching is displayed.

12. The program described in claim 9, which sets parameters for the representative command and the at least one other robot command that has been added.

13. The program of claim 10 , further comprising setting parameter values ​​of the at least one other robot instruction by the wizard.

14. The representative command and the at least one other robot command are each represented by an icon or a block; The program according to claim 8 , wherein the robot program is edited by adding the icon or the block.

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