Programming device

Abstract

A program creation device provided with: a display unit for displaying a display screen that includes an operation trajectory of a machine, control commands for the machine, and parameter settings for the control commands; an input unit for inputting user operation information on the screen; and a program editing unit that, on the basis of the user operation information, links, on the same screen, an instruction about the operation trajectory and parameter settings for a corrected operation command based on sensor information, and edits an operation program for the machine.

Description

[Technical Field]

[0001] The present invention relates to a program creation technique, and more particularly to a program creation device that allows intuitive program editing. [Background technology]

[0002] Icon programming has been proposed to intuitively create operation programs for machines including robots, machine tools, etc., by creating operation programs by arranging icons representing control commands for the machine. Meanwhile, in machining processes including cutting, grinding, polishing, welding, fitting, fastening, hemming, etc., a technique for performing tracing control of the machine based on sensor information obtained from sensors including force sensors, visual sensors, etc. is widely known.

[0003] When creating a motion program that performs a corrective operation based on sensor information, teaching points that constitute the machine's motion trajectory are taught, a correction section of the motion trajectory where the corrective operation is performed is specified, and parameters for the corrective operation are set. Generally, parameters are used repeatedly and for general purposes, so they are often set separately from the motion program. It is necessary to create a motion program by uniquely linking the machine's motion trajectory, the correction section of the motion trajectory where the corrective operation is performed, and the parameters for the corrective operation. However, in conventional programming environments, the display screen for the motion trajectory and the display screen for the parameters are often separate, making intuitive programming difficult.

[0004] Patent document 1 describes a method in which a functional icon is selected from a first area that displays functional icons that constitute a robot's control program, a duplicate functional icon is placed in a second area, parameters of the function represented by the functional icon placed in the second area are set, and a control program is created based on the functional icon and settings. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 6498366 Summary of the Invention [Problem to be solved by the invention]

[0006] In view of the problems of the prior art, an object of the present invention is to provide an intuitive programming editing technique. [Means for solving the problem]

[0007] A program generation device according to a first aspect of the present disclosure includes a display unit that displays a screen including a motion trajectory of a machine, a control command for the machine, and parameter settings for the control command; an input unit that inputs user operation information on the screen; and a program generation device that, based on the user operation information, teaches the motion trajectory and arranges the control commands; To correct the movement trajectory It is equipped with a program editing unit that links parameter settings for correction operation commands based on sensor information and edits the machine's operation program on the same screen. The parameter settings include settings for the correction direction, start point, and end point. A program generation device according to a second aspect of the present disclosure includes a display unit that displays a screen including a motion trajectory of a machine, a control command for the machine, and parameter settings for the control command; an input unit that inputs user operation information on the screen; and a program generation unit that generates a motion trajectory based on the user operation information. To correct the movement trajectory It is equipped with a program editing unit that links parameter settings for correction operation commands based on sensor information and edits the machine's operation program on the same screen. The parameter settings include settings for the correction direction, start point, and end point. The program editing unit generates a view in which an icon representing a control command within a correction section of the motion trajectory to which the correction operation is applied is sandwiched between icons representing correction operation commands based on sensor information, and the display unit displays the generated view on the screen. A program generation device according to a third aspect of the present disclosure includes a display unit that displays a screen including a motion trajectory of a machine, a control command for the machine, and parameter settings for the control command; an input unit that inputs user operation information on the screen; and a program generation unit that generates a motion trajectory based on the user operation information. To correct the movement trajectory It is equipped with a program editing unit that links parameter settings for correction operation commands based on sensor information and edits the machine's operation program on the same screen. The parameter settings include settings for the correction direction, start point, and end point. The program editing unit generates a view that links teaching points that make up the motion trajectory to icons that represent corrective motion commands based on sensor information, and the display unit displays the generated view on the screen. A program generation device according to a fourth aspect of the present disclosure includes a display unit that displays a screen including a machine motion trajectory, a machine control command, and parameter settings for the control command, an input unit that inputs user operation information on the screen, and a program editing unit that edits a machine operation program by linking, on the same screen, the teaching of the motion trajectory and the parameter settings for the corrective operation command based on sensor information, the program editing unit causing the machine to perform a tracing operation based on the sensor information, recording the trajectory during the tracing operation, Generate teaching points on the trajectory during the tracing operation, A view including a tracing trajectory teaching function that automatically teaches a motion trajectory before correction based on the recorded trajectory is generated, and the display unit displays the generated view on the screen. The program editing unit converts the trajectory including the teaching points into an icon representing a control command, and the display unit displays the icon representing the converted control command. A program generation device according to a fifth aspect of the present disclosure includes a display unit that displays a screen including a motion trajectory of a machine, a control command for the machine, and parameter settings for the control command; an input unit that inputs user operation information on the screen; and a program generation device that generates a motion trajectory based on the user operation information. To correct the movement trajectory It is equipped with a program editing unit that links parameter settings for correction operation commands based on sensor information and edits the machine's operation program on the same screen. The parameter settings include settings for the correction direction, start point, and end point. The program editing unit causes the machine to perform a tracing operation based on the sensor information, records the trajectory during the tracing operation, and generates a view that includes a tracing trajectory correction function that automatically corrects the original motion trajectory based on the recorded trajectory, and the display unit displays the generated view on a screen. A program generation device according to a sixth aspect of the present disclosure includes a display unit that displays a screen including a machine motion trajectory, machine control instructions, and parameter settings for the control instructions, an input unit that inputs user operation information on the screen, and a program editing unit that edits a machine motion program by linking, on the same screen, the teaching of the motion trajectory, an arrangement of the control instructions, and parameter settings for corrective motion instructions based on sensor information for correcting the motion trajectory. The display unit displays, on the same screen, a view in which a correction section of the motion trajectory to which a corrective operation is applied is identified and drawn in a virtual space in which a shape model of the machine is arranged, a view in which icons representing control instructions including positions of teaching points and icons representing corrective motion instructions based on sensor information are displayed side by side, and a parameter setting view for the corrective motion instructions based on the sensor information. [Effects of the Invention]

[0008] According to one aspect of the present disclosure, the teaching of the motion trajectory before correction and the setting of the correction motion based on the sensor information can be edited on the same screen, thereby enabling intuitive program editing. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a configuration diagram of a mechanical system according to a first embodiment. [Figure 2] FIG. [Figure 3] FIG. 2 is a functional block diagram of the mechanical system of the first embodiment. [Figure 4] FIG. 2 is a diagram illustrating a programming screen according to the first embodiment. [Figure 5] FIG. 2 is a diagram illustrating a programming screen according to the first embodiment. [Figure 6] FIG. 10 is a diagram showing a modified example of the programming screen of the first embodiment. [Figure 7] FIG. 10 is a diagram showing a modified example of the programming screen of the first embodiment. [Figure 8] FIG. 10 is a diagram showing a programming screen according to a second embodiment. [Figure 9] FIG. 10 is a diagram showing a programming screen according to a second embodiment. [Figure 10] FIG. 10 is a diagram showing a programming screen according to a second embodiment. [Figure 11] FIG. 11 is a diagram showing a programming screen according to a third embodiment. [Figure 12] FIG. 11 is a diagram showing a programming screen according to a third embodiment. [Figure 13] FIG. 10 is a side view of a mechanical system according to a fourth embodiment. [Figure 14] FIG. 13 is a diagram showing a programming screen according to the fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In each drawing, the same or similar components are assigned the same or similar reference numerals. Furthermore, the embodiments described below do not limit the technical scope and meaning of the terms of the invention described in the claims. In this specification, the term "screen" means all or a partial area of ​​a display, the term "window" means a partial area of ​​a screen, and the term "view" means an image or drawing drawn in a window.

[0011] FIG. 1 is a configuration diagram of a machine system 1 according to a first embodiment. The machine system 1 performs various operations on a workpiece W. The operations include cutting, grinding, polishing, welding, fitting, fastening, hemming, sealing, and the like. The machine system 1 includes a program creation device 10, a control device 20, a machine 30, and a sensor 40. In the first embodiment, the machine system 1 will be described assuming that the machine system 1 deburrs the workpiece W.

[0012] FIG. 2 is a perspective view of a workpiece W. To create an operating program for machine 30 to deburr the thick line portion of rectangular workpiece W, teach points P4 to P7 constituting the operating trajectory M of machine 30 are taught so that machine 30 passes through a position slightly away from processing line L. Also, teach the start position (teaching point P4) and end position (teaching point P7) of a corrective operation based on sensor information. A group of control commands within a correction section of operating trajectory M to which the corrective operation is applied is taught between the start and end positions of the corrective operation. Furthermore, parameters for the corrective operation based on sensor information, such as a target force and a pressing direction (in this example, downward from the plane of the drawing where workpiece W is located), must be set. While machine 30 moves from teaching point P4 to teaching point P7, control device 20 acquires sensor information from sensor 40 in accordance with the operating program and corrects the operation of machine 30 based on the acquired sensor information.

[0013] 1 again, the program creation device 10 creates an operation program for the machine 30 that performs a corrective operation based on sensor information. The program creation device 10 is communicably connected to the control device 20 via wire or wirelessly. The program creation device 10 is, for example, a robot teaching device, but in other embodiments, it may not be a robot teaching device but may be an external computer device communicatively connected to the control device 20. The program creation device 10 transmits the created operation program to the control device 20.

[0014] The control device 20 is communicatively connected to the programming device 10, the machine 30, and the sensor 40 via wires or wirelessly. The control device 20 controls the machine 30 in accordance with an operation program received from the programming device 10. The control device 20 acquires sensor information directly from the sensor 40, but in other embodiments, the programming device 10 or an external computer device may acquire the sensor information from the sensor 40, and the control device 20 may acquire the sensor information indirectly from the programming device 10 or the external computer device. The control device 20 corrects the operation of the machine 30 based on the acquired sensor information.

[0015] The program creation device 10 and the control device 20 are configured as computer devices equipped with a processor, memory, input / output units, etc. The processor is configured as a semiconductor integrated circuit that executes a computer program, such as a CPU (central processing unit) or MPU (micro processing unit), but in other embodiments, it may be configured as another semiconductor integrated circuit that rewrites and executes a computer program, such as a PLD (programmable logic device) or FPGA (field programmable gate array). The memory is configured as a semiconductor storage device that stores various data, such as a RAM (random access memory) or ROM (read only memory), but in other embodiments, it may be configured as another storage device such as a magnetic storage device.

[0016] The machine 30 is connected to the control device 20 via a wire or wirelessly. The machine 30 is controlled by the control device 20 according to an operation program and performs work on the workpiece W while executing corrective operations based on sensor information. The machine 30 includes a robot 31 and a tool 32, but in other embodiments, it may include a machine tool and a tool. Although not shown, the robot 31 includes multiple links capable of relative motion, motors that drive the links, and a motor drive device that drives the motor. Similarly, although not shown, the tool 32 includes a movable part, a motor that drives the movable part, and a motor drive device that drives the motor. The motor drive devices of the robot 31 and the tool 32 are communicatively connected to the control device 20 and controlled by the control device 20, but in other embodiments, the motor drive devices of the robot 31 and the tool 32 may be located within the control device 20. Also, in other embodiments, the robot 31 and the tool 32 may be controlled by independent, separate control devices.

[0017] The robot 31 has a tool 32 attached to the tip of the robot and transports the tool 32 toward the workpiece W, but in other embodiments, the robot 31 may pick up the workpiece W and transport it toward the tool 32, or may transport the workpiece W toward another workpiece as will be described in the embodiments described later. The robot 31 is an industrial robot such as a vertical articulated robot, a horizontal articulated robot, a Cartesian robot, a parallel link robot, a collaborative robot, etc., but in other embodiments, it may be a robot of another form including a humanoid, etc.

[0018] The tool 32 is attached to the tip of the robot and is transported by the robot 31 toward the workpiece W to perform an operation on the workpiece W, but in other embodiments, the tool 32 may be fixed at a location different from the robot 31 and perform an operation on the workpiece W transported by the robot 31, or as will be described later, the tool 32 may be a hand that removes the workpiece W. The tool 32 is a grinding tool that removes burrs, but in other embodiments, the tool 32 may be other processing tools including a cutting tool, a polishing tool, a welding tool, a fitting tool, a fastening tool, a hemming tool, a sealing tool, etc., or may be a hand tool such as a multi-finger gripping type, a magnetic suction type, a vacuum suction type, or a Bernoulli type.

[0019] The sensor 40 is configured as a force sensor 41, a visual sensor 42, a distance sensor, or the like. The sensor 40 is attached to the machine 30, but in other embodiments configured as a sensor other than the force sensor 41, the sensor 40 may be fixed to a location different from the machine 30. The sensor 40 is communicatively connected to the control device 20 via wire or wirelessly, but in other embodiments, the sensor 40 may be communicatively connected to the programming device 10 or an external computer device.

[0020] The force sensor 41 is attached to the tool 32 and detects the reaction force from the workpiece W as sensor information, but in other embodiments in which the robot 31 transports the workpiece W, the reaction force from the tool 32 may also be detected as sensor information. The force sensor 41 is a six-axis force sensor that detects forces in three axial directions and moments around the three axes, but in other embodiments it may be a three-axis force sensor that detects only forces in the three axial directions. The force sensor 41 is composed of various force sensors such as strain gauge type, piezoelectric type, optical type, and capacitance type.

[0021] The visual sensor 42 is attached to the machine 30, but in other embodiments, it may be fixed to a location different from the machine 30. The visual sensor 42 detects the position (and posture) of the workpiece W as sensor information. The visual sensor 42 is configured with various three-dimensional sensors such as a time-of-flight (TOF) type, a triangulation type, a focusing type, etc.

[0022] 3 is a functional block diagram of the mechanical system 1 of the first embodiment. The program creation device 10 provides a visual-based programming environment (an icon-based programming environment in this embodiment), but may provide a conventional programming environment (for example, a text-based programming environment) in other embodiments. The program creation device 10 includes a program editing unit 11, a display unit 12, and an input unit 14. The program creation device 10 may further include a program generation unit 13. The control device 20 includes a sensor information acquisition unit 21 and an operation control unit 22.

[0023] The program editing unit 11 generates a view to be displayed on the programming screen and sends the generated view to the display unit 12. The program editing unit 11 also accepts user operation information on the programming screen from the input unit 14, generates an edited view of the operation program of the machine 30 based on the user operation information, and sends the generated view to the display unit 12 and the program generation unit 13. If the display unit 12 and the input unit 14 are touch panel displays, the user operation information includes tap positions, double tap positions, drag and drop positions, pinch-in positions, pinch-out positions, etc. Based on the user operation information, the program editing unit 11 links the teaching of the operation trajectory M with the parameter setting of the corrective operation command based on the sensor information on the same programming screen to edit the operation program of the machine 30. The program editing unit 11 is part or all of a processor including a CPU, MPU, FPGA, ASIC, etc., but in other embodiments, it may be part or all of a computer program.

[0024] The display unit 12 displays the view generated by the program editing unit 11 on a programming screen. The display unit 12 displays a programming screen including the motion trajectory M of the machine 30, control commands for the machine 30, and parameter settings for the control commands. The control commands include various commands such as operation commands for operating the machine 30, corrective operation commands based on sensor information, application commands for causing the machine 30 to perform complex operations, conditional branching commands, and loop commands. For example, application commands include a palletizing command for loading workpieces W onto a pallet, a depalletizing command for removing the workpieces W one by one from the pallet, etc. For example, the parameters of the control commands include the position (and posture) of the teaching point, the motion speed, etc. in the case of an operation command, and the target force, the pushing direction (correction direction), the start point, the end point, etc. in the case of a corrective operation command based on sensor information.

[0025] The input unit 14 inputs user operation information on the programming screen. The display unit 12 and the input unit 14 are configured with various touch panel displays, including ultrasonic surface acoustic wave, resistive film, and infrared types, but in other embodiments, the display unit 12 and the input unit 14 may be configured as separate devices. For example, the display unit 12 may be configured with a display such as a liquid crystal display, and the input unit 14 may be configured with an input device such as a mouse or keyboard.

[0026] The program generation unit 13 converts the operation program edited by the program editing unit 11 into an operation program including source code, object code (machine language), intermediate code, byte code, etc. The program generation unit 13 transmits the generated operation program to the control device 20. The program generation unit 13 is part or all of a processor such as a CPU, MPU, FPGA, ASIC, etc., but in other embodiments, it may be configured as part or all of a computer program.

[0027] The sensor information acquisition unit 21 acquires sensor information from the sensor 40. The sensor information acquisition unit 21 sends the acquired sensor information to the operation control unit 22. The sensor information acquisition unit 21 is part or all of a processor such as a CPU, MPU, FPGA, or ASIC, but may also be part or all of a computer program.

[0028] The operation control unit 22 acquires an operation program from the program creation device 10 and controls the operation of the machine 30 in accordance with the operation program. The operation control unit 22 also receives sensor information from the sensor information acquisition unit 21 in accordance with the operation program, generates an operation correction amount based on the received sensor information, generates a corrective operation command based on the generated operation correction amount, and sends the generated corrective operation command to the machine 30. The operation control unit 22 transmits the generated corrective operation command to a motor drive device of the machine 30. The operation control unit 22 is part or all of a processor such as a CPU, MPU, FPGA, etc., but in other embodiments, it may be configured part or all of a computer program.

[0029] 4 is a diagram showing a programming screen 50 according to the first embodiment. The program editing unit 11 generates the programming screen 50, which includes a motion trajectory window 51, a program editing window 52, ​​a command selection window 53, a command setting window 54, etc., and the display unit 12 displays the generated programming screen 50 on the display. Due to limitations on screen size, the command selection window 53 and the command setting window 54 are selectively displayed, but in other embodiments, they may be displayed simultaneously.

[0030] When the input unit 14 inputs user operation information to add teaching points P1 to P7 that constitute the motion trajectory M of the machine 30 in the motion trajectory window 51, the program editing unit 11 generates a motion trajectory view that draws the motion trajectory M of the machine 30 and the teaching points P1 to P7 that constitute the motion trajectory M in a virtual space in which a shape model of the machine 30 is placed, and the display unit 12 displays the generated motion trajectory view in the motion trajectory window 51.

[0031] The motion trajectory view may be an image or drawing in which a shape model of the workpiece W is further placed in virtual space. The teaching points P1 to P7 are drawn with marks that identify the teaching points. The marks that identify the teaching points P1 to P7 are pin marks including identification symbols (numbers 1 to 7 in this example), but in other embodiments, they may be marks of other shapes such as diamond marks, triangle marks, or circular marks. Furthermore, the motion trajectory view may be an image or drawing in which various coordinate systems, such as a machine coordinate system C1, a tool coordinate system C2, a workpiece coordinate system C3, and a user coordinate system (not shown), are drawn in virtual space. The machine coordinate system C1 is fixed to the reference position of the machine 30, the tool coordinate system C2 is fixed to the reference position of the tool 32, the workpiece coordinate system C3 is fixed to the reference position of the workpiece W, and the user coordinate system is fixed to a position specified by the user.

[0032] In the program editing window 52, ​​the program editing unit 11 generates a program view that draws a time axis 57 of the operation program and an execution start line 58 of the operation program, and the display unit 12 displays the generated program view in the program editing window 52.

[0033] Furthermore, when the input unit 14 inputs user operation information for selecting and moving icons 55-56 representing control instructions for the machine 30 from the instruction selection window 53 to the program editing window 52, ​​the program editing unit 11 duplicates the icons 55-56 representing the control instructions and generates a program view in which icons 55a-56a representing the duplicated control instructions are arranged, and the display unit 12 displays the generated program view in the program editing window 52. Furthermore, the program generation unit 13 generates an operation program in accordance with the arrangement of the icons 55a-56a representing the control instructions, parameter settings of the control instructions, etc. The user operation for selecting and moving icons 55-56 representing control instructions from the instruction selection window 53 to the program editing window 52 may be, for example, an operation of touching and moving the icons 55-56 representing the control instructions with one finger and then releasing the finger (so-called drag and drop).

[0034] When the input unit 14 inputs user operation information for selecting and moving an icon 56 representing an operation command from the command selection window 53 to the program editing window 52, ​​the program editing unit 11 duplicates the icon 56 representing the operation command and generates a program view in which icons 56a representing the duplicated operation commands are arranged, and the display unit 12 displays the generated program view in the program editing window 52. Furthermore, the program generation unit 13 creates an operation program in accordance with the arrangement of the icons 56a representing the operation commands, parameter settings of the operation commands, etc.

[0035] Although not shown, when the input unit 14 selects an icon 56a representing an operation command in the program editing window 52 and further inputs user operation information for selecting the command setting window 54 (detailed menu bar), the program editing unit 11 generates a parameter setting view for linking the teaching point P5 that constitutes the operation trajectory M to the icon 56a representing the operation command, and the display unit 12 displays the generated parameter setting view in the command setting window 54.

[0036] Next, when the input unit 14 inputs user operation information linking the teaching point P5 to the icon 56a representing the operation command in the command setting window 54, the program editing unit 11 generates a program view in which a mark identifying the teaching point P5 is linked to the icon 56a representing the operation command, and the display unit 12 displays the generated program view in the program editing window 52. In addition, the program generation unit 13 creates an operation program in which the teaching point P5 is set as a parameter of the icon 56a representing the operation command.

[0037] Since the marks identifying the teaching points P1 to P7 are the same between the motion trajectory window 51 and the program editing window 52, ​​the user can refer to the teaching points P1 to P7 that make up the motion trajectory M in the motion trajectory window 51, and link the teaching points P1 to P7 to the icon 56a representing the motion command in the program editing window 52, ​​thereby enabling intuitive program editing.

[0038] When the input unit 14 inputs user operation information for selecting and moving an icon 55 representing a correction operation command based on sensor information from the command selection window 53 to the program editing window 52, ​​the program editing unit 11 duplicates the icon 55 representing the correction operation command, generates a program view in which an icon 55a representing the duplicated correction operation command is arranged, and the display unit 12 displays the generated program view in the program editing window 52. Furthermore, the program generation unit 13 creates an operation program based on the arrangement of the icon 55a representing the correction operation command, parameter settings of the correction operation command, etc.

[0039] In the program editing window 52, ​​when the input unit 14 expands or contracts an icon 55a representing a corrective operation command based on sensor information and inputs user operation information to link the icon 56a representing a control command, the program editing unit 11 generates a program view in which a group of icons representing control commands to which the corrective operation command based on the sensor information is applied (icon 56a representing an operation command in this example) are sandwiched between icons 55a representing the corrective operation commands, and the display unit 12 displays the generated program view in the program editing window 52. Furthermore, the program generation unit 13 creates an operation program that reflects the start and end positions of the icon 55a representing the corrective operation command.

[0040] The user operation for expanding or contracting the icon 55a representing the correction operation command and linking it to the icon 56a representing the control command may be to touch the icon 55a representing the correction operation command with two fingers and spread the fingers apart (so-called pinch out) or pinch the fingers together (so-called pinch in), etc.

[0041] Furthermore, when the input unit 14 expands or contracts the icon 55a representing the corrective operation command based on the sensor information in the program editing window 52 and inputs user operation information to link it to the icon 56a representing the control command, the program editing unit 11 generates a motion trajectory view by identifying and drawing a correction section of the motion trajectory M to which the corrective operation is applied, and the display unit 12 displays the generated motion trajectory view in the motion trajectory window 51. This allows the user to specify the start and end positions of the corrective operation command in the program editing window 52 while referring to the teaching points P1 to P7 that make up the motion trajectory M in the motion trajectory window 51, thereby enabling intuitive programming editing.

[0042] The correction section is identified by changing the color of the motion trajectory of the correction section and the other sections, but in other embodiments, this may be done by displaying only the motion trajectory of the correction section, or by changing the color of the mark representing the teaching points P4 to P7, or by changing the color of the identification symbol in the mark representing the teaching points P4 to P7, or by changing the shape of the mark, etc. This allows the user to teach a correction operation command in the program editing window 52 while referring to the correction section of the motion trajectory M to which the correction operation is applied in the motion trajectory window 51, thereby enabling intuitive programming editing.

[0043] When the input unit 14 inputs user operation information to select the command selection window 53 (programming menu bar), the program editing unit 11 generates a command list view that draws a list of icons 55 to 56 representing the control commands of the machine 30, and the display unit 12 displays the generated command list view in the command selection window 53.

[0044] Furthermore, when the input unit 14 inputs user operation information to select one of the command type tabs 53a to 53d representing the type of control command in the command selection window 53, the program editing unit 11 generates a command list view in which a list of icons is drawn for each type of control command, such as an action command (action A, action B), a conditional branch command (condition F, condition F), etc., and the display unit 12 displays the generated command list view in the command selection window 53.

[0045] 5 is a diagram showing a programming screen 50 of the first embodiment. When the input unit 14 selects one of the icons 55a to 56a representing control commands in the program editing window 52 and further inputs user operation information for selecting the command setting window 54 (the detailed menu bar), the program editing unit 11 generates a parameter setting view for setting parameters of the selected control command, and the display unit 12 displays the generated parameter setting view in the command setting window 54.

[0046] In the program editing window 52, ​​when the input unit 14 selects an icon 55a representing a correction operation command based on sensor information and further inputs user operation information to select the command setting window 54 (detailed menu bar), the program editing unit 11 generates a parameter setting view for setting parameters 54a to 54d of the correction operation command, and the display unit 12 displays the generated parameter setting view in the command setting window 54.

[0047] The parameter setting view includes the target force, pressing direction, start point, end point, etc. as parameters 54a to 54d of the correction operation command. The target force is the pressing target force of the machine 30 against the workpiece W (or tool 32), and the pressing direction is the pressing direction of the machine 30 against the workpiece W (or tool 32). The pressing direction is set in the Z direction of the tool coordinate system C2, but in other embodiments, it may be set in any axis direction such as the machine coordinate system C1, the workpiece coordinate system C3, or a user coordinate system (not shown). Furthermore, the start point is a teaching point for the start position of the correction operation command, and the end point is a teaching point for the end position of the correction operation command. However, if a group of icons representing control commands (icon 56a representing operation commands in this example) are sandwiched between icons 55a representing correction operation commands in the program editing window 52, ​​setting the start point and end point is not necessary.

[0048] Icon 55a representing a corrective operation command based on sensor information sandwiches a group of icons representing control commands (icon 56a representing operation commands in this example), but in the case of a simple operation trajectory M consisting of only linear movement as in this example, operation trajectory M can be taught using only the positions of teaching points P4 to P7 that make up operation trajectory M. In the case of such a simple operation trajectory M or when there is no need to program the operation commands that make up operation trajectory M, teaching points P4 to P7 that make up operation trajectory M may be set as parameters of icon 55a representing a corrective operation command.

[0049] 6 is a diagram showing a modified example of the programming screen 50 of the first embodiment. In the case of a simple motion trajectory M or when there is no need to program the motion commands that make up the motion trajectory M, an icon 55a representing a corrective motion command based on sensor information becomes a standalone icon in the program editing window 52. The program editing unit 11 generates a program view that depicts the icon 55a representing the corrective motion command, and the display unit 12 displays the generated program view in the program editing window 52.

[0050] 7 is a diagram showing a modified example of the programming screen 50 of the first embodiment. When the input unit 14 selects an icon 55a representing a correction operation command based on sensor information in the program editing window 52 and further inputs user operation information for selecting (the detailed menu bar of) the command setting window 54, the program editing unit 11 generates a parameter setting view for linking teaching points P4 to P7 that constitute the motion trajectory M to the icon 55a representing the correction operation command, and the display unit 12 displays the generated parameter setting view in the command setting window 54. The parameter setting view includes an add button for adding teaching points that constitute the motion trajectory M as parameters 54e of the correction operation command.

[0051] When the input unit 14 inputs user operation information for adding a teaching point P5 that constitutes the motion trajectory M in the command setting window 54, the program editing unit 11 generates a parameter setting view in which the Add button is changed to "Taught," and the display unit 12 displays the generated parameter setting view in the command setting window 54. Furthermore, in the motion trajectory window 51, the program editing unit 11 generates a motion trajectory view that identifies and depicts the added teaching point P5, and the display unit 12 displays the generated motion trajectory view in the motion trajectory window 51. This allows the user to associate the teaching point P5 with the icon 55a that represents the correction motion command in the command setting window 54 while referring to the teaching points P1 to P7 that constitute the motion trajectory M in the motion trajectory window 51, thereby enabling intuitive programming editing.

[0052] As described above, according to the machine system 1 of the first embodiment, the teaching of the motion trajectory M before correction and the setting of the corrective operation based on the sensor information can be edited on the same programming screen 50. In addition, the positions of the teaching points P4 to P7 within the correction section of the motion trajectory M to which the corrective operation is applied can be confirmed on the same programming screen 50. This allows intuitive program editing.

[0053] However, if the accuracy of the motion trajectory M before correction is poor, a phenomenon may occur in which the machine 30 moves away from the workpiece W, or conversely, the workpiece W is pushed in more than necessary. In the second embodiment, a machine system 1 that can automatically teach the motion trajectory M before correction with a simple operation will be described.

[0054] 3 again, in the machine system 1 of the second embodiment, the program editing unit 11 sends a tracing operation command based on sensor information to the operation control unit 22, and the operation control unit 22 causes the machine 30 to execute a tracing operation. The sensor information acquisition unit 21 acquires sensor information from the sensor 40 and sends the acquired sensor information to the operation control unit 22, and the operation control unit 22 generates a tracing operation correction amount based on the received sensor information, generates a tracing operation command based on the generated motion correction amount, and sends the generated tracing operation command to the machine 30, thereby repeating tracing control.

[0055] The program editing unit 11 receives sensor information from the sensor information acquiring unit 21, generates a motion correction amount based on the received sensor information, and records a scanning trajectory based on the generated motion correction amount. However, in other embodiments, the program editing unit 11 may receive a motion correction amount from the motion control unit 22 and record a scanning trajectory based on the received motion correction amount, or may receive a corrected scanning motion command from the motion control unit 22 and record a scanning trajectory based on the received scanning motion command. The program editing unit 11 automatically teaches the motion trajectory M before correction based on the recorded trajectory. The other configurations of the mechanical system 1 of the second embodiment are the same as those of the mechanical system 1 of the first embodiment, and therefore description thereof will be omitted.

[0056] 8 is a diagram showing a programming screen 50 of the second embodiment. When the input unit 14 inputs user operation information for selecting and moving an icon 55 representing a correction operation command based on sensor information from the command selection window 53 to the program editing window 52, ​​the program editing unit 11 duplicates the icon 55 representing the correction operation command and generates a program view in which an icon 55a representing the duplicated correction operation command is arranged, and the display unit 12 displays the generated program view in the program editing window 52. In addition, the program generation unit 13 creates an operation program based on the parameter settings of the correction operation command, etc.

[0057] 9 is a diagram showing a programming screen 50 of the second embodiment. When the input unit 14 selects an icon 55a representing a correction operation command based on sensor information in the program editing window 52 and further inputs user operation information for selecting the command setting window 54 (the detailed menu bar), the program editing unit 11 generates a parameter setting view for setting parameters 54a to 54d, 54g, and 54f of the correction operation command, and the display unit 12 displays the generated parameter setting view in the command setting window 54.

[0058] In addition to the above-described parameters 54a to 54d of the correction operation command, the parameter setting view includes, as parameter 54f of the correction operation command, an execution button for teaching a scanning trajectory, which causes the machine 30 to perform a scanning operation based on sensor information, records a trajectory during the scanning operation, and automatically teaches the pre-correction operation trajectory M based on the recorded trajectory. The parameter setting view also includes, as parameter 54g of the correction operation command, a traveling direction of the scanning operation. The traveling direction is the traveling direction of the machine 30 relative to the workpiece W (or tool 32). While the traveling direction is set in the X direction of the tool coordinate system C2, in other embodiments, it may be set in any axis direction of the machine coordinate system C1, workpiece coordinate system C3, user coordinate system (not shown), etc.

[0059] FIG. 10 is a diagram showing a programming screen 50 of the second embodiment. When the input unit 14 inputs user operation information for teaching a scanning trajectory in a command setting window 54, the program editing unit 11 causes the machine 30 to perform a scanning operation based on sensor information, records the trajectory during the scanning operation, converts it into a group of icons (in this example, 56a representing operation commands) representing control commands that constitute the recorded trajectory, generates a program view in which the group of icons representing the converted control commands are sandwiched between icons 55a representing corrective operation commands based on the sensor information, and the display unit 12 displays the generated program view in the program editing window 52. This allows automatic teaching of the pre-correction operation trajectory M with simple operations. The program generation unit 13 also creates an operation program based on the icons 55a representing the corrective operation commands, the group of icons representing the converted control commands, and parameter settings thereof.

[0060] In addition, in the motion trajectory window 51, the program editing unit 11 draws the automatically taught motion trajectory M, and further generates a motion trajectory view by identifying and drawing the correction section of the motion trajectory M to which the correction motion is applied, and the display unit 12 displays the generated motion trajectory view in the motion trajectory window 51.

[0061] The correction section is identified by changing the color of the motion trajectory of the correction section and the other sections, but in other embodiments, it may be identified by displaying only the motion trajectory of the correction section, or by changing the color of the mark representing the teaching points P4 to P7, or by changing the color of the identification symbol in the mark representing the teaching points P4 to P7, or by changing the shape of the mark, etc. This allows the user to check the motion trajectory M taught as the tracing trajectory in the motion trajectory window 51, thereby enabling intuitive programming editing.

[0062] Instead of sandwiching the group of icons representing the control commands taught for the scanning trajectory (icon 56a representing the operation commands in this example) between the icons 55a representing the corrective operation commands, the teaching points P4 to P7 taught for the scanning trajectory may be set as parameters of the icon 55a representing the corrective operation command. In this case, the icon 55a representing the corrective operation command becomes a standalone icon.

[0063] As described above, according to the machine system 1 of the second embodiment, the machine 30 is caused to perform a tracing operation based on sensor information, the trajectory during the tracing operation is recorded, and the pre-correction motion trajectory M is automatically taught based on the recorded trajectory, so that improvement in the accuracy of the pre-correction motion trajectory M can be expected. In other words, it is possible to prevent the machine 30 from moving away from the workpiece W or, conversely, from pushing the workpiece W in more than necessary. Furthermore, since the user can check the pre-correction motion trajectory M taught as the tracing trajectory in the motion trajectory window 51, intuitive programming editing becomes possible.

[0064] However, rather than teaching the scanning trajectory without any original motion trajectory M, it may be desirable to manually teach a rough motion trajectory M, have the machine 30 perform a scanning operation based on sensor information, record the trajectory during the scanning operation, and correct the rough motion trajectory M based on the recorded trajectory. Furthermore, by further correcting the corrected motion trajectory M, it is possible to expect an improvement in the accuracy of the motion trajectory M. In the third embodiment, a machine system 1 that corrects the original motion trajectory M will be described.

[0065] 3 again, in the machine system 1 of the third embodiment, the program editing unit 11 sends a tracing movement command including the original movement trajectory M to the movement control unit 22, and the movement control unit 22 causes the machine 30 to execute the tracing movement. The sensor information acquisition unit 21 acquires sensor information from the sensor 40 and sends the acquired sensor information to the movement control unit 22, and the movement control unit 22 generates a movement correction amount based on the received sensor information, generates a tracing movement command based on the generated movement correction amount, and sends the generated tracing movement command to the machine 30, thereby repeating the tracing control.

[0066] The program editing unit 11 receives sensor information from the sensor information acquiring unit 21, generates a motion correction amount based on the received sensor information, and records a scanning trajectory based on the generated motion correction amount; however, in other embodiments, the program editing unit 11 may receive a motion correction amount from the motion control unit 22 and record a scanning trajectory based on the received motion correction amount, or may receive a corrected scanning motion command from the motion control unit 22 and record a scanning trajectory based on the received scanning motion command. The program editing unit 11 corrects the original motion trajectory M based on the recorded trajectory. The other configurations of the mechanical system 1 of the third embodiment are the same as those of the mechanical system 1 of the first embodiment, and therefore description thereof will be omitted.

[0067] 11 is a diagram showing a programming screen 50 of the third embodiment. In the motion trajectory window 51, a rough motion trajectory M including teaching points P4 to P7 is manually taught, but in other embodiments, the motion trajectory M before correction may be automatically taught using a scanning trajectory teaching function. In the program editing window 52, ​​a group of icons representing control commands (in this example, icon 56a representing motion commands) are sandwiched between icons 55a representing correction motion commands, and the start and end positions of the correction motion commands are specified.

[0068] 12 is a diagram showing a programming screen 50 of the third embodiment. When the input unit 14 selects an icon 55a representing a correction operation command based on sensor information in the program editing window 52 and further inputs user operation information for selecting the command setting window 54 (the detailed menu bar thereof), the program editing unit 11 generates a parameter setting view for setting parameters 54a to 54d, 54h of the correction operation command, and the display unit 12 displays the generated parameter setting view in the command setting window 54.

[0069] In addition to the above-mentioned parameters 54a to 54d of the correction operation command, the parameter setting view includes, as parameter 54h of the correction operation command, an execute tracing trajectory correction button that causes the machine 30 to perform a tracing operation based on sensor information, records the trajectory during the tracing operation, and automatically corrects the original operation trajectory M based on the recorded trajectory.

[0070] When the input unit 14 inputs user operation information for executing a scanning trajectory correction in the command setting window 54, the program editing unit 11 causes the machine 30 to perform a scanning operation based on the sensor information, records the trajectory during the scanning operation, converts it into a group of icons representing control commands constituting the recorded trajectory (icons 56 a′ representing operation commands in this example), generates a program view in which the group of icons representing the control commands constituting the original motion trajectory M (icons 56 a representing operation commands in this example) are replaced with the group of icons representing the converted control commands (icons 56 a′ representing operation commands in this example), and the display unit 12 displays the generated program view in the program editing window 52. This allows an accurate motion trajectory to be generated even when a rough motion trajectory M is taught. Furthermore, further scanning trajectory correction based on the corrected motion trajectory M can be expected to improve the accuracy of the motion trajectory M. Furthermore, a motion program is created based on the icons 55 a representing the corrective motion commands, the group of icons representing the converted control commands, and parameter settings thereof.

[0071] As described above, according to the machine system 1 of the third embodiment, the machine 30 is caused to perform a tracing operation based on sensor information, the trajectory during the tracing operation is recorded, and the original motion trajectory M is automatically corrected based on the recorded trajectory, which is expected to improve the accuracy of the pre-correction motion trajectory M. Furthermore, since the user can check the motion trajectory M after the tracing trajectory correction in the motion trajectory window 51, intuitive programming editing becomes possible.

[0072] In the first to third embodiments, the machine system 1 has been described assuming that it is a machine system that deburrs the workpiece W, but the machine system 1 of these embodiments can also be applied to machine systems that perform other processes such as cutting, welding, fitting, fastening, hemming, sealing, etc. In the fourth embodiment, a brief description will be given assuming that it is a machine system 1 that fits the workpiece W1 and the workpiece W2.

[0073] 13 is a side view of a machine system 1 according to a fourth embodiment. The machine 30 transports a rod-shaped workpiece W1 and fits the workpiece W1 into a fitting hole in a workpiece W2. When creating an operation program for such a machine 30, in the operation trajectory window 51 (see FIG. 4), teaching points P1 to P4 that constitute the operation trajectory M of the machine 30 through which the tip point of the workpiece W1 passes are taught, and in the program editing window 52, ​​icons 55a that represent corrective operation commands based on sensor information are sandwiched between icons that represent control commands within a correction section of the operation trajectory M to which the corrective operation is applied (icons 56a that represent operation commands in this example), and parameters of the icons 55a that represent the corrective operation commands are set in the command setting window 54, thereby creating an operation program for performing the fitting.

[0074] That is, even when creating an operation program for machine 30 that performs fitting, intuitive program editing is possible because the teaching of the operation trajectory M before correction and the setting of the corrective operation based on sensor information can be edited on the same programming screen 50. Furthermore, even for machine systems that perform other processes such as cutting, welding, fastening, hemming, and sealing in addition to fitting, the operation program for machine 30 can be created intuitively in the same way.

[0075] 14 is a diagram showing a programming screen of the fifth embodiment. The icon 55 representing the correction operation command may be composed of two icons. That is, the icon 55 representing the correction operation command includes an icon 55-1 representing the start of the correction operation command and an icon 55-2 representing the end of the correction operation command.

[0076] When the input unit 14 inputs user operation information for selecting and moving icon 55-1 indicating the start of a correction operation command or icon 55-2 indicating the end of a correction operation command from the command selection window 53 to the program editing window 52, ​​the program editing unit 11 duplicates icon 55-1 indicating the start of a correction operation command or icon 55-2 indicating the end of a correction operation command, generates a program view in which icon 55-1a indicating the start of the duplicated correction operation command or icon 55-1b indicating the end of the duplicated correction operation command is arranged, and the display unit 12 displays the generated program view in the program editing window 52. Furthermore, the program generation unit 13 creates an operation program based on the arrangement of icon 55a indicating the start of a correction operation command and icon 55b indicating the end of a correction operation command, parameter settings of the correction operation command, etc.

[0077] In the program editing window 52, ​​when the input unit 14 inputs user operation information for moving the icon 55-1a indicating the start of a correction operation command or the icon 55-2a indicating the end of a correction operation command, the program editing unit 11 generates a program view in which a group of icons indicating control commands to which the correction operation command based on sensor information is applied (in this example, the icon 56a indicating an operation command) is sandwiched between the icon 55-1a indicating the start of the correction operation command and the icon 55-2a indicating the end of the correction operation command, and the display unit 12 displays the generated program view in the program editing window 52. Furthermore, the program generation unit 13 creates an operation program that reflects the position of the icon 55-1a indicating the start of the correction operation command and the position of the icon 55-2a indicating the end of the correction operation command.

[0078] The user operation for moving the icon 55-1a representing the start of a correction operation command or the icon 55-2a representing the end of a correction operation command and linking it to the icon 56a representing a control command may be, for example, an operation of touching and moving the icon 55-1a representing the start of a correction operation command or the icon 55-2a representing the end of a correction operation command with one finger (so-called drag and drop).

[0079] Furthermore, in the program editing window 52, ​​when the input unit 14 moves the icon 55-1a indicating the start of a corrective operation command or the icon 55-2a indicating the end of the corrective operation command and inputs user operation information to be linked to the icon 56a indicating a control command, the program editing unit 11 generates a motion trajectory view by identifying and drawing a correction section of the motion trajectory M to which the corrective operation is applied, and the display unit 12 displays the generated motion trajectory view in the motion trajectory window 51. This allows the user to specify the start and end positions of the corrective operation command in the program editing window 52 while referring to the teaching points P1 to P7 that make up the motion trajectory M in the motion trajectory window 51, thereby enabling intuitive programming editing.

[0080] The above-mentioned computer program may be provided by being recorded on a computer-readable non-transitory recording medium, such as a CD-ROM, or may be distributed via wired or wireless connections from a server device on a WAN (wide area network) or LAN (local area network).

[0081] While various embodiments have been described herein, it should be recognized that the present invention is not limited to the above-described embodiments, but rather can be modified in various ways within the scope of the following claims. [Explanation of symbols]

[0082] 1 Mechanical Systems 10 Programming device 11 Program Editorial Department 12 Display section 13 Program Generation Section 20 Control device 21 Sensor information acquisition unit 22 Operation control section 30 machines 31 Robot 32 Tools 40 sensors 41 Force Sensor 42 Visual Sensor 50 Programming Screen 51 Motion trajectory window 52 Program Edit Window 53 Command selection window 54 Command setting window 54a~54h Correction operation command parameters 55 Icon representing a correction action command based on sensor information 55-1 Icon indicating the start of a correction action command based on sensor information 55-2 Icon indicating the end of a correction action command based on sensor information 55a Icon representing a duplicated correction action command 55-1a Icon indicating the start of a duplicated correction operation command 55-2b Icon indicating the end of the duplicated correction operation command 56 Icons representing operation commands 56a Icon representing a duplicated action command 57 Timeline 58 Execution Start Line W, W1, W2 Work P1~P7 teaching points P4'~P7' Corrected teaching points L processing line M motion trajectory C1 Machine coordinate system C2 Tool coordinate system C3 work coordinate system

Claims

1. a display unit that displays a screen including a motion trajectory of a machine, a control command for the machine, and parameter settings for the control command; an input unit for inputting user operation information on the screen; a program editing unit that edits an operation program for the machine by linking, on the same screen, the teaching of the operation trajectory, the arrangement of the control commands, and parameter setting of a corrective operation command based on sensor information for correcting the operation trajectory, based on the user operation information; The parameter settings include settings regarding a correction direction, a start point, and an end point.

2. a display unit that displays a screen including a motion trajectory of a machine, a control command for the machine, and parameter settings for the control command; an input unit for inputting user operation information on the screen; a program editing unit that edits an operation program for the machine by linking, on the same screen, the teaching of the operation trajectory and parameter setting of a corrective operation command based on sensor information for correcting the operation trajectory, based on the user operation information; The parameter settings include settings regarding a correction direction, a start point, and an end point; The program editing unit generates a view in which an icon representing the control command within a correction section of the operation trajectory to which the correction operation is applied is sandwiched between icons representing correction operation commands based on the sensor information, and the display unit displays the generated view on the screen.

3. a display unit that displays a screen including a motion trajectory of a machine, a control command for the machine, and parameter settings for the control command; an input unit for inputting user operation information on the screen; a program editing unit that edits an operation program for the machine by linking, on the same screen, the teaching of the operation trajectory and parameter setting of a corrective operation command based on sensor information for correcting the operation trajectory, based on the user operation information; The parameter settings include settings regarding a correction direction, a start point, and an end point; The program editing unit generates a view that links teaching points that make up the movement trajectory to icons that represent corrective movement commands based on the sensor information, and the display unit displays the generated view on the screen.

4. a display unit that displays a screen including a motion trajectory of a machine, a control command for the machine, and parameter settings for the control command; an input unit for inputting user operation information on the screen; a program editing unit that edits an operation program for the machine by linking the teaching of the operation trajectory and parameter setting of a corrective operation command based on sensor information on the same screen based on the user operation information, the program editing unit causes the machine to perform a scanning operation based on the sensor information, records a trajectory during the scanning operation, generates a teaching point on the trajectory during the scanning operation, and generates a view including a scanning trajectory teaching function that automatically teaches the operation trajectory before correction based on the recorded trajectory; and the display unit displays the generated view on the screen. The program editing unit converts the trajectory including the teaching point into an icon representing the control command, and the display unit displays the converted icon representing the control command.

5. 5. The program creation device according to claim 4, wherein the program editing unit generates a view in which an icon representing the control command is sandwiched between icons representing correction operation commands based on the sensor information, and the display unit displays the generated view on the screen.

6. a display unit that displays a screen including a motion trajectory of a machine, a control command for the machine, and parameter settings for the control command; an input unit for inputting user operation information on the screen; a program editing unit that edits an operation program for the machine by linking, on the same screen, the teaching of the operation trajectory and parameter setting of a corrective operation command based on sensor information for correcting the operation trajectory, based on the user operation information; The parameter settings include settings regarding a correction direction, a start point, and an end point; the program editing unit causes the machine to perform a tracing operation based on the sensor information, records a trajectory during the tracing operation, and generates a view including a tracing trajectory correction function that automatically corrects the original operation trajectory based on the recorded trajectory; and the display unit displays the generated view on the screen.

7. 7. The program creation device according to claim 6, wherein the program editing unit converts the control commands constituting the recorded trajectory into icons representing the control commands, generates a view in which the icons representing the control commands constituting the original motion trajectory are replaced with the icons representing the converted control commands, and the display unit displays the generated view on the screen.

8. 8. The program creation device according to claim 1, wherein the program editing unit generates a view in a virtual space in which a shape model of the machine is placed, by identifying and drawing a correction section of the motion trajectory to which the correction operation is applied, and the display unit displays the generated view.

9. The program creation device according to claim 2 , wherein the icons representing the corrective operation command based on the sensor information include an icon representing the start of the corrective operation command and an icon representing the end of the corrective operation command.

10. 2. The program creation device according to claim 1, wherein the program editing unit is configured to edit the operation program of the machine by linking the instruction of the operation trajectory, the arrangement of the control commands, and the parameter setting of the corrective operation command based on the sensor information in a pre-divided area on the same screen based on the user operation information.

11. A display unit that displays a screen including a motion trajectory of a machine, a control command for the machine, and parameter settings for the control command; an input unit for inputting user operation information on the screen; a program editing unit that edits an operation program for the machine by linking, on the same screen, the teaching of the operation trajectory, the arrangement of the control commands, and parameter setting of a corrective operation command based on sensor information for correcting the operation trajectory, based on the user operation information; The display unit displays on the same screen a view in which a correction section of the operation trajectory to which the correction operation is applied is identified and drawn on a virtual space in which a shape model of the machine is placed, a view in which icons representing the control commands including the positions of teaching points and icons representing corrective operation commands based on sensor information are displayed side by side, and a parameter setting view of the corrective operation commands based on sensor information.

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