Robot Control Device

Abstract

A technology is provided that can reproduce the speed at the time of teaching according to the robot path at the time of teaching, and can easily change the position and speed afterwards. A robot control device 1 is provided that includes at least one storage device 11 and at least one processor 17, the storage device 11 stores position information of a robot 2, time information when the position information was stored, and an operation program for the robot 2, and the processor 17 generates an operation command including the operation speed of the robot 2 based on the position information and the time information, and generates an operation program for the robot 2 based on the generated operation command.

Description

[Technical field]

[0001] The present disclosure relates to a robot control device. [Background technology]

[0002] Conventionally, there is known a technology for generating a robot operation program using a direct teaching function that enables an operator to directly operate a robot by, for example, holding the robot arm in his / her hand (see, for example, Patent Document 1). In order to store the robot path when the robot is moved by direct teaching, it is necessary to store the position of the robot at regular intervals or at regular distances. Also, in order to reproduce the stored robot path, it is necessary to generate an operation command for each stored teaching point. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2023-38776 A Summary of the Invention [Problem to be solved by the invention]

[0004] In some cases, it may be necessary to reproduce the robot's movements, which involve varying speeds, taught by the operator in direct teaching. To do so, a technology is required to move the robot at the speed taught at the time of teaching, following the stored robot path.

[0005] In addition, there are cases where the robot's position and speed need to be fine-tuned after teaching, so a technology is needed that allows these parameters to be easily changed after the fact.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a technology that can reproduce the speed at the time of teaching according to the robot path at the time of teaching, and can easily change the position and speed afterwards. [Means for solving the problem]

[0007] The present disclosure relates to a robot control device that controls a robot, the robot control device comprising at least one memory device and at least one processor, wherein the memory device stores position information of the robot, time information when the position information was stored, and an operation program of the robot, the processor generates an operation command including an operation speed of the robot based on the position information and the time information, and generates an operation program of the robot based on the generated operation command.

[0008] The present disclosure also provides a robot control device for controlling a robot, the robot control device comprising at least one memory device and at least one processor, wherein the memory device stores position information of the robot, time information when the position information was stored, and an operation program of the robot, and the processor generates an operation command including an operation speed of the robot based on the position information and the time information, and writes the generated operation command into the operation program stored in the memory device. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram showing a robot system including a robot control device according to a first embodiment. [Diagram 2] 1 is a functional block diagram of a robot control device according to a first embodiment. FIG. [Diagram 3] 5A to 5C are diagrams for explaining a first example of processing executed by the robot control device according to the first embodiment during direct teaching. [Figure 4] 5 is a flowchart showing the procedure of a first example of processing executed by the robot control device according to the first embodiment during direct teaching. [Diagram 5] 10A to 10C are diagrams for explaining a second example of the processing executed by the robot control device according to the first embodiment during direct teaching. [Figure 6] 10 is a flowchart showing the procedure of a second example of processing executed by the robot control device according to the first embodiment during direct teaching. [Figure 7] FIG. 11 is a functional block diagram of a robot control device according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the description of the second and subsequent embodiments, the same reference numerals will be used to designate configurations common to the first and second embodiments, and descriptions thereof will be omitted as appropriate.

[0011] [First embodiment] Fig. 1 is a diagram showing a robot system 3 including a robot control device 1 according to a first embodiment. As shown in Fig. 1, the robot system 3 of this embodiment includes the robot control device 1 and a robot 2. The robot system 3 according to this embodiment has a direct teaching function that enables an operator to directly operate the robot 2 by, for example, holding the robot arm 20 in his / her hand.

[0012] The robot control device 1 is a computer that controls the operation of the robot 2 based on an operation program for processing a workpiece (not shown) that is an object to be processed. The robot control device 1 generates an operation program for the robot 2 that can reproduce the moving speed at the time of teaching according to the robot path taught by a direct teaching function, and can easily change the position and speed afterwards. The robot control device 1 will be described in detail later.

[0013] The robot 2 is, for example, a six-axis vertical articulated robot, and is equipped with a hand 21 at the tip of a robot arm 20 of the robot 2. The robot 2 is controlled by a robot control device 1, and performs various processing operations using various processing tools in addition to handling of a workpiece, which is an object.

[0014] The robot 2 also includes a plurality of state detectors 22 for detecting the position and posture of the robot 2. The state detectors 22 are composed of servo motors provided on the respective drive shafts of the robot arm 20, and position (rotation angle) detectors such as encoders attached to the respective servo motors. For convenience, only the state detector 22 for one drive shaft is shown in Fig. 1. During direct teaching, the torque, speed, and position are detected by the plurality of state detectors 22, so that the position and posture of the robot 2 are obtained, and it becomes possible to obtain a series of motion path information of the robot 2, including the robot path, speed, and stop.

[0015] Alternatively, an operating part (not shown) such as an operating handle may be provided on the wrist of the robot 2, and a force sensor may be built in to detect the force applied to the operating part by the operator, and the position and posture of the robot 2 may be acquired according to the magnitude and direction of the force detected by the force sensor.

[0016] Next, the robot control device 1 will be described in detail. Fig. 2 is a functional block diagram of the robot control device 1 according to this embodiment. The robot control device 1 of this embodiment is configured using a computer equipped with memories such as a read only memory (ROM) and a random access memory (RAM), a control processing unit (CPU), and a communication control unit, which are connected to each other via a bus, for example. The functions and operations of each functional unit described below are achieved by the cooperation of the CPU and memory mounted on the computer, and the control program stored in the memory.

[0017] The robot control device 1 may include a teaching operation panel (not shown). The teaching operation panel may include a display unit such as a monitor capable of displaying an operation program, and a touch panel or a keypad capable of inputting teaching commands and the like.

[0018] 2, the robot control device 1 includes an input device 10, a storage device 11, and a processor 17. A plurality of storage devices 11 and a plurality of processors 17 may be provided.

[0019] The input device 10 receives an input operation by an operator. The input device 10 may be configured, for example, as the teaching pendant described above.

[0020] The storage device 11 includes a position information storage unit 12 , a time information storage unit 13 , a program storage unit 14 , an external signal information storage unit 15 , and a command storage unit 16 .

[0021] The position information storage unit 12 stores the position information of the robot 2 as movement path information of the robot 2. Specifically, the position information storage unit 12 stores position information such as the rotation angle of each servo motor detected during direct teaching.

[0022] The time information storage unit 13 stores the time information when the position information storage unit 12 stores the position information during direct teaching as the movement path information of the robot 2. That is, the time information storage unit 13 stores the time information in synchronization with the position information stored in the position information storage unit 12. The time information is not limited to absolute time and may be, for example, information for a number of control cycles in addition to time information.

[0023] More specifically, the position information storage unit 12 and the time information storage unit 13 store the position information and the time information, respectively, when the robot 2 has moved a threshold distance (threshold rotation angle) or more, when the robot 2 has stopped, or when the robot 2 has started moving from a stopped state. The threshold distance may be set in advance and stored in the storage unit 11, or the input device 10 may receive an input operation by an operator and store the received arbitrary input value as the threshold distance in the storage unit 11. When the robot 2 stops, the current position information and time information of the robot 2 are stored in the position information storage unit 12 and the time information storage unit 13, respectively, regardless of the distance it has moved up to that point.

[0024] Here, in the past, depending on the motion to be taught, there were cases where it was desired to stop the robot for a certain period of time and then resume teaching, and in a method of storing the robot's position at a certain sampling period, the teaching data increased with time, requiring a huge storage capacity. It is inconvenient to divide the teaching range and teach it every time the robot is stopped, but according to this embodiment, the position information and time information while the robot 2 is stopped are not stored, so the storage capacity can be reduced, and it is possible to continuously teach a series of robot 2 motions, including stopping, according to the robot path taught by direct teaching and the moving speed during teaching.

[0025] Moreover, it is preferable that the position information storage unit 12 and the time information storage unit 13 store the position information and the time information, respectively, when the robot 2 has moved a predetermined distance (predetermined rotation angle) or more, when the robot 2 has stopped, when the robot 2 has started moving from a stopped state, and further when an external signal has changed. Examples of the external signal include an opening / closing signal of the hand 21 of the robot 2, a touch panel operation signal on a teaching operation panel, a switch pressing signal, and a signal corresponding to an action such as the operator double tapping the robot 2.

[0026] Furthermore, the position information storage unit 12 and the time information storage unit 13 may further store the position information and the time information, respectively, when the robot 2 has moved a threshold distance (threshold rotation angle) or more, the robot 2 has stopped, the robot 2 has started moving from a stopped state, an external signal has changed, and in addition, the internal information of the robot 2 has changed. Examples of the internal information of the robot 2 itself include a register value held by the robot 2 itself.

[0027] The program storage unit 14 stores an operation program for the robot 2. The program storage unit 14 stores an operation program generated by a program generation unit 18 of the processor 17, which will be described later, and also stores an operation program input from the outside by an operator or the like.

[0028] The external signal information storage unit 15 stores external signal information including changes in the external signal. Specifically, the external signal information storage unit 15 stores, for example, opening / closing information of the hand 21 attached to the robot 2, touch panel operation information on the teaching operation panel, switch pressing information, and signals corresponding to actions such as the operator double tapping the robot 2. These pieces of external signal information are stored in the external signal information storage unit 15 in synchronization with the storage of the above-mentioned position information and time information.

[0029] The command storage unit 16 stores commands that are generated in response to changes in external signals. For example, the command storage unit 16 stores a command to open the hand 21 in response to an open signal for the hand 21, and stores a command to close the hand 21 in response to a close signal for the hand 21.

[0030] Furthermore, the command storage unit 16 stores commands that are generated in response to changes in the internal information of the robot 2. For example, it stores commands that correspond to changes in register values ​​that the robot 2 itself has.

[0031] As shown in FIG. 2, the processor 17 includes a program generating unit 18 and a program editing unit 19.

[0032] The program generation unit 18 generates a movement command including the movement speed of the robot 2 based on the position information and time information, and generates a movement program for the robot 2 based on the generated movement command. Preferably, the program generation unit 18 generates a movement command including the movement speed of the robot 2 and a standby command for the robot 2 based on the position information and time information, and the program generation unit 18 generates a movement program for the robot 2 based on the generated movement command and standby command. Specifically, the program generation unit 18 refers to a group of position information and time information that are synchronously linked to each other and stored in the position information storage unit 12 and the time information storage unit 13 as movement path information for the robot 2, and generates a movement command or a standby command depending on whether the previous and next position information has changed.

[0033] When the robot 2 is operating with the previous and next position information changed, the program generation unit 18 calculates the movement speed based on the distance between the known teaching points (for example, each of the positions P[1] to P[5] described below) and the time information of each teaching point, and generates a movement command including the position information and the movement speed as parameters. Also, when the previous and next position information has not changed and the robot 2 is stopped, the program generation unit 18 generates a standby command including the stop time as a parameter.

[0034] Moreover, it is preferable that the program generation unit 18 generates an instruction corresponding to a change in the external signal based on the external signal information stored in the external signal information storage unit 15, and generates an operation program for the robot 2 based on the instruction generated and stored in the instruction storage unit 16. For example, the program generation unit 18 generates an operation program for the robot 2 based on an instruction to open the hand 21 that is generated in response to an open signal for the hand 21 stored in the external signal information storage unit 15 and stored in the instruction storage unit 16. Moreover, the program generation unit 18 generates an operation program for the robot 2 based on an instruction to close the hand 21 that is generated in response to a close signal for the hand 21 stored in the external signal information storage unit 15 and stored in the instruction storage unit 16.

[0035] Furthermore, it is preferable that the program generation unit 18 generates instructions corresponding to changes in the internal information of the robot 2, and generates an operation program for the robot 2 based on the instructions generated and stored in the instruction storage unit 16. For example, instructions corresponding to changes in register values ​​of the robot 2 itself are generated and stored, and the program generation unit 18 generates an operation program for the robot 2 based on these instructions.

[0036] The program editing unit 19 receives a command to edit the operation program of the robot 2 stored in the program storage unit 14. This enables the operator to edit the operation program of the robot 2 stored in the program storage unit 14 via the input device 10.

[0037] 3 is a diagram for explaining a first example of processing executed by the robot control device 1 according to this embodiment during direct teaching. In FIG. 3, P[1], P[2], P[3], P[4], and P[5] all represent destination positions of the robot 2. As shown in FIG. 3, the first example of processing in this embodiment is an example of an operation in which the robot 2 moves linearly from a certain starting point (not shown) through positions P[1], P[2], and P[3], stops at position P[4] for three seconds, and then moves to position P[5].

[0038] In this first example, when any of the following conditions is met: the robot 2 moves a certain distance (certain rotation angle) or more, the robot 2 stops, or the robot 2 starts moving from a stopped state, the current position information of the robot 2 is stored as the motion path information of the robot 2, and the time information at the time when the position information was stored is also stored. Then, based on the position information and time information, motion instructions and standby instructions for the robot 2 are generated, and a motion program is generated from the generated instructions.

[0039] The operation program generated in this first example is, for example, as follows: In the following operation program, all positions P[1] to P[5] meet the above conditions and constitute teaching points, and position information and time information are stored at each teaching point.

[0040] (Example of operation program) LP[1] 1000mm / sec LP[2] 500mm / sec LP[3] 1000mm / sec LP[4] 250mm / sec WAIT 3.0 [sec] LP[5] 1000mm / sec

[0041] In the above operation program, L represents linear movement. The distance information between each of the above positions is acquired and grasped by the robot control device 1, and the speed parameter (mm / sec) of the operation command corresponding to each position is set from the time information between the start point and position P[1], the time information between position P[1] and position P[2], the time information between position P[2] and position P[3], the time information between position P[3] and position P[4], and the time information between position P[4] and position P[5]. In addition, the standby time parameter (sec) of the standby command is set from the time information from when the robot 2 stops at position P[4] to when it starts moving.

[0042] As described above, in this embodiment, an operation command or a standby command is generated for each of the positions (teaching points) P[1] to P[5] where the position information and time information are stored. Therefore, after teaching, parameters such as position data, operation speed, and standby time can be easily adjusted and changed.

[0043] 4 is a flowchart showing the procedure of a first example of processing executed by the robot control device 1 according to this embodiment during direct teaching. This processing is repeatedly executed at a predetermined control period during direct teaching.

[0044] In step S11, it is determined whether the robot 2 has moved a certain distance (certain rotation angle) or more, the robot 2 has stopped, or the robot 2 has started moving from a stopped state. If the determination is YES, the process proceeds to S12, and if the determination is NO, the determination in step S11 is repeated.

[0045] In step S12, the current position information of the robot 2 and time information synchronized with the position information storage are stored. That is, the current position information and time information of the robot 2 are stored in the position information storage unit 12 and the time information storage unit 13, respectively, depending on whether the robot 2 has moved a certain distance (certain rotation angle) or more, whether the robot 2 has stopped, or whether the robot 2 has started moving from a stopped state. Note that when the robot 2 has stopped, the current position information and time information of the robot 2 are stored in the position information storage unit 12 and the time information storage unit 13, respectively, regardless of the distance it has moved up to that point. Thereafter, the process proceeds to step S13.

[0046] In step S13, it is determined whether the previous and next position information has changed. Specifically, the information group of the position information and time information that have been synchronously linked and stored in step S12 is referred to as the movement path information of the robot 2, and it is determined whether the previous and next position information has changed. If this determination is YES, the process proceeds to step S14, and if NO, the process proceeds to step S15.

[0047] In step S14, since it is determined in step S13 that the previous and next position information has changed, the operation speed is calculated from the distance between each position (teaching point) and the time information to generate an operation command. After that, the process proceeds to step S16.

[0048] In step S15, since it is determined in step S13 that the previous and next position information has not changed, a standby command is generated from the time information of each position (teaching point), and then the process proceeds to step S16.

[0049] In step S16, an operation program for the robot 2 is generated based on the operation command generated in step S14 and the standby command generated in step S15. After that, this process ends.

[0050] Fig. 5 is a diagram for explaining a second example of processing executed by the robot control device 1 according to this embodiment during direct teaching. As in Fig. 3, P[1] to P[5] in Fig. 5 all represent destination positions of the robot 2. As shown in Fig. 5, the second example of processing in this embodiment is an example of operation in which the robot 2 moves linearly from a certain starting point (not shown) through position P[1] to position P[5], and also opens the hand 21 at position P[3] and stops for one second, and closes the hand 21 at position P[4] and stops for one second.

[0051] In this second example, when any of the following conditions is met: the robot 2 moves a certain distance (certain rotation angle) or more, the robot 2 stops, the robot 2 starts moving from a stopped state, or an external signal, such as a hand open / close signal, changes, the current position information of the robot 2 is stored as the motion path information of the robot 2, and the time information at the time when the position information was stored is also stored. Then, based on the position information and time information, motion instructions and standby instructions for the robot 2 are generated, and a motion program is generated from the generated instructions.

[0052] The operation program generated in the second example is, for example, as follows: In the operation program below, all positions P[1] to P[5] meet the above conditions and constitute teaching points, and position information and time information are stored for each teaching point.

[0053] (Example of operation program) LP[1] 1000mm / sec LP[2] 500mm / sec LP[3] 1000mm / sec hand_open WAIT 1.0 [sec] LP[4] 250mm / sec hand_close WAIT 1.0 [sec] LP[5] 1000mm / sec

[0054] As in the first example described above, in the above operation program, L represents linear movement, and the speed parameter (mm / sec) of the operation command corresponding to each position is set based on the distance information and time information between each position. The wait time parameter (sec) of the wait command is set based on the time information from when the robot 2 stops at each of positions P[3] and P[4] until it starts moving. The command to open the hand 21 (hand_open) is set in response to a change from a close signal to an open signal when the hand 21 changes from a closed state to an open state, and the command to close the hand 21 (hand_close) is set in response to a change from an open signal to a close signal when the hand 21 changes from an open state to a closed state.

[0055] 6 is a flowchart showing the procedure of a second example of the process executed by the robot control device 1 according to this embodiment during direct teaching. This process is repeatedly executed at a predetermined control period during direct teaching.

[0056] In step S21, it is determined whether or not any of the following conditions apply: the robot 2 has moved a certain distance (certain rotation angle) or more, the robot 2 has stopped, the robot 2 has started moving from a stopped state, or an external signal has changed. If this determination is YES, the process proceeds to S22, and if NO, the determination in step S21 is repeated.

[0057] In step S22, the current position information of the robot 2, the time information synchronized when the position information was stored, and the external signal information are stored. That is, depending on whether any of the following conditions is met: the robot 2 has moved a certain distance (certain rotation angle) or more, the robot 2 has stopped, the robot 2 has started moving from a stopped state, or the external signal has changed, the current position information and time information of the robot 2 are stored in the position information storage unit 12 and the time information storage unit 13, respectively, and the external signal information is stored in the external signal information storage unit 14. Part 15When the robot 2 stops, the current position information and time information of the robot 2 are stored in the position information storage unit 12 and the time information storage unit 13, respectively, regardless of the distance traveled up to that point. After that, the process proceeds to step S23.

[0058] Step S23 is similar to step S13 in FIG. 4, step S24 is similar to step S14 in FIG. 4, and step S25 is similar to step S15 in FIG.

[0059] In step S26, it is determined whether or not an external signal has changed. For example, it is determined whether or not an external signal, such as an open / close signal for the hand 21, has changed. If this determination is YES, the process proceeds to step S27, and if this determination is NO, the process proceeds to step S28.

[0060] In step S27, a command corresponding to the change in the external signal is generated. For example, a command to open the hand 21 (hand_open) is generated in response to a change from a close signal to an open signal when the hand 21 changes from a closed state to an open state. Also, a command to close the hand 21 (hand_close) is generated in response to a change from an open signal to a close signal when the hand 21 changes from an open state to a closed state. Then, the process proceeds to step S28.

[0061] In step S28, an operation program for the robot 2 is generated based on the operation command generated in step S24, the standby command generated in step S25, or the command corresponding to the change in the external signal generated in step S27. After that, this process ends.

[0062] As a third example of the process executed by the robot control device 1 according to this embodiment during direct teaching, the position information and time information may be stored using a change in the internal information of the robot 2 itself as a trigger. Specifically, in the second example described above, a flow for determining whether the internal information of the robot 2 has changed may be added, and if the internal information has changed, commands corresponding to the change in the internal information may be generated, and an operation program may be generated based on each of the generated commands.

[0063] According to this embodiment, the following effects are achieved.

[0064] In this embodiment, the storage device 11 stores the position information of the robot 2, the time information when the position information was stored, and the operation program of the robot 2. The processor 17 generates an operation command including the operation speed of the robot 2 based on the position information and the time information, and generates an operation program of the robot 2 based on the generated operation command. This makes it possible to generate an operation command including the position information and the operation speed as parameters based on the position information and the time information that are synchronously linked to each other, and to generate a standby command including a stop time as a parameter. Therefore, according to this embodiment, the speed at the time of teaching can be reproduced according to the robot path at the time of direct teaching. In addition, since a program is created on an instruction basis and the operation command includes the position information and the operation speed as parameters, the position and the operation speed can be easily adjusted and changed by referring to the operation command after teaching.

[0065] In this embodiment, the processor 17 further generates a standby command for the robot 2 based on the position information and time information, and generates a motion program for the robot 2 based on the generated motion command and standby command. This allows a motion command including position information and motion speed as parameters to be generated based on the position information and time information that are synchronously linked to each other, and a standby command including a stop time as a parameter to be generated. Therefore, according to this embodiment, a series of motions of the robot 2, including stopping, can be continuously taught according to the robot path and speed during direct teaching. In addition, since a program is created in units of commands and the motion command includes position information and motion speed as parameters, the position and motion speed can be easily adjusted and changed by referring to the motion command after teaching, and since the standby command includes a standby time as a parameter, the standby time can be easily adjusted and changed by referring to the standby command after teaching.

[0066] In this embodiment, the storage device 11 stores the position information and the time information when the robot 2 has moved a threshold distance or more, when the robot 2 has stopped, or when the robot 2 has started moving. As a result, the position information and the time information are stored according to the distance the robot 2 has moved, and the position information and the time information are not stored while the robot 2 is stopped, and the storage capacity can be reduced. Conventionally, depending on the operation to be taught, there are cases where the robot 2 is stopped for a certain period of time and then the teaching is resumed. In a method of storing the position of the robot 2 at a certain sampling period, the teaching data increases with time, so a huge storage capacity is required, while it is inconvenient to divide the teaching range and teach every time the robot 2 is stopped. However, according to this embodiment, the storage capacity can be reduced, so a series of operations including stopping can be taught continuously without dividing the teaching range, improving the efficiency of the teaching work.

[0067] In this embodiment, an input device 10 that accepts an input operation by an operator is further provided, and the input value accepted by the input device 10 is stored as a threshold distance in the storage device 11. This allows the operator to appropriately set and change the threshold distance that is used to determine whether or not the robot 2 has moved the threshold distance or more, which is a trigger for storing the position information and time information.

[0068] In this embodiment, the storage device 11 stores position information and time information in response to changes in the external signal. The storage device 11 also stores instructions to be generated in response to changes in the external signal, and the processor 17 generates instructions corresponding to the changes in the external signal based on the external signal information, and generates an operation program for the robot 2 based on the generated instructions. This makes it possible to generate an operation program that includes instructions corresponding to changes in the external signal, such as an opening and closing command for the hand 21, in addition to operation commands and standby commands.

[0069] In this embodiment, the storage device 11 stores position information and time information in response to changes in the internal information of the robot 2. The storage device 11 also stores instructions to be generated in response to changes in the internal information, and the processor 17 generates instructions in response to the changes in the internal information and generates an operation program for the robot 2 based on the generated instructions. This makes it possible to generate an operation program that includes instructions in response to changes in the internal information in addition to operation instructions, standby instructions, and instructions in response to changes in external signals.

[0070] In this embodiment, the processor 17 receives a command to edit the operation program of the robot 2 stored in the storage device 11. This allows the operator to freely edit the operation program of the robot 2 stored in the program storage unit 14 via the input device 10, for example.

[0071] [Second embodiment] 7 is a functional block diagram of a robot control device 1A according to the second embodiment. The robot control device 1A according to this embodiment is different from the robot control device 1 according to the first embodiment in that the program generating unit 18 is replaced with a program writing unit 18A, and other configurations are the same as those of the first embodiment.

[0072] The program writing unit 18A of this embodiment generates an operation command including the motion speed of the robot 2 based on the above-mentioned position information and time information, and writes the generated operation command into the operation program stored in the program storage unit 14. Preferably, the program writing unit 18A of this embodiment generates an operation command including the motion speed of the robot 2 and a standby command for the robot 2 based on the above-mentioned position information and time information, and writes the generated operation command and standby command into the operation program stored in the program storage unit 14. In addition, it is preferable that the program writing unit 18A writes the command stored in the command storage unit 16 into the operation program stored in the program storage unit 14 based on the external signal information stored in the external signal information storage unit 15. Furthermore, the program writing unit 18A may write a command corresponding to a change in the internal information of the robot 2 into the operation program stored in the program storage unit 14.

[0073] Therefore, the process executed by the robot control device 1A according to this embodiment during direct teaching is basically the same as that of the first embodiment, with the only difference being that whereas in the first embodiment, an operation program is generated, in this embodiment, the control device 1A writes information into the operation program. Therefore, according to this embodiment, the same effects as those of the first embodiment can be achieved.

[0074] Although the present disclosure has been described in detail, the present disclosure is not limited to the above-mentioned individual embodiments. Various additions, replacements, modifications, partial deletions, etc. are possible for these embodiments within the scope of the gist of the present disclosure, or within the scope of the gist of the present disclosure derived from the contents described in the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-mentioned embodiments, the order of each operation and the order of each process are shown as examples, and are not limited to these. The same applies when numerical values ​​or formulas are used in the description of the above-mentioned embodiments.

[0075] The following supplementary notes are further disclosed regarding the above-described embodiment and modified examples. (Appendix 1) A robot control device (1) for controlling a robot (2), At least one storage device (11); At least one processor (17); The storage device (11) Position information of the robot (2); time information when the position information was stored; and An operation program for the robot (2), The processor (17) A robot control device (1) that generates an operation command including a movement speed of the robot (2) based on the position information and the time information, and generates an operation program for the robot (2) based on the generated operation command.

[0076] (Appendix 2) In the robot control device (1), The processor (17) further generates a waiting command for the robot (2) based on the position information and the time information, and generates an operation program for the robot (2) based on the generated operation command and waiting command.

[0077] (Appendix 3) In the robot control device (1), The storage device (11) stores the position information and the time information when any of the following occurs: the robot (2) has moved a threshold distance or more, the robot (2) has stopped, or the robot (2) has started moving.

[0078] (Appendix 4) In the robot control device (1), The apparatus further includes an input device (10) for receiving an input operation by an operator, The storage device (11) stores the input value received by the input device (10) as the threshold distance.

[0079] (Appendix 5) In the robot control device (1), The storage device (11) stores the position information and the time information in response to a change in an external signal.

[0080] (Appendix 6) In the robot control device (1), The storage device (11) stores external signal information including changes in the external signal.

[0081] (Appendix 7) In the robot control device (1), The storage device (11) stores an instruction to be generated in response to a change in the external signal, The processor (17) generates commands corresponding to changes in the external signal based on the external signal information, and generates an operation program for the robot (2) based on the generated commands.

[0082] (Appendix 8) In the robot control device (1), The storage device (11) stores the position information and the time information in response to a change in internal information of the robot (2).

[0083] (Appendix 9) In the robot control device (1), The storage device (11) stores commands to be generated in response to changes in internal information of the robot (2); The processor (17) generates commands corresponding to changes in the internal information of the robot (2), and generates an operation program for the robot (2) based on the generated commands.

[0084] (Appendix 10) In the robot control device (1), The processor (17) receives a command to edit the operation program of the robot (2) stored in the storage device (11).

[0085] (Appendix 11) A robot control device (1A) for controlling a robot (2), At least one storage device (11); At least one processor (17A), The storage device (11) Position information of the robot (2); time information when the position information was stored; and An operation program for the robot (2), The processor (17A) A robot control device (1A) that generates an operation command including a movement speed of the robot (2) based on the position information and the time information, and writes the generated operation command into the operation program stored in the storage device (11).

[0086] (Appendix 12) In the robot control device (1A), The processor (17A) further generates a waiting command for the robot (2) based on the position information and the time information, and writes the generated operation command and the waiting command into the operation program stored in the storage device (11).

[0087] (Appendix 13) In the robot control device (1A), The storage device (11) stores the position information and the time information when any of the following occurs: the robot (2) has moved a predetermined distance or more, the robot (2) has stopped, or the robot (2) has started moving.

[0088] (Appendix 14) In the robot control device (1A), The apparatus further includes an input device (10) for receiving an input operation by an operator, The storage device (11) stores the input value received by the input device (10) as the threshold distance.

[0089] (Appendix 15) In the robot control device (1A), The storage device (11) stores the position information and the time information in response to a change in an external signal.

[0090] (Appendix 16) In the robot control device (1A), The storage device (11) stores external signal information including changes in the external signal.

[0091] (Appendix 17) In the robot control device (1A), The storage device (11) stores an instruction to be written into the operating program in response to a change in the external signal, The processor (17A) writes the stored instructions into the operating program based on the external signal information.

[0092] (Appendix 18) In the robot control device (1A), The storage device (11) stores the position information and the time information in response to a change in internal information of the robot (2).

[0093] (Appendix 19) In the robot control device (1A), The storage device (11) stores commands to be generated in response to changes in internal information of the robot (2); The processor (17A) generates a command corresponding to a change in the internal information of the robot (2), and writes the generated command into the operation program.

[0094] (Appendix 20) In the robot control device (1A), The processor (17A) receives a command to edit the operation program of the robot (2) stored in the storage device (11). [Explanation of symbols]

[0095] 1,1A Robot control device 2. Robot 3. Robot System 10 Input Devices 11 Storage device 12 Location information storage section 13 Time information storage unit 14 Program memory section 15 External signal information storage unit 16 Instruction storage 17,17A Processor 18 Program Generation Section 18A Program writing section 19 Program Editorial Department 20 Robot Arm 21 Hands 22 State Detector

Claims

1. A robot control device for controlling a robot, At least one storage device; At least one processor; The storage device includes: Position information of the robot; time information when the position information was stored; and A motion program for the robot is stored; The processor, A robot control device that generates an operation command including a movement speed of the robot based on the position information and the time information, and generates an operation program for the robot based on the generated operation command.

2. The robot control device according to claim 1 , wherein the processor further generates a standby command for the robot based on the position information and the time information, and generates an operation program for the robot based on the generated operation command and standby command.

3. 3. The robot control device according to claim 1, wherein the storage device stores the position information and the time information when any of the following occurs: the robot has moved a threshold distance or more, the robot has stopped, or the robot has started moving.

4. An input device that accepts an input operation by an operator is further provided, The robot control device according to claim 3 , wherein the storage device stores an input value received by the input device as the threshold distance.

5. The robot control device according to claim 3 , wherein the storage device stores the position information and the time information in response to a change in an external signal.

6. The robot control device according to claim 5 , wherein the storage device stores external signal information including a change in the external signal.

7. The storage device stores an instruction to be generated in response to a change in the external signal; The robot control device according to claim 6 , wherein the processor generates an instruction corresponding to a change in the external signal based on the external signal information, and generates an operation program for the robot based on the generated instruction.

8. The robot control device according to claim 3 , wherein the storage device stores the position information and the time information in response to a change in internal information of the robot.

9. the storage device stores an instruction to be generated in response to a change in internal information of the robot; The robot control device according to claim 8 , wherein the processor generates an instruction corresponding to a change in internal information of the robot, and generates an operation program for the robot based on the generated instruction.

10. The robot control device according to claim 1 , wherein the processor receives a command to edit an operation program of the robot stored in the storage device.

11. A robot control device for controlling a robot, At least one storage device; At least one processor; The storage device includes: Position information of the robot; time information when the position information was stored; and A motion program for the robot is stored; The processor, A robot control device that generates an operation command including a motion speed of the robot based on the position information and the time information, and writes the generated operation command into the operation program stored in the storage device.

12. The robot control device according to claim 11, wherein the processor further generates a standby command for the robot based on the position information and the time information, and writes the generated operation command and standby command into the operation program stored in the storage device.

13. 13. The robot control device according to claim 11, wherein the storage device stores the position information and the time information when any of the following occurs: the robot has moved a threshold distance or more, the robot has stopped, or the robot has started moving.

14. An input device that accepts an input operation by an operator is further provided, The robot control device according to claim 13 , wherein the storage device stores an input value received by the input device as the threshold distance.

15. The robot control device according to claim 13 , wherein the storage device stores the position information and the time information in response to a change in an external signal.

16. The robot control device according to claim 15 , wherein the storage device stores external signal information including a change in the external signal.

17. the storage device stores an instruction to be written into the operating program in response to a change in the external signal; The robot controller according to claim 16, wherein the processor writes the stored instructions into the operating program based on the external signal information.

18. The robot control device according to claim 13 , wherein the storage device stores the position information and the time information in response to a change in internal information of the robot.

19. the storage device stores an instruction to be generated in response to a change in internal information of the robot; The robot control device according to claim 18, wherein the processor generates an instruction corresponding to a change in internal information of the robot, and writes the generated instruction into the operation program.

20. The robot control device according to claim 11 , wherein the processor receives a command to edit an operation program of the robot stored in the storage device.

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