Terminal device

Abstract

[Project] Provides a terminal device capable of improving the visibility of a screen displaying a list of work programs. [Solution] The terminal device is a terminal device that teaches the operation of an industrial robot, and is equipped with a display control unit (311) that displays a list of images corresponding to the work content of each work program for each work program that defines the operation of the industrial robot.

Description

Technology Field

[0001] The present invention relates to a terminal device. Background Technology

[0002] Patent Document 1 below discloses a robot control device that displays a list of work programs related to a work program along with related information. This robot control device searches for work programs related to a work program, stores them in a related program memory means, displays a list of work programs based on the related program memory means, and can arbitrarily choose to display only the selected work programs. Prior art literature

[0003] Japanese Patent Publication No. 2003-241807 The problem to be solved

[0004] However, in the programming device of Patent Document 1, the visibility of the screen displaying a list of work programs is not sufficiently high.

[0005] Therefore, the present invention aims to provide a terminal device capable of improving the visibility of a screen displaying a list of work programs. means of solving the problem

[0006] A terminal device according to one embodiment of the present invention is a terminal device for teaching the operation of an industrial robot, and comprises a display control unit that displays images corresponding to the work content of each work program in a list for each of the work programs that define the operation of the industrial robot.

[0007] According to this mode, the user can easily grasp the work content of each of the multiple work programs from the image.

[0008] In the above embodiment, the display control unit may display identification information corresponding to each of a plurality of work programs in a list along with an image.

[0009] According to this mode, the user can more easily identify multiple work programs.

[0010] In the above embodiment, the terminal device may further comprise a receiving unit for receiving a selection from a user for at least one of a plurality of work programs, and the display control unit may also display a screen for executing and / or editing a target work program, which is a work program selected by the user among the plurality of work programs.

[0011] According to this mode, it becomes possible to easily transition to a screen for running and / or editing a work program.

[0012] In the above embodiment, the image may represent a workpiece that is the subject of work by an industrial robot.

[0013] According to this mode, the user can more easily grasp the work content of multiple work programs.

[0014] In the above embodiment, the image may be a moving image and / or trajectory representing the movement of an industrial robot.

[0015] According to this mode, the user can more easily grasp the work content of multiple work programs.

[0016] In the above embodiment, the display control unit may also display a screen for executing and / or editing a different work program that is different from a plurality of work programs, and the terminal device may further be provided with an image setting unit that displays a screen for setting an image corresponding to the work content of another work program by receiving a predetermined operation from a user.

[0017] According to this mode, the user can easily set the image of another work program.

[0018] In the above embodiment, after setting an image corresponding to the work content of another work program, the display control unit may add said image to a list and display it.

[0019] According to this mode, it becomes possible to add work programs created by the user to the list.

[0020] In the above embodiment, the terminal device may further comprise a related part that associates information regarding the result of a task based on a task program with the task program for each of the plurality of task programs.

[0021] According to this mode, the user can obtain additional information regarding the results in addition to the work content of the work program. Effects of the invention

[0022] According to the present invention, a terminal device capable of improving the visibility of a screen displaying a list of work programs can be provided. Brief explanation of the drawing

[0023] FIG. 1 is a drawing illustrating the configuration of a robot system including a teaching device regarding an embodiment. Figure 2 is an example of a screen displayed on a display unit. Figure 3 is an example of a screen displayed on a display unit. Figure 4 is an example of a screen displayed on a display unit. Figure 5 is an example of a screen displayed on a display unit. Figure 6 is an example of a screen displayed on a display unit. FIG. 7 is a flowchart illustrating the operation of a teaching device regarding an embodiment. Specific details for implementing the invention

[0024] Suitable embodiments of the present invention will be described with reference to the attached drawings. In addition, in each drawing, the same reference numeral indicates that the components have the same or similar configuration. Furthermore, since the drawings are schematic, the dimensions or proportions of each component may differ from the actual ones.

[0025] FIG. 1 is a diagram illustrating the configuration of a robot system (100) including a teaching device (3) according to an embodiment. The robot system (100) comprises, for example, a robot control device (1), a manipulator (2), a teaching device (3), an imaging unit (4), and a display unit (5). Additionally, the imaging unit (4) and the display unit (5) may be configured to be included in the teaching device (3). The manipulator (2) may be any of the first manipulator (21), the second manipulator (22), and the third manipulator (23), each having different work contents. In the following, when the first manipulator (21), the second manipulator (22), and the third manipulator (23) are not specifically distinguished, or when they are collectively referred to as "manipulator (2)," they may simply be referred to as "manipulator (2)." The manipulator (2) is an example of an industrial robot. The teaching device (3) is an example of a terminal device.

[0026] The robot control device (1) and the teaching device (3), the robot control device (1) and the manipulator (2), and the teaching device (3) and the imaging unit (4) and display unit (5) are connected by a cable or wireless communication, etc.

[0027] The manipulator (2) is a welding robot that performs arc welding on a workpiece (base material) according to the welding conditions set in the robot control device (1). The manipulator (2) has a multi-joint arm provided on a base member fixed to, for example, the floor of a factory, and a welding torch (work tool) connected to the tip of the multi-joint arm as one of the work tools.

[0028] The manipulator (2) is a collaborative robot designed for joint work with a person and can operate according to an external force. A worker may directly operate the manipulator (2) by applying an external force to it directly with their hand, thereby moving the manipulator (2) according to the external force. Furthermore, the industrial robot of the present invention includes both a robot requiring a safety fence that is not designed for cooperation with a person and a collaborative robot designed for cooperation with a person.

[0029] The robot control device (1) is a control unit that controls the operation of the manipulator (2) according to pre-set welding conditions. The welding conditions include data items such as, for example, welding conditions, welding start position, welding end position, welding distance, and the position and attitude of the welding torch. The welding conditions include data items such as, for example, welding current, welding voltage, welding speed, wire feed speed, and the thickness of the workpiece.

[0030] The robot control device (1) is equipped with, for example, a control unit (11), a memory unit (12), and a communication unit (13). The control unit (11) is a processor that controls the manipulator (2) by executing a work program, etc., stored in the memory unit (12).

[0031] The memory unit (12) is a computer-readable recording medium and stores a program for realizing various functions of the robot control device (1) and various data used in the program. The communication unit (13) controls the communication of the manipulator (2) or teaching device (3) connected via a network, etc., through a communication interface.

[0032] Additionally, the robot control device (1) may further be equipped with a welding power supply unit. The welding power supply unit supplies welding current and welding voltage, etc., to the manipulator (2) according to predetermined welding conditions to generate an arc between the tip of the welding wire and the workpiece, for example. Additionally, the welding power supply unit may be provided separately from the robot control device (1).

[0033] The teaching device (3) is a device that performs processing, etc., when a worker (user) teaches the operation of the manipulator (2), and is, for example, a tablet-type teach pendant. The teaching device (3) is equipped with, for example, a control unit (31), a memory unit (32), and a communication unit (33).

[0034] The control unit (31) is a processor and controls each part of the teaching device (3) by executing a program stored in the memory unit (32). The functions of the control unit (31) will be described later.

[0035] The memory unit (32) is a computer-readable recording medium and stores a program for realizing various functions of the teaching device (3) and various data used in the program. The communication unit (33) controls communication with the robot control device (1), the imaging unit (4), and the display unit (5) connected via a network through a communication interface.

[0036] The imaging unit (4) is, for example, a 3D camera equipped with a distance measuring sensor and also has the function of a 2D camera. It is preferable that the imaging unit (4) be positioned in a location where it can photograph at least a workspace including a workpiece. In addition, the imaging unit (4) may be provided in the teaching device (3).

[0037] A distance measuring sensor is a sensor capable of measuring the distance to an object. Examples of distance measuring sensors that can be used include LiDAR (Light Detection and Ranging) sensors, millimeter wave sensors, and ultrasonic sensors.

[0038] Here, the imaging unit (4) does not necessarily need to be equipped with a distance measuring sensor; it may be equipped with a distance measuring sensor separately from the imaging unit (4), or the distance measuring sensor may be omitted. If the distance measuring sensor is omitted, it is preferable to calculate three-dimensional coordinate data corresponding to the object based on multiple images of the object captured from multiple different locations. In this case, a known three-dimensional measurement method based on the stereo method may be used.

[0039] The display unit (5) is a display device having, for example, a touch panel, and displays an image (2D and 3D) of a subject captured by the imaging unit (4), and receives input such as operation instructions from an operator. Additionally, the display unit (5) may be provided in the teaching device (3).

[0040] As illustrated in FIG. 1, the control unit (31) of the teaching device (3) includes, as a functional configuration, for example, a display control unit (311), a reception unit (312), an image setting unit (313), and a related unit (314).

[0041] Hereinafter, with reference to FIGS. 2 to 7, functions that can be realized based on their configurations will be described. In addition, FIGS. 2 to 6 illustrate a series of screen transition examples.

[0042] FIG. 2 is a drawing for explaining an example of a screen (5S) displayed by a display control unit (311). The screen (5S) of FIG. 2 is an example of a screen (hereinafter referred to as the "execution / edit screen") on which an operator can execute and / or edit a work program.

[0043] In the screen (5S) of FIG. 2, a virtual model (2m1) of the first manipulator (21) is displayed. The display control unit (311) may display the virtual model of the first manipulator (21) in conjunction with the real first manipulator (21), or may display it without being linked with the real first manipulator (21). Additionally, the virtual model may be an image, a drawing, a real-life image, etc.

[0044] On the screen (5S), a work (w) to be worked on by the first manipulator (21), a program area (5c) corresponding to the program screen, an operation panel area (5d) corresponding to the operation panel screen, an icon area (5e), ​​and a work program list display button (5f) are also displayed.

[0045] The program area (5c) is switched between display and non-display by switching the display switching button (5a) located at the bottom left end of the screen (5S) on and off. The control panel area (5d) is switched between display and non-display by switching the display switching button (5b) located at the bottom right end of the screen (5S) on and off.

[0046] The program area (5c) is an area for performing so-called visual programming, which involves arranging blocks to define each command of a work program in the order of operation. The work program is composed of command groups such as, for example, movement commands or welding commands.

[0047] The control panel area (5d) is an area for manipulating the position and orientation of the virtual model (2m1). Specifically, in the control panel area (5d), the X coordinate, Y coordinate, Z coordinate, roll angle R, pitch angle P, and yaw angle Y of the robot coordinate system can be set for each axis of the first manipulator (21). The position and orientation of the virtual model (2m1) change according to the values ​​set in this control panel area (5d).

[0048] The icon area (5e) is an area for displaying icons to switch the display state of the execution editing screen. As icons provided in the icon area (5e), ​​there are, for example, an icon for switching between displaying and not displaying weld lines, an icon for switching between displaying and not displaying virtual models (2m1), and an icon for switching between 3D display and 2D display.

[0049] The work program list display button (5f) is a button that allows the operator to transition to a screen displaying a list of multiple work programs (hereinafter simply referred to as the "work program list") by pressing it. Additionally, the name of the work program currently displayed on the execution editing screen is displayed on the work program list display button (5f). In this example, "Work P1" is displayed as the name of the work program.

[0050] The shooting start button (5g) is a button that enables the imaging unit (4) of the teaching device (3) to function by being pressed by the operator. By this button, the operator can transition to a screen that captures an image corresponding to the work content of the work program displayed on the execution editing screen at that time.

[0051] Referring to FIG. 3, an example of a display control unit (311) displaying an image corresponding to the work content of a work program for each of a plurality of work programs that define the operation of the manipulator (2), and an example of displaying identification information corresponding to each of the plurality of work programs together with the image, will be described. FIG. 3 is a drawing illustrating an example of a screen (5S) displayed when the receiving unit (312) receives a press on the work program list display button (5f) in the screen (5S) of FIG. 2. In the screen (5S) of FIG. 3, a work program list (5A), a new button (5B), a duplicate button (5C), a delete button (5D), an open button (5E), and an information change button (5F) are displayed.

[0052] The work program list (5A) displays, for each of the multiple work programs that define the operation of the manipulator (2), images corresponding to the work content of the said work program in a list. The work program list (5A) regarding one embodiment displays, for each work program, the name of the said work program (an example of identification information), a number assigned to the said work program (another example of identification information), the number of steps of the said work program, a comment that can be set by the worker for the said work program, the update date when the worker last changed the information of the said work program, and images corresponding to the work content of the said work program.

[0053] In the list of work programs (5A), the editing icon (50) is displayed in relation to the work program that was displayed on the execution editing screen immediately prior. Since the execution editing screen of a work program named "Work P1" was open in the screen of Fig. 2 (5S) immediately prior to transitioning to the screen of Fig. 3 (5S), the editing icon (50) in the screen of Fig. 3 (5S) is displayed in relation to the said work program.

[0054] In the work program list (5A), the frame (51) is displayed in relation to the work program that the worker has tentatively selected. The worker can move the frame (51) up and down on the work program list (5A) by operating the teaching device (3). In the screen (5S) of FIG. 3, an example is shown in which a work program named "Work P2" is tentatively selected.

[0055] In the work program list (5A), for each of the multiple work programs, an image (image (53), image (54) and image (55)) corresponding to the work content of the said work program is displayed.

[0056] The image (53) shows a work (w). This illustrates that when the first manipulator (21) executes a work program named "Work P1", it performs work on the work (w). The image (53) is an example of an image showing a work that is the target of work by the manipulator (2).

[0057] The image (54) shows a virtual model (2m2) of the second manipulator (22). This indicates that a work program named "Work P2" is executed by the second manipulator (22) represented by the virtual model (2m2).

[0058] The image (55) displays a thumbnail of a moving image showing the operation of a virtual model (2m2) of the second manipulator (22). This indicates that the moving image can be played on the teaching device (3) by pressing the image (55). Additionally, the thumbnail is an example of an image showing a moving image. The image (55) is an example of an image regarding a moving image showing the operation of the manipulator (2).

[0059] Additionally, although not shown, the image may be of a trajectory representing the movement of the manipulator (2) (e.g., the trajectory of the welding tool moving from the welding start position to the welding end position).

[0060] The New button (5B) is a button for creating a new work program. The Duplicate button (5C) is a button for duplicating a work program that is tentatively selected in the work program list (5A) (in the example of FIG. 3, a work program named "Work P2"). The Delete button (5D) is a button for deleting a work program that is tentatively selected in the work program list (5A). The Open button (5E) is a button for transitioning to the execution editing screen of a work program that is tentatively selected in the work program list (5A). The Information Change button (5F) is a button for transitioning to a screen for changing various information (e.g., name, number, comment, etc.) of a work program that is tentatively selected in the work program list (5A).

[0061] Here, as an example, the operator intends to display the execution editing screen of the work program of the second manipulator (22) through the work program list (5A). According to the work program list (5A) in one embodiment, the operator can find the image (54) in which the virtual model (2m2) of the second manipulator (22) is displayed by referring to each image (image (53), image (54), and image (55)). By doing so, the operator can easily identify the work program named "Work P2," which is the work program of the second manipulator (22), from the work program list (5A).

[0062] Referring to FIG. 4, an example is described in which a receiving unit (312) receives a selection from a worker for at least one of a plurality of work programs, and a display control unit (311) displays a screen for executing and / or editing a target work program, which is a work program selected by the worker among the plurality of work programs. FIG. 4 is a drawing illustrating a screen (5S) when an open button (5E) is pressed while a work program named "Work P2" is provisionally selected in the work program list (5A) of FIG. 3. A virtual model (2m2) is displayed on the screen (5S) of FIG. 4. Additionally, "Work P2" is displayed on the work program list display button (5f). Here, receiving the press of the open button (5E) is an example of the receiving unit (312) receiving a selection from a worker for at least one of a plurality of work programs. Additionally, a work program named "Work P2" is an example of a target work program. In addition, the display of the execution and editing screen of a task program named "Task P2" is an example of displaying a screen for executing and / or editing a target task program.

[0063] Referring to FIG. 5, an example is described in which a display control unit (311) displays a screen for executing and / or editing a different work program that is different from a plurality of work programs, and an image setting unit (313) displays a screen for setting an image corresponding to the work content of another work program by receiving a predetermined operation from an operator. FIG. 5 is a diagram illustrating a screen (5S) in which an operator presses a shooting start button (5g) in the screen (5S) of FIG. 4. In the screen (5S) of FIG. 5, a real third manipulator (23) is displayed. In this state, when the operator presses a shooting button (5h), the imaging unit (4) of the teaching device (3) captures an image of the third manipulator (23). Here, pressing the shooting start button (5g) is an example of a predetermined operation received from an operator. The screen (5S) of FIG. 5 is an example of a screen for setting an image corresponding to the work content of another work program.

[0064] Referring to FIG. 6, an example of how a display control unit (311) sets an image corresponding to the work content of another work program and then adds said image to a list for display is described. FIG. 6 is a drawing showing the screen (5S) after the shooting of the third manipulator (23) in FIG. 5 has ended. Compared to the work program list (5A) of FIG. 3, a work program named "Work P4" associated with the image (56) of the third manipulator (23) has been added to the work program list (5A). Here, the work program named "Work P4" is an example of another work program. In one embodiment, the operator can display the execution editing screen of said work program by moving the frame (51) to the work program named "Work P4" and pressing the open button (5E).

[0065] Referring to FIG. 7, an example is described of a related part (314) associating information regarding the result of a task based on a task program with the task program for each of the multiple task programs. The information regarding the result of the task may include, for example, quality control data of the task based on the task program. The quality control data may include, for example, information regarding yield and work precision.

[0066] FIG. 7 is a flowchart for explaining another example of the operation of the related unit (314). First, the teaching device (3) executes a work program on the manipulator (2) (S300). Next, the teaching device (3) acquires quality control data for the work based on the work program (S302). Next, the related unit (314) associates the quality control data acquired in step S302 with the work program related to step S300 (S304). Associating the quality control data with the work program may be done by storing the associated information in the memory unit (32) or by storing the associated information in a server device configured to communicate with the teaching device (3). Next, the display control unit (311) also displays the quality control data associated with the work program for each of the multiple work programs in the work program list (5A) (S306).

[0067] Furthermore, the present invention is not limited to the embodiments described above and may be implemented in various other forms without departing from the essence of the invention. Accordingly, the above embodiments are merely examples in all respects and should not be interpreted restrictively.

[0068] The image of the above embodiment may be various types representing the work content of the work program. The image representing the work content may be, for example, an image of the work before the work by the manipulator (2) is executed, an image of the work after the work by the manipulator (2) is executed, an image representing a series of work states from before the work by the manipulator (2) is executed until after, and an image representing a bead formed on the work. The image representing the work content may be an image of a real object (e.g., the manipulator (2) and the work (w), etc.), an image of a virtual model corresponding to a real object (e.g., a virtual model (2m1) of the first manipulator (21) and a virtual model of the work (w), etc.), or an image in which these are combined in an extended real-world manner.

[0069] The work program list (5A) of the above embodiment included, in addition to an image representing the work content of the work program, the name and comments of the work program, but these are not mandatory. Displaying an image corresponding to the work content of the work program for each of the multiple work programs in a list includes displaying an image corresponding to each of the multiple work programs and not displaying other information regarding the work program (e.g., name, number, number of steps, comments, and update date).

[0070] In the above embodiment, the screen (5S) of FIG. 5 was described as an example of a screen for setting an image corresponding to the work content of a work program, but it is not limited to this. A screen for setting an image corresponding to the work content of a work program can be, for example, a screen that can upload an image stored in a memory unit (32).

[0071] In the above embodiment, the terminal device is described as being a teaching device (3), but the terminal device may be a device solely for teaching the manipulator (2), such as the teaching device (3), and may be a general-purpose communication terminal such as a tablet terminal, a personal computer, and a smartphone. In the case where the terminal device is a general-purpose communication terminal, the various functions of the teaching device (3) described in the above embodiment may be realized by a specific program installed on the terminal device.

[0072] In the above embodiment, a plurality of images may be displayed in association with each work program of the work program list (5A). In this case, one of the plurality of images is displayed in each work program, and the displayed image may be switched based on the operator's operation. For example, when a first image, a second image, and a third image are associated with a certain work program, the operator may switch the image between the first image, the second image, and the third image by pressing the image displayed at that time.

[0073] In addition, in a situation where a plurality of images are associated with and displayed in a work program that has a work program list (5A), the plurality of images may include an image corresponding to the work content of the work program before the update and an image corresponding to the work content of the work program after the update.

[0074] In the above embodiment, when an image of the work program list (5A) is pressed by an operator, various information regarding the image or the work program associated with the image may be displayed. In one example, when an image of the work program list (5A) is pressed, the display control unit (311) may enlarge and display the image. In another example, when an image of a moving image of the work program list (5A) is pressed, the display control unit (311) may display a part of the moving image (for example, a moving image during the period in which an arc is generated during the entire operation of the manipulator (2)). In another example, when an image of the work program list (5A) is pressed, the display control unit (311) may display a preview of a command included in the work program associated with the image.

[0075] In addition, although the above-described embodiment was explained using a welding robot manipulator (2), the invention is not limited thereto. The present invention can be applied to industrial robots including a handling robot that performs picking, etc., or a cutting and grinding robot that performs cutting and grinding. Explanation of the symbols

[0076] 1: Robot control unit, 2: Manipulator, 2m1, 2m2: Virtual model, 3: Teaching device, 4: Imaging unit, 5: Display unit, 5S: Screen, 11: Control unit, 31: Control unit, 53, 54, 55, 56: Image, 100: Robot system, 311: Display control unit, 312: Reception unit, 313: Image setting unit, 314: Related unit

Claims

Claim 1 A terminal device for teaching the operation of an industrial robot, and a terminal device having a display control unit that displays images corresponding to the work content of each of the plurality of work programs defining the operation of the industrial robot in a list. Claim 2 A terminal device according to claim 1, wherein the display control unit displays identification information corresponding to each of the plurality of work programs in a list together with the image. Claim 3 A terminal device according to claim 1, further comprising a receiving unit for receiving a selection from a user for at least one of the plurality of work programs, and the display control unit further displays at least one of a screen for executing a target work program, which is a work program selected by the user among the plurality of work programs, and a screen for editing the target work program. Claim 4 In claim 1, the above image is a terminal device representing a workpiece to be worked on by the industrial robot. Claim 5 In claim 1, the terminal device, wherein the image is a moving image representing the operation of the industrial robot and at least one of a trajectory. Claim 6 A terminal device according to claim 1, wherein the display control unit further comprises an image setting unit that displays at least one of a screen for executing a different work program different from the plurality of work programs and a screen for editing the different work program, and displays a screen for setting an image corresponding to the work content of the different work program by receiving a predetermined operation from a user. Claim 7 A terminal device according to claim 6, wherein after setting an image corresponding to the work content of the other work program, the display control unit adds the said image to the list and displays it. Claim 8 A terminal device according to claim 1, further comprising, for each of the plurality of work programs, a related part that associates information regarding the result of a work based on said work program with said work program.

Images